Baldor MN1851 manual Sys.mod Current mode Parameters, Current mode Variables, Current mode Methods

Page 89

Sys.mod 0:

Current mode Parameters:

Command	Description	Units	Range	Default	E2 / Par. set
CUR.BEMF	Back EMF voltage compensation, in	%	80 : 120	100	E / P
	percentage of nominal motor value Ke.

CUR.IPEAK	Queries / updates application peak current	%	0 : 1000	100	E / P
	in percentage of DRV.IPEAK

CUR.INOM	Queries / updates application nominal	%	0 : 500	50	E / P
	current in percentage of DRV.IPEAK

CUR.TOFR	Queries / updates mantissa of Torque		0x0f00 :		E / P
	Optimizer: Phase Advance or BEMF		0x1100
	Compensation

CUR.TOSH	Queries / updates Torque Optimizer Shift		16		E / P
	coefficient
CUR.SCAL	Corresponding current value to analog	0.1 % of	100 : 10000	1000	E / P
	input voltage CUR.VOLT for setting of	CUR.IP
	analog input scaling

CUR.VOLT	Corresponding analog input voltage to	0.1 VEAK	1 : 100	100	E / P
	current value CUR.SCAL for setting of
	analog input scaling

Current mode Variables:

Command	Description	Units	Range	Default	E2 / Par. set
CUR.CUR	Query for actual current command		0 : 65535		E / –
CUR

Current mode Methods:

Command	Description	Parameter	Units	Range
CALC	Calculate current control parameters from MTR., DRV. and	torque	mV	–10000 :
	CUR.* parameters.	equivalent		10000

T	Commanding digital current command (torque equivalent)
TS	Stops current commanded motion (started by T“command”)

B-12 Command Set

MN1851

Image 89

Contents Lin+Drive Servo Control Table of Contents Minimum system requirements Ii Table of Contents MN1851Appendix B 24VDC Logic Power InputAppendix a Iv Table of Contents MN1851 CE Compliance Limited WarrantySection General Information Could result in injury or death Product Notice Intended useCould result in damage to property General Information MN1851Connection before you first ensure that power has been Do not touch any circuit board, power device or electricalDo not apply AC power before you ensure that grounds are Voltages that are conducted to its power input terminals.General Information MN1851 Section Product Overview Encoder Output Control OutputsMechanical Installation Section Receiving and InstallationGND Receiving & Installation MN1851Control Recommended System Grounding 1 phase for CE Recommended System Grounding 1 phase for ULSystem Grounding Ungrounded Distribution System Input Power ConditioningX1 Power Connections Wire Size for units without Power SupplyBreaker Mm2Baldor Control Components not provided with ControlBaldor Breaker EarthBaldor Option S Option P Control Regen Resistor Baldor Option P ControlLPxAxxxx-xxx3 only ImportantEnclosure are for cable clamps. Be sure Holes in the top and bottomTo use an M4 bolt 12mm in length Longer bolts may short circuit12 Motor Connections for CE 11 Motor Connections for UL13 Optional M-Contactor Connections X3 Control Inputs & Digital I/O Connections Control Input WiringSingle Ended Connection Differential Connection X3 Digital Inputs Opto Isolated Inputs uses CrefSignal Name Opto Input Signal Definition Opto Input Signal ConditionsTime Required Duration Process DurationFault Relay Opto Output Signal ConditionsX3 Digital Outputs MaO1Null Modem Cable Connections X6 RS232 / 485 ConnectionsControl TXD ComputerWhere are these resistors placed? What is a termination resistor?RS485 How many resistors should my system have?TX+ Dgnd GND = Twisted PairTX+ RX+ Dgnd TX+ RX+ Dgnd GNDX7 Pin Signal Name Buffered Encoder Output at X7 ConnectorX7 Encoder Output ReservedX9 Encoder and Hall Feedback LPxAxxxx-Exxx Switch AS1 Settings Section Switch Setting and Start-UpControl Address Setting Address Setting, AS1-1 to AS1-4 for Multi-Drop ApplicationsSwitch Function Setting of switches AS1-5 to AS1-8Offset Tuning AS1-5 to AS1-8 DescriptionPower Off Checks Start-Up ProcedurePower On Checks ProcedureSwitch Setting & Start-Up MN1851 Section Operation Installing Software on your PCHost Communications Setup Windows NT WindowsUsing The Setup Wizard Operation MN1851 Flowchart of the Setup WizardPage Motor parameters. Click Download when finished There are 7 parts to the setup procedure MotorEncoder Feedback Motor pitch mm 60.96 Encoder FeedbackEncoder Feedback Lmcf All Micron Counts / meter Counts / mmOperating Mode Operating Mode Selection ScreenMN1851 Operation Current ParameterMAI4 MAI3 MAI2 MAI1 Software TriggeredIndex channel, Capture and Actual Position Procedure to define home positionHome Drift Set this value. Click Download when finishedMain Menu Choice Descriptions SetupFile EditWatch TuningFunctions MotionHelp PLC Program MenuMeters/second Velocity Parameters RPM m/sLinear Motor 1Operating Mode Indications Section TroubleshootingMN1851 Troubleshooting OverviewLong as the error is less than ± 215 ± Identification Section Specifications & Product DataTo 3300 feet 1000 meters. Derate the continuous Specifications+0 to 40. Above 40 C, derate the continuous and peak Output current by 2.5% per C above 40 C. MaximumDescription Unit Peak output current by 1.1% for each 330 feet24VDC Logic Power Input Option LP4Axxxx-xxx3 only 24VDC Logic Power Input Option LPxAxxxx-xxx3 onlySpecifications & Product Data MN1851 Velocity ControlRegeneration Encoder Input FeedbackClearance Requirements all sizes 0.06″ 15mm top and bottom DimensionsSize A, B and C Section CE Guidelines Wiring of Shielded Screened CablesCE Declaration of Conformity EMC Conformity and CE MarkingGrounding Earth EMC Wiring TechniqueCE Guidelines MN1851 Cable Screens Grounding EMC Installation InstructionsSimulated Encoder Output Cable Grounding Input Signal Cable GroundingEncoder Input Cable Grounding To ControllerConnectors Section Accessories and OptionsMating Connector by connector number for spare parts CablesAccessories & Options MN1851 AC Filter DimensionsDepth = F Fo rPackage Regeneration ResistorAccessories & Options MN1851 Tools are available to make tuning easier, such as Appendix a Manual TuningGeneral Tuning Rules Manual TuningParameters. Click Download when finished There are 7 parts to the setup procedureManual Tuning MN1851 Motor15240 000,000 10,000,000 Figure A-13 Current Parameter Screen Figure A-15 Drift Parameter Screen Figure A-14 Velocity Parameter Screen DriftFigure A-16 Select Manual Tuning Tracking factor Figure A-17 Inertia and Load Response ExamplesFigure A-18 PI Compensation Menu Page Control Window Plotting of MoveGraphic Screen Jog BlockLin Ascii Command Set General Appendix B Command SetSyntax General structure of the Ascii command MN1851 Command Set B-1Encoder Pulses/rev ResolutionParameters and Units Execution Error invalid command Start-up with Terminal Communication and Command ExamplesInput Buffer Overflow command line exceeded 80 char Control Design Failure invalid control designCommand Set MN1851 General Settings System ConstantsBasic System Parameters Motor Parameters MTR. prefixed Drive Parameters typical DRV. prefixedVariables None Software Limit Switches Methods Software Limit Switches ParametersMN1851 Command Set B-5 Command Description Units Range Default E2 / Par. setVariables None PLC Methods PLC ParametersPLC.LINE RelayOCI Interface Parameters MN1851 Command Set B-7Digital Interface Parameters Analog Interface ParametersSystem Variables General Variables Queries / modifications of Fault Listing VariablesX1 Possible Faults X1 Fault Display Description MN1851 Command Set B-9 Communication Settings ParameterMethods VariableData Record REC. prefixed Variable Queries of System Variables, Status, Faults Single ValuesData Record REC. prefixed Parameters Memory related methods Queries / modifications RAM related Operation Mode Control Normal Modes ParametersEeprom related Normal Modes VariablesCurrent mode Variables Sys.mod Current mode ParametersCurrent mode Methods Query for actual current commandVelocity mode Variables Sys.mod 1 & Sys.mod Velocity mode ParