Baldor SD23H2A03–E, SD23H2A04–E, SD23H2A04–W, SD23H2A07–E, SD23H2A10–E Installation & Operating Manual
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SERIES 23H
AC Servo Control
Installation & Operating Manual
9/03 MN723
Table of Contents
Section 1
Quick Start Guide 1-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Section 2
General Information 2-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Overview 2-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Limited W arranty 2-2. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Safety Notice 2-3. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Section 3
Receiving & Installation 3-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Receiving & Inspection 3-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Physical Location 3-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Control Installation 3-2. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Keypad Installation Procedure 3-2. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Optional Remote Keypad Installation 3-3. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Electrical Installation 3-4. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
System Grounding 3-4. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Line Impedance 3-5. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Line Reactors 3-5. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Load Reactors 3-5. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
AC Main Circuit Considerations 3-6. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Protection Devices 3-6. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Power Disconnect 3-6. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Wire Size and Protection Devices 3-6. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
AC Line Connections 3-8. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Reduced Input Voltage Derating 3-8. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
380-400 VAC Operation 3-8. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Three Phase Input Power 3-9. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Single Phase Input Power Considerations 3-11. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Single Phase Control Derating 3-11. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Size A, B and B2 Single Phase Power Installation 3-11. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Size C2 Single Phase Power Installation 3-12. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Size C and D Single Phase Power Installation 3-13. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Size D2 Single Phase Power Installation 3-14. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Size E Single Phase Power Installation 3-15. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Size F Single Phase Power Installation 3-16. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Motor Connections 3-17. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
M-Contactor 3-17. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Optional Dynamic Brake Hardware 3-18. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Electrical Installation 3-18. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Resolver Feedback 3-20. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Simulated Encoder Output 3-21. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Home (Orient) Switch Input 3-22. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
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Operating Modes 3-23. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Analog Inputs 3-24. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Analog Outputs 3-26. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Serial Operating Mode 3-26. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Keypad Operating Mode 3-27. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Standard Run 3 Wire Operating Mode 3-28. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
15 Speed 2-Wire Operating Mode 3-29. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3 Speed Analog 2 Wire Operating Mode 3-30. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3 Speed Analog 3 Wire Operating Mode 3-31. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Bipolar Speed or Torque Operating Mode 3-32. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Multiple Parameter Sets 3-33. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Process Operating Mode 3-34. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Electronic Pot 2 Wire Operating Mode 3-35. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Electronic Pot 3 Wire Control Mode 3-36. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
External Trip Input 3-36. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Opto-Isolated Inputs 3-37. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Opto-Isolated Outputs 3-38. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Pre-Operation Checklist 3-39. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Power-Up Procedure 3-40. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Section 4
Programming and Operation 4-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Overview 4-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Display Mode 4-2. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Adjusting Display Contrast 4-2. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Display Mode Screens 4-2. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Diagnostic Information Access 4-3. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Fault Log Access 4-4. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Program Mode 4-5. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Parameter Blocks Access for Programming 4-5. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Changing Parameter Values when Security Code Not Used 4-6. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Reset Parameters to Factory Settings 4-7. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Initialize New Software 4-8. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Parameter Definitions 4-9. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
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Section 5
Troubleshooting 5-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Overview 5-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
No Keypad Display - Display Contrast Adjustment 5-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
How to Access Diagnostic Information 5-2. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
How to Access the Fault Log 5-3. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
How to Clear the Fault Log 5-3. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Resolver Troubleshooting 5-5. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Electrical Noise Considerations 5-11. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Relay and Contactor Coils 5-11. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Wires between Controls and Motors 5-11. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Special Drive Situations 5-12. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Control Enclosures 5-12. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Special Motor Considerations 5-12. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Analog Signal Wires 5-12. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Section 6
Manual Tuning the Series 23H Control 6-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Manually Tuning the Control 6-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Current Prop Gain Parameter 6-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Current INT Gain Parameter 6-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Speed Prop Gain Parameter 6-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Speed Int Gain Parameter 6-2. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
PI Controller 6-2. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Section 7
Specifications, Ratings & Dimensions 7-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Specifications 7-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Operating Conditions 7-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Resolver Feedback 7-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Keypad Display 7-2. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Control Specifications 7-2. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Differential Analog Input 7-2. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Analog Outputs 7-3. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Digital Inputs 7-3. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Digital Outputs 7-3. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Diagnostic Indications 7-3. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Ratings 7-4. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Terminal Tightening Torque Specifications 7-5. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Table of Contents iiiMN723
Dimensions 7-6. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Size A Control 7-6. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Size B Control 7-7. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Size B2 Control 7-8. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Size C Control 7-9. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Size C2 Control 7-10. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Size C2 Control – Through–Wall Mounting 7-11. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Size D Control 7-12. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Size D2 Control 7-13. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Size D2 Control – Through–Wall Mounting 7-14. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Size E Control 7-15. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Size F Control 7-16. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Size G Control 7-17. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Appendix A A-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Dynamic Braking (DB) Hardware A-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
RGA Assemblies A-4. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
RBA Assemblies A-5. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
RTA Assemblies A-6. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Appendix B B-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Parameter Values B-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Appendix C C-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Remote Keypad Mounting Template C-2. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
iv Table of Contents MN723
Section 1
Quick Start Guide
Overview If you are an experienced user of Baldor controls, you are probably already familiar with
the keypad programming and keypad operation methods. If so, this quick start guide has
been prepared for you. This procedure will help get your system up and running in the
Keypad mode quickly. This will allow motor and control operation to be verified. This
procedure assumes that the control, motor and dynamic brake hardware are correctly
installed (see Section 3 for procedures) and that you have an understanding of the
keypad programming & operation procedures. It is not necessary to wire the terminal
strip to operate in the keypad mode (Section 3 describes terminal strip wiring
procedures). The quick start procedure is as follows:
1. Read the Safety Notice and Precautions in section 2 of this manual.
2. Mount the control. Refer to Section 3 “Physical Location” procedure.
3. Connect AC power, refer to Section 3 “Three Phase Motor and Control
Connections”.
4. Connect the motor, refer to Section 3 “Three Phase Motor and Control
Connections”.
5. Connect the resolver, refer to Section 3 “Resolver Feedback”.
6. Install dynamic brake hardware, if required. Refer to Section 3 “Optional
Dynamic Brake Hardware”.
7. Connect the keypad to the keypad connector of the main control board. Refer
to Section 3 “Keypad Installation Procedure”.
Quick Start Checklist Check of electrical items.
CAUTION: After completing the installation but before you apply power, be
sure to check the following items.
1. Verify AC line voltage at source matches control rating.
2. Inspect all power connections for accuracy, workmanship and torque as well as
compliance to codes.
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 or damage to equipment.
Check of Motors and Couplings
1. Verify freedom of motion of the motor shaft.
2. Verify that all motor couplings are tight without backlash.
3. Verify the holding brakes if any, are properly adjusted to fully release and set to
the desired torque value.
Quick Start Guide 1-1MN723
Section 1
General Information
Quick Start Procedure
Initial Conditions
Be sure the 23H control, motor and dynamic brake hardware are installed and wired
according to the procedures in Section 3 of this manual.
Become familiar with the keypad programming and keypad operation of the control as
described in Section 4 of this manual.
1. Disconnect the load (including coupling or inertia wheels) from the motor shaft,
if possible.
2. Verify that any enable inputs to J1-8 are open. Be sure Level 2 Protection
block, Local Enable INP is OFF and Level 2 Protection block, External Trip is
OFF.
3. Turn power on. Be sure no errors are displayed.
4. Set the Level 1 Input block, Operating Mode parameter to “KEYPAD”.
5. Set the Level 2 Output Limits block, “OPERATING ZONE” parameter as desired
(STD CONST TQ, STD VAR TQ, QUIET CONST TQ or QUIET VAR TQ).
6. Enter the following motor data in the Level 2 Motor Data block parameters:
Motor Rated Amps (IC)
Motor Poles
Resolver Speeds (Pre-set is one speed)
7. If external dynamic brake hardware is used, set the Level 2 Brake Adjust block
“Resistor Ohms” and “Resistor Watts” parameters.
8. If the load was not disconnected in step 1, refer to Section 6 and manually tune
the control. After manual tuning, perform steps 11 and 12 then continue with
step 16.
9. At the Level 2 Motor Data block, press ENTER, at CALC PRESETS select YES
(using the key) and let the control calculate preset values for the parameters
that are necessary for control operation.
WARNING: The motor shaft will rotate during the autotune procedure. Be
certain that unexpected motor shaft movement will not cause injury
to personnel or damage to equipment.
10. Go to Level 2 Autotune block, and perform the following tests:
CMD OFFSET TRIM
CUR LOOP COMP
RESOLVER ALIGN
11. Set the Level 2 Output Limits block, “MIN OUTPUT SPEED” parameter.
12. Set the Level 2 Output Limits block, “MAX OUTPUT SPEED” parameter.
13. Remove all power from the control.
14. Couple the motor to its load.
15. Turn power on. Be sure no errors are displayed.
16. Perform the SPD CNTRLR CALC test in the Level 2 Autotune block.
17. Run the drive from the keypad using the arrow keys for direct speed control, a
keypad entered speed or the JOG mode.
18. Select and program additional parameters to suit your application.
The control is now ready for use the in keypad mode. If a different operating mode is
desired, refer to Section 3 Control Connections and Section 4 Programming and
Operation.
1-2 Quick Start Guide MN723
Section 2
General Information
Overview The Baldor Series 23H PWM control uses 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 adjusts the motor current to produce
maximum torque from base speed down to and including zero speed. The frequency of
the voltage applied to the motor follows the electrical cycles per revolution based on the
mechanical speed of the rotor. This provides instantaneous adjustment of the voltage
and current phasing in response to speed and position feedback from a resolver mounted
to the motors’ shaft.
General Information 2-1MN723
Limited Warranty
For a period of two (2) years from the date of original purchase, BALDOR will
repair or replace without charge controls and accessories which our
examination proves to be defective in material or workmanship. This
warranty is valid if the unit has not been tampered with by unauthorized
persons, misused, abused, or improperly installed and has been used in
accordance with the instructions and/or ratings supplied. This warranty is in
lieu of any other warranty or guarantee expressed or implied. BALDOR
shall not be held responsible for any expense (including installation and
removal), inconvenience, or consequential damage, including injury to any
person or property caused by items of our manufacture or sale. (Some
states do not allow exclusion or limitation of incidental or consequential
damages, so the above exclusion may not apply.) In any event, BALDOR’s
total liability, under all circumstances, shall not exceed the full purchase
price of the control. Claims for purchase price refunds, repairs, or
replacements must be referred to BALDOR with all pertinent data as to the
defect, the date purchased, the task performed by the control, and the
problem encountered. No liability is assumed for expendable items such as
fuses.
Goods may be returned only with written notification including a BALDOR
Return Authorization Number and any return shipments must be prepaid.
2-2 General Information MN723
Safety Notice This equipment contains voltages that may be as high as 1000 volts! Electrical shock
can cause serious or fatal injury. Only qualified personnel should attempt the start–up
procedure or troubleshoot this equipment.
This equipment may be connected to other machines that have rotating parts or parts
that are driven by this equipment. Improper use can cause serious or fatal injury. Only
qualified personnel should attempt the start–up procedure or troubleshoot this equipment.
PRECAUTIONS
WARNING: Do not touch any circuit board, power device or electrical
connection before you first ensure that power has been
disconnected and there is no high voltage present from this
equipment or other equipment to which it is connected. Electrical
shock can cause serious or fatal injury. Only qualified personnel
should attempt the start–up procedure or troubleshoot this
equipment.
WARNING: This unit has an automatic restart feature that will start the motor
whenever input power is applied and a RUN (FWD or REV)
command is issued. If an automatic restart of the motor could
cause injury to personnel, the automatic restart feature should be
disabled by changing the Level 2 Miscellaneous block, Restart
Auto/Man parameter to Manual.
WARNING: Do not remove cover for at least five (5) minutes after AC power is
disconnected to allow capacitors to discharge. Dangerous voltages
are present inside the equipment. Electrical shock can cause
serious or fatal injury.
WARNING: Be sure that you are completely familiar with the safe operation of
this equipment. This equipment may be connected to other
machines that have rotating parts or parts that are controlled by
this equipment. Improper use can cause serious or fatal injury.
Only qualified personnel should attempt the start–up procedure or
troubleshoot this equipment.
WARNING: Be sure the system is properly grounded before applying power.
Do not apply AC power before you ensure that all grounding
instructions have been followed. Electrical shock can cause
serious or fatal injury.
WARNING: Improper operation of control may cause violent motion of the
motor shaft and driven equipment. Be certain that unexpected
motor shaft movement will not cause injury to personnel or damage
to equipment. Certain failure modes of the control can produce
peak torque of several times the rated motor torque.
WARNING: Motor circuit may have high voltage present whenever AC power is
applied, even when motor is not rotating. Electrical shock can
cause serious or fatal injury.
WARNING: Dynamic brake resistors may generate enough heat to ignite
combustible materials. Keep all combustible materials and
flammable vapors away from brake resistors.
WARNING: The motor shaft will rotate during the autotune procedure. Be
certain that unexpected motor shaft movement will not cause injury
to personnel or damage to equipment.
Continued on next page
General Information 2-3MN723
Section 1
General Information
Caution: Disconnect motor leads (T1, T2 and T3) from control before you
perform a “Megger” test on the motor. Failure to disconnect motor
from the control will result in extensive damage to the control. The
control is tested at the factory for high voltage / leakage resistance
as part of Underwriter Laboratory requirements.
Caution: Suitable for use on a circuit capable of delivering not more than the
RMS symmetrical short circuit amperes listed here at rated voltage.
Horsepower rms Symmetrical Amperes
1–50 5,000
51–200 10,000
201–400 18,000
401–600 30,000
601–900 42,000
Caution: Do not supply any power to the External Trip (motor thermostat)
leads at J1-16 and 17. Power on these leads can damage the
control. Use a dry contact type that requires no external power to
operate.
Caution: Do not connect AC power to the Motor terminals T1, T2 and T3.
Connecting AC power to these terminals may result in damage to
the control.
Caution: Baldor recommends not using “Grounded Leg Delta” transformer
power leads that may create ground loops. Instead, we recommend
using a four wire Wye.
Caution: If the DB hardware mounting is in any position other than vertical,
the DB hardware must be derated by 35% of its rated capacity.
Caution: If an M-Contactor is installed, the control must be disabled for at
least 20msec before the M-Contactor is opened. If the M-Contactor
is opened while the control is supplying voltage and current to the
motor, the control may be damaged.
Caution: Do not connect any shields to the motor frame. At a minimum,
resolver signal integrity will be compromised and damage to the
control may result. The resolver shields must be connected at
J1-28 only.
2-4 General Information MN723
Section 3
Receiving & Installation
Receiving & Inspection When you receive your control, there are several things you should do immediately.
1. Observe the condition of the shipping container and report any damage
immediately to the commercial carrier that delivered your control.
2. Verify that the part number of the control you received is the same as the part
number listed on your purchase order.
3. If the control is to be stored for several weeks before use, be sure that it is
stored in a location that conforms to published storage temperature and
humidity specifications. (Refer to Section 7 of this manual).
Physical Location The mounting location of the control is important. It should be installed in an area that is
protected from direct sunlight, corrosives, harmful gases or liquids, dust, metallic
particles, shock and vibration.
Several other factors should be carefully evaluated when selecting a location for
installation:
1. For effective cooling and maintenance, the control should be mounted vertically
on a flat, smooth, non-flammable vertical surface. Table 3-1 lists the Watts
Loss ratings for enclosure sizing.
2. At least two inches clearance must be provided on all sides for air flow.
3. Front access must be provided to allow the control cover to be opened or
removed for service and to allow viewing of the Keypad Display.
Controls packaged in a floor mounted enclosure must be positioned with
clearance to open the enclosure door. This clearance will also provide
sufficient air space for cooling.
4. Altitude derating. Up to 3300 feet (1000 meters) no derating required. Above
3300 ft, derate the continuous and peak output current by 2% for each 1000 ft.
5. Temperature derating. Up to 40°C no derating required. Above 40°C, derate
the continuous and peak output current by 2% per °C. Maximum ambient is
55°C.
Table 3-1 Series 23H Watts Loss Ratings
Enclosure Size 230 VAC 460 VAC
2.5KHz
PWM
A, B and B2 14 Watts/
Amp
C, C2, D, D2, E, and F 12 Watts/
Amp
G 15 Watts/
8.0KHz
PWM
17 Watts/
Amp
15 Watts/
Amp
2.5KHz
PWM
17 Watts/
Amp
15 Watts/
Amp
Amp
8.0KHz
PWM
26 Watts/
Amp
23Watts/
Amp
Receiving & Installation 3-1MN723
Control Installation The control must be securely fastened to the mounting surface at the mounting holes.
Shock Mounting
If the control will be subjected to levels of shock greater than 1G or vibration greater than
0.5G at 10 to 60Hz, the control should be shock mounted.
Keypad Installation Procedure
1. Refer to the optional remote keypad installation procedure and mount the
keypad.
2. Connect the keypad cable to the keypad connector on the main control board.
Refer to Figure 3-30 for the connector location.
3-2 Receiving & Installation MN723
Optional Remote Keypad Installation The keypad may be remotely mounted using the optional Baldor keypad
extension cable. The keypad assembly (white - DC00005A-01; grey - DC00005A-02)
comes complete with the screws and gasket required to mount it to an enclosure. When
the keypad is properly mounted to a NEMA Type 4X enclosure, it retains the Type 4X
rating.
Tools Required:
• Center punch, tap handle, screwdrivers (Phillips and straight) and crescent
wrench.
• 8-32 tap and #29 drill bit (for tapped mounting holes) or #19 drill (for clearance
mounting holes).
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 fillister) are required if the mounting surface is
thicker than 12 gauge and is not tapped (clearance mounting holes).
• Remote keypad mounting template. A tear out copy is provided at the end of
this manual for your convenience.
Mounting Instructions: For tapped mounting holes
1. Locate a flat 4″ wide x 5.5″ minimum high mounting surface. Material should
be sufficient thickness (14 gauge minimum).
2. Place the template on the mounting surface or mark the holes as shown.
3. Accurately center punch the 4 mounting holes (marked A) and the large
knockout (marked B).
4. Drill four #29 mounting holes (A). Thread each hole using an 8-32 tap.
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. Use 8–32 screws, nuts and lock washers.
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.
Mounting Instructions: For clearance mounting holes
1. Locate a flat 4″ wide x 5.5″ minimum high mounting surface. Material should
be sufficient thickness (14 gauge minimum).
2. Place the template 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 four #19 clearance holes (A).
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. Use 8–32 screws, nuts and lock washers.
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.
Receiving & Installation 3-3MN723
Electrical Installation Interconnection wiring is required between the motor control, AC power source, motor,
host control and any operator interface stations. Use listed closed loop connectors that
are of appropriate size for wire gauge being used. Connectors are to be installed using
crimp tool specified by the manufacturer of the connector. Only Class 1 wiring should be
used.
Baldor Series H controls feature UL approved adjustable motor overload protection
suitable for motors rated at no less than 50% of the output rating of the control. Other
governing agencies 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 codes which govern such practices as wiring protection,
grounding, disconnects and other current protection.
System Grounding Baldor Controls are designed to be powered from standard three phase lines that are
electrically symmetrical with respect to ground. System grounding is an important step in
the overall installation to prevent problems. The recommended grounding method is
shown in Figure 3-1.
Figure 3-1 Recommended System Grounding
LOCAL
PROG
JOG
DISP
FWD
SHIFT
ENTER
REV
RESET
STOP
AC Main
Supply
Safety
Ground
Note: A line reactor is recommended
and must be ordered separately.
L1
L2
L3
Earth
Four Wire
“Wye”
Driven Earth
Ground Rod
(Plant Ground)
Route all 4 wires L1, L2, L3 and Earth
(Ground) together in conduit or cable.
Route all 4 wires T1, T2, T3 and Motor
Ground together in conduit or cable.
Series H
L1
L2 L3 T1 T2 T3
Optional
Line
Reactor
Connect all wires (including motor ground)
inside the motor terminal box.
Note: Wiring shown for clarity of grounding
method only. Not representative of
actual terminal block location.
Ground per NEC and
Local codes.
3-4 Receiving & Installation MN723
System Grounding Continued
Ungrounded Distribution System
With an ungrounded power distribution system it is possible to have a continuous current
path to ground through the MOV devices. To avoid equipment damage, an isolation
transformer with a grounded secondary is recommended. This provides three phase AC
power that is symmetrical with respect to ground.
Input Power Conditioning
Baldor controls are designed for direct connection to standard three phase lines that are
electrically symmetrical with respect to ground. Certain power line conditions must be
avoided. An AC line reactor or an isolation transformer may be required for some power
conditions.
If the feeder or branch circuit that provides power to the control has
permanently connected power factor correction capacitors, an input AC line
reactor or an isolation transformer must be connected between the power factor
correction capacitors and the control.
If the feeder or branch circuit that provides power to the control has power
factor correction capacitors that are switched on line and off line, the capacitors
must not be switched while the control is connected to the AC power line. If the
capacitors are switched on line while the control is still connected to the AC
power line, additional protection is required. TVSS (Transient Voltage Surge
Suppressor) of the proper rating must be installed between the AC line reactor
or an isolation transformer and the AC input to the control.
Line Impedance The Baldor control requires a minimum line impedance. If the impedance of the incoming
power does not meet the requirement for the control, a 3 phase line reactor can be used
to provide the needed impedance in most cases. Line reactors are optional and are
available from Baldor.
Control Size A, B, C, D, E B2, C2, D2, F, G
Line Impedance Required 3% 1%
The input impedance of the power lines can be determined as follows:
Measure the line to line voltage at no load and at full rated load.
Use these measured values to calculate impedance as follows:
%Impedance +
(Volts
No Load Speed
(Volts
* Volts
No Load Speed
Full Load Speed
)
)
100
Line Reactors Three phase line reactors are available from Baldor. The line reactor to order is based on
the full load current of the motor (FLA). If providing your own line reactor, use the
following formula to calculate the minimum inductance required.
(V
0.03)
L +
L*L
(I 3Ǹ 377)
Where: L Minimum inductance in Henries.
V
L-L
0.03 Desired percentage of input impedance.
I Input current rating of control.
377 Constant used with 60Hz power.
Input volts measured line to line.
Use 314 if input power is 50Hz.
Load Reactors Line reactors may be used at the control output to the motor. When used this way, they
are called Load Reactors. Load reactors serve several functions that include:
Protect the control from a short circuit at the motor.
Limit the rate of rise of motor surge currents.
Slowing the rate of change of power the control delivers to the motor.
Load reactors should be installed as close to the control as possible. Selection should be
based on the motor nameplate FLA value.
Receiving & Installation 3-5MN723
AC Main Circuit Considerations
Protection Devices Be sure a suitable input power protection device is installed. Use the recommended
circuit breaker or fuses listed in Tables 3-2 through 3-3 (Wire Size and Protection
Devices). Input and output wire size is based on the use of copper conductor wire rated
at 75 °C. The table is specified for NEMA B motors.
Circuit Breaker: 1 phase, thermal magnetic.
Equal to GE type THQ or TEB for 230 VAC
3 phase, thermal magnetic.
Equal to GE type THQ or TEB for 230 VAC or
GE type TED for 460 VAC.
Fast Action Fuses: 230 VAC, Buss KTN
460 VAC, Buss KTS to 600A (KTU 601 - 1200A)
Very Fast Action: 230 VAC, Buss JJN
460 VAC, Buss JJS
Time Delay Fuses: 230 VAC, Buss FRN
460 VAC, Buss FRS to 600A (KLU 601 - 1200A)
Power Disconnect A power disconnect should be installed between the input power service and the control
for a fail safe method to disconnect power. The control will remain in a powered-up
condition until all input power is removed from the control and the internal bus voltage is
depleted.
Wire Size and Protection Devices
Table 3-2 230VAC Controls (3 Phase) Wire Size and Protection Devices
Control Output Rating
Amps HP
3 0.75 5 4 14 2.5
4 1 6 5 14 2.5
7 2 10 9 14 2.5
10 3 15 12 14 2.5
16 5 25 20 12 3.31
22 7.5 30 30 10 5.26
28 10 40 45 35 8 8.37
42 15 60 70 60 6 13.3
54 20 70 80 70 6 13.3
68 25 90 100 90 4 21.2
80 30 100 125 110 3 26.7
104 40 150 175 150 1 42.4
130 50 175 200 175 1/0 53.5
145 60 200 225 200 2/0 67.4
192 75 250 300 250 4/0 107.0
Input Breaker
Input Breaker
(Amps)
Input Fuse (Amps) Wire Gauge
Fast Acting Time Delay AWG mm
2
Note: All wire sizes are based on 75°C copper wire. Higher temperature smaller gauge wire may be used per NEC
and local codes. Recommended fuses/breakers are based on 40°C ambient, maximum continuous control
output current and no harmonic current.
3-6 Receiving & Installation MN723
T able 3-3 460VAC Controls (3 Phase) Wire Size and Protection Devices
Control Output Rating Input Breaker Input Fuse (Amps) Wire Gauge
Amps HP
2 0.75 2 2 14 2.5
2 1 3 2.5 14 2.5
4 2 6 5 14 2.5
5 3 8 7 14 2.5
8 5 12 10 14 2.5
11 7.5 20 15 14 2.5
14 10 25 20 12 3.31
21 15 30 30 25 10 5.26
27 20 40 40 35 10 5.26
34 25 50 50 45 8 8.37
40 30 50 60 50 8 8.37
52 40 70 80 70 6 13.3
65 50 90 100 90 4 21.2
77 60 100 125 100 3 26.7
96 75 125 150 125 2 33.6
124 100 175 200 175 1/0 53.5
(Amps)
Fast Acting Time Delay AWG mm
2
Note: All wire sizes are based on 75°C copper wire. Higher temperature smaller gauge wire may be used per NEC
and local codes. Recommended fuses/breakers are based on 40°C ambient, maximum continuous control
output current and no harmonic current.
Receiving & Installation 3-7MN723
AC Line Connections
Reduced Input Voltage Derating All power ratings stated in Section 7 are for the stated nominal AC input
voltages (230 or 460VAC). The power rating of the control must be reduced when
operating at a reduced input voltage. The amount of reduction is the ratio of the voltage
change.
Examples:
A 10HP, 230VAC control operating at 208VAC has a reduced power rating of 9.04HP.
10HP
Likewise, a 10HP, 460VAC control operating at 380VAC has a reduced power rating of
8.26HP.
10HP
To obtain the full output rating of 10HP in either case requires a 15HP Control.
380-400 VAC Operation Size A, B, B2, C2 and D2 460VAC controls may be used directly with a 380-400 VAC
power source, control modification is not necessary.
Size C, D, E, F and G 460VAC controls all require modification for operation on the
reduced line voltage. Specifically, the control transformer must have the wire on terminal
5 (for 460V) moved to terminal 4 (for 380-400V).
208VAC
230VAC
380VAC
460VAC
1. Be sure drive operation is terminated and secured.
2. Remove all power sources from the control. If power has been applied, wait at
least 5 minutes for bus capacitors to discharge.
3. Remove or open the front cover.
4. Remove the wire from terminal 5.
5. Place the wire that was removed from terminal 5 onto terminal 4.
6. Install or close the front cover.
+ 9.04HP
+ 8.26HP
Figure 3-2 Control Transformer Identification
3-8 Receiving & Installation MN723
Tap Change Procedure (size G controls). See Figure 3-3.
Figure 3-3 Size G - Control Transformer Terminal Block
460VAC 380-400VAC
Three Phase Input Power
Three phase AC power connections are shown in Figure 3-4. The 23H control has an
electronic I2t motor overload protection. If motor overloads are desired, they should be
sized according to the manufacturers specifications and installed between the motor and
the T1, T2 and T3 terminals of the control.
1. Be sure drive operation is terminated and control is disabled.
2. Remove all power sources from the control. If power has been applied, wait at
least 5 minutes for bus capacitors to discharge.
3. Remove or open the front cover and locate the control transformer (Figure 3-3).
4. Remove the wires from the two right side terminals.
5. Place the wires on the center terminals as shown.
6. Install or close the front cover.
Note: Use same gauge wire for earth ground as is used for L1, L2 and L3
connections. Refer to the wire size and protection devices tables shown
previously in this section.
Note 1
Note 3
Note 4
Note 3
* Circuit
Breaker
*Optional
Line
Reactor
L1 L2 L3
A1 B1 C1
A2 B2 C2
L1 L2 L3
Baldor
Series 23H
Control
Figure 3-4 Three Phase AC Power Connections
Earth
Note 2
Alternate *
Fuse
Connection
L1 L2 L3
Note 1
A1 B1 C1
* Optional components not provided with control.
Notes:
1. See “Protective Devices” described previously in this section.
2. Use same gauge wire for Earth ground as is used for L1, L2 and L3.
3. Metal conduit should be used. Connect conduits so the use of a
Reactor or RC Device does not interrupt EMI/RFI shielding.
4. See Line/Load Reactors described previously in this section.
See Recommended Tightening Torques in Section 7.
Receiving & Installation 3-9MN723
Table 3-4 and 3-5 list the wire size for the input AC power wires. Motor leads should be
sized from the 3 phase tables.
Table 3-4 Single Phase Rating Wire Size and Protection Devices - 230 VAC Controls*
Control Output Rating
Amps HP
6.9 0.75 10 9 14 2.5
8.0 1 12 10 14 2.5
12 2 20 17.5 14 2.5
17 3 25 25 12 3.31
28 5 45 35 10 5.26
40 7.5 60 50 8 8.37
50 10 70 80 70 6 13.3
68 15 90 110 90 4 21.2
88 20 110 150 125 3 26.7
110 25 150 175 150 2 33.6
136 30 175 200 175 1/0 53.5
176 40 225 250 250 3/0 85.0
216 50 275 350 300 (2) 1/0 (2) 53.5
Input Breaker
Input Breaker
(Amps)
Input Fuse (Amps) Wire Gauge
Fast Acting Time Delay AWG mm
2
Table 3-5 Single Phase Rating Wire Size and Protection Devices - 460 VAC Controls*
Control Output Rating
Amps HP
3.5 0.75 5 5 14 2.5
4.0 1 6 5.6 14 2.5
6.0 2 10 8 14 2.5
8.5 3 15 12 14 2.5
14 5 20 20 12 3.31
20 7.5 30 25 10 5.26
25 10 40 30 10 5.26
34 15 45 50 45 8 8.37
44 20 60 70 60 8 8.37
55 25 70 80 70 6 13.3
68 30 90 100 90 4 21.2
88 40 110 150 125 3 26.7
108 50 150 175 150 2 33.6
Input Breaker
Input Breaker
(Amps)
Input Fuse (Amps) Wire Gauge
Fast Acting Time Delay AWG mm
2
*Note:All wire sizes are based on 75°C copper wire. Higher temperature smaller gauge wire may be used per NEC
and local codes. Recommended fuses/breakers are based on 40°C ambient, maximum continuous control
output current and no harmonic current.
3-10 Receiving & Installation MN723
Single Phase Input Power Considerations Single phase operation of G and H size controls is not possible.
Single phase AC input power can be used to power the control instead of three phase for
control sizes A, B, B2, C, C2, D, D2, E and F. The specifications and control sizes are
listed in Section 7 of this manual. If single phase power is to be used, the rated
Horsepower of the control may have to be reduced (derated). In addition, power wiring
and jumper changes are required.
Single phase rating wire size and protection devices are listed in Tables 3-4 and 3-5.
Single Phase Control Derating: Single phase power derating requires that the continuous and peak current ratings
of the control be reduced by the following percentages:
1. 3–10A 230 and 2–5A 460 VAC controls:
No derating required.
2. 15–28A (Size B and B2) 230 and 5–15A 460 VAC controls:
Derate HP by 40% of the nameplate rating.
3. 42–55A (Size C) and Larger 230 and 460 VAC controls:
Derate HP by 50% of the nameplate rating.
Size A, B and B2 Single Phase Power Installation (See Figure 3-5.)
Jumper Configuration
Size A, B and B2 controls, no jumper changes required.
Note 1
Note 3
Note 4
Note 3
Figure 3-5 Size A, B and B2 Single Phase 230/460VAC Power Connections
* Circuit
Breaker
*Optional
Line
Reactor
L1 L2
A1 B1
A2 B2
L1 L2 L3
Baldor
Control
Earth
L1 L2
* Fuse
Connection
Note 2
A1 B1
* Optional components not provided with control.
Notes:
1. See “Protective Devices” described previously in this section.
2. Use same gauge wire for Earth ground as is used for L1, L2 and L3.
3. Metal conduit should be used. Connect conduits so the use of a
Reactor or RC Device does not interrupt EMI/RFI shielding.
4. See Line/Load Reactors described previously in this section.
See Recommended Tightening Torques in Section 7.
Note 1
Receiving & Installation 3-11MN723
Size C2 Single Phase Power Installation (See Figure 3-7.)
Jumper Configuration
Locate the Interface board, and place JP7 on pins 2 & 3 for single phase operation.
Figure 3-6 Jumper Configuration
Control Board
Bend plastic insulator upward
to access the Interface Board.
L1 L2
Note 1
Note 3
Note 4
Note 3
* Circuit
Breaker
*Optional
Line
Reactor
A1 B1
A2 B2
L1 L2 L3
JP7
Interface Board
JP7
Pins 1 & 2 = Three Phase
Pins 2 & 3 = Single Phase
Figure 3-7 Size C2 Single Phase 230/460VAC Power Connections
Baldor
Control
Earth
* Fuse
Connection
Note 2
* Optional components not provided with control.
Notes:
1. See “Protective Devices” described previously in this section.
2. Use same gauge wire for Earth ground as is used for L1, L2 and L3.
3. Metal conduit should be used. Connect conduits so the use of a
Reactor or RC Device does not interrupt EMI/RFI shielding.
4. See Line/Load Reactors described previously in this section.
L1 L2
Note 1
A1 B1
See Recommended Tightening Torques in Section 7.
3-12 Receiving & Installation MN723
Size C and D Single Phase Power Installation (See Figure 3-9.)
Figure 3-8 Jumper Configuration
Place JP2 on pins 1 & 2 for control single phase operation.
Place JP3 in position B for fan single phase operation.
Note 1
Note 3
Note 4
Note 3
JP2
Pins 1 & 2 = Single Phase
Pins 2 & 3 = Three Phase
Figure 3-9 Size C & D Single Phase 230/460VAC Power Connections
L1 L2
* Circuit
Breaker
B1 C1
*Optional
Line
Reactor
B2 C2
L1 L2 L3
Baldor
Control
JP3
Position A = Three Phase
Position B = Single Phase
JP2
1
JP3
A
B
Earth
Note 2
* Fuse
Connection
L1 L2
Note 1
B1 C1
* Optional components not provided with control.
Notes:
1. See “Protective Devices” described previously in this section.
2. Use same gauge wire for Earth ground as is used for L1, L2 and L3.
3. Metal conduit should be used. Connect conduits so the use of a
Reactor or RC Device does not interrupt EMI/RFI shielding.
4. See Line/Load Reactors described previously in this section.
See Recommended Tightening Torques in Section 7.
Receiving & Installation 3-13MN723
Size D2 Single Phase Power Installation (see Figure 3-11)
Jumper Configuration
Locate the Interface board, and place J100 on pins 2 & 3 for single phase operation.
Figure 3-10 Jumper Configuration
Note 1
Note 3
Note 4
Note 3
* Circuit
Breaker
*Optional
Line
Reactor
J100
Pins 1 & 2 = Three Phase
Pins 2 & 3 = Single Phase
1
2
3
J100
Figure 3-11 Size D2 Single Phase 230/460VAC Power Connections
L1 L2
A1 B1
A2 B2
L1 L2 L3
Baldor
Control
Earth
L1 L2
* Fuse
Connection
Note 2
A1 B1
* Optional components not provided with control.
Notes:
1. See “Protective Devices” described previously in this section.
2. Use same gauge wire for Earth ground as is used for L1, L2 and L3.
3. Metal conduit should be used. Connect conduits so the use of a
Reactor or RC Device does not interrupt EMI/RFI shielding.
4. See Line/Load Reactors described previously in this section.
Note 1
See Recommended Tightening Torques in Section 6.
3-14 Receiving & Installation MN723
Size E Single Phase Power Installation (See Figure 3-13.)
Figure 3-12 Jumper Configuration
Place JP1 on the High Voltage Circuit Board across pins 1 and 2.
Note 1
Note 3
Note 4
Note 3
* Circuit
Breaker
*Optional
Line
Reactor
JP1
Pins 1 & 2 = Single Phase
Pins 2 & 3 = Three Phase
1
JP1
Figure 3-13 Size E Single Phase 230/460VAC Power Connections
L1 L2
A1 B1
A2 B2
L1 L2 L3
Baldor
Control
Earth
L1 L2
* Fuse
Connection
A1 B1
Note 1
* Optional components not provided with control.
Notes:
1. See “Protective Devices” described previously in this section.
2. Use same gauge wire for Earth ground as is used for L1, L2 and L3.
3. Metal conduit should be used. Connect conduits so the use of a
Reactor or RC Device does not interrupt EMI/RFI shielding.
4. See Line/Load Reactors described previously in this section.
See Recommended Tightening Torques in Section 7.
Receiving & Installation 3-15MN723
Size F Single Phase Power Installation (See Figure 3-15.)
Figure 3-14 Jumper Configuration
Place JP2 on the High Voltage Circuit Board across pins 1 and 2.
Figure 3-15 Size F Single Phase 230/460VAC Power Connections
Note 1
L1 L2
* Circuit
Breaker
Earth
Note 2
* Fuse
Connection
JP2
1
JP2
Pins 1 & 2 = Single Phase
Pins 2 & 3 = Three Phase
L1 L2
Note 1
Note 3
Note 4
Note 3
B1 C1
*Optional
Line
Reactor
B2 C2
L1 L2 L3
Control
Baldor
B1 C1
* Optional components not provided with control.
Notes:
1. See “Protective Devices” described previously in this section.
2. Use same gauge wire for Earth ground as is used for L1, L2 and L3.
3. Metal conduit should be used. Connect conduits so the use of a
Reactor or RC Device does not interrupt EMI/RFI shielding.
4. See Line/Load Reactors described previously in this section.
See Recommended Tightening Torques in Section 7.
3-16 Receiving & Installation MN723
Motor Connections Motor connections are shown in Figure 3-16.
Figure 3-16 Motor Connections
Notes:
1. Metal conduit should be used. Connect conduits so the use of Load
Reactor or RC Device does not interrupt EMI/RFI shielding.
2. See Line/Load Reactors described previously in this section.
3. Use same gauge wire for Earth ground and motor leads (from the 3
phase wire size tables).
4. Motors are phase sensitive. If the motor leads are labeled 1, 2, 3
then lead 1 must be connected to T1 etc. If the motor leads are
labeled U, V, W then lead U must be connected to T1 etc.
5. Connect the motor ground lead to the of the control.
Note 1
Note 2
Note 1
*Optional
Load
Reactor
Baldor
Control
T1 T2 T3
A1 B1 C1
A2 B2 C2
* Optional components not provided with control.
T2 T3
T1
G
Note 3
See Recommended Tightening Torques in Section 7.
* AC Motor
M-Contactor If required by local codes or for safety reasons, an M-Contactor (motor circuit contactor)
may be installed. However, incorrect installation or failure of the M-contactor or wiring
may damage the control. If an M-Contactor is installed, the control must be disabled for
at least 20msec before the M-Contactor is opened or the control may be damaged.
M-Contactor connections are shown in Figure 3-17.
Figure 3-17 Optional M-Contactor Connections
T1 T2 T3
MMM
M=Contacts of optional M-Contactor
T2 T3
T1
* Motor
To Power Source
(Rated Coil Voltage)
J1
*
M Enable
G
7
Note: Close “Enable”
8
after “M” contact closure.
9
* M-Contactor
See Recommended Tightening Torques in Section 7.
* Optional
RC Device
Electrocube
RG1781-3
Receiving & Installation 3-17MN723
Optional Dynamic Brake Hardware
Dynamic Brake (DB) Hardware must be installed on a flat, non-flammable, vertical
surface for effective cooling and operation. Refer to MN701 (for RGA, RBA and RTA
assemblies) or MN782 (for RUA assemblies) for additional information.
Electrical Installation Terminal connections for DB hardware is determined by the control model number suffix
(E, EO, ER or MO). See Figure 3-18 for terminal identification. Refer to Tables 3-6 and
3-7 for wire size information.
Figure 3-18 DB Terminal Identification Figure 3-19 Wiring for RGA Assembly (–E, –W, –ER)
“E” or “W” suffix
Note: Although not shown, metal
conduit should be used to shield all
R2 B+/R1 B-
power wires and motor leads.
“EO” or “MO” suffix
B+ B- GND D1 D2 GND
(May be labeled GND or )
MOTOR
T3
GND
T2
T1
Control
Terminals
GND
R2
B+/R1
T3
T2
T1
DB Terminals
Optional
Dynamic Brake
R2
R1
(RGA)
“ER” suffix
R2 B+/R1 B- GND
50/60 Hz
3 Phase
Power
Optional Customer Supplied
Breaker or Fuse Protection -
Subject to Local Codes
L3
L2
L1
GND
See recommended Terminal Tightening Torques in Section 7.
Figure 3-20 Wiring for RBA Assembly (–EO, –MO) Figure 3-21 Wiring for RTA Assembly (–EO, –MO)
DB Assembly
Terminals
D1
D2
Dynamic Brake
B-
B+
Optional
(RTA)
R2R1
R2R1
Optional
RGA
Assembly
(May be labeled GND or )
MOTOR
T3
GND
T2
T1
50/60 Hz
3 Phase
Power
Optional Customer Supplied
Breaker or Fuse Protection -
Subject to Local Codes
Control
Terminals
D1
D2
GND
B-
B+
T3
T2
T1
L3
L2
L1
GND
Shielded
Twisted Pair
DB Assembly
Terminals
D1
D2
Dynamic Brake
B-
B+
Optional
(RBA)
Note: Although not shown, metal
conduit should be used to shield all
power wires and motor leads.
See recommended Terminal
Tightening Torques in Section 7.
(May be labeled GND or )
MOTOR
T3
GND
T2
T1
50/60 Hz
3 Phase
Power
Optional Customer Supplied
Breaker or Fuse Protection -
Subject to Local Codes
Control
Terminals
D1
D2
GND
B-
B+
T3
T2
T1
L3
L2
L1
GND
Shielded
Twisted Pair
See recommended Terminal
Tightening Torques in Section 7.
3-18 Receiving & Installation MN723
Control
Assembly
Control Terminals
See recommended
Terminal Tightening
Torques in Section 7.
The RUA Dynamic Brake assembly is designed for controls that have built in dynamic
brake hardware. Be sure to disconnect the internal resistor wires from control terminals.
These factory installed wires must be removed and the wire ends insulated with electrical
tape to prevent contact with other components. The braking capability may also need to
be disabled in software. For Baldor controls, reduce the resistor ohms to the lowest value
and increase the resistor watts to greatest value. Be sure to select the proper size kit
based on the dissipation rating of the resistor(s) to handle the average watts of the
overhauling or cyclic load.
Figure 3-22 Wiring for RUA Assembly
Use Baldor cables:
LD5157A05 – 5 Ft.
LD5157A10 – 10 Ft.
LD5157A20 – 20 Ft.
LD5157A30 – 30 Ft.
LD5157A50 – 50 Ft.
GND
B–B+/R1R2
NC Thermal
NC Thermal
Chassis must be
grounded to Earth.
B+
S+
No Connection
S–
B–
200°C Thermal Switch
Normally Closed contact
(mounted on chassis).
Dynamic
Brake
Assembly
Note: Sense lines S+ and S– must be shielded, twisted pair wire.
Terminate shields at control end only.
Table 3-6 Terminal Torques & Wire Size for RUA Assemblies
Braking
Control
Rating
VAC
VAC
Braking
Option
Watts
Max.
AWG mm
230 746 16 1.31 300 9 1 20 0.51 300 9 1
230 1492 16 1.31 300 9 1 20 0.51 300 9 1
230 1865 16 1.31 300 9 1 20 0.51 300 9 1
230 2238 14 2.08 300 9 1 20 0.51 300 9 1
230 3730 14 2.08 300 9 1 20 0.51 300 9 1
230 5600 14 2.08 300 9 1 20 0.51 300 9 1
460 746 16 1.31 600 9 1 20 0.51 600 9 1
460 1492 16 1.31 600 9 1 20 0.51 600 9 1
460 1865 16 1.31 600 9 1 20 0.51 600 9 1
460 2238 16 1.31 600 9 1 20 0.51 600 9 1
460 3730 14 2.08 600 9 1 20 0.51 600 9 1
460 5600 14 2.08 600 9 1 20 0.51 600 9 1
B+ and B– Terminals S+ and S– Terminals
Shielded
Wire Size
AC
Volt
2
Tightening
Torque
Lb–in Nm AWG mm
Shielded
Wire Size
See recommended Terminal Tightening
Torques and wire sizes in Table 3-6.
AC
Volt
2
Tightening
Torque
Lb–in Nm
Receiving & Installation 3-19MN723
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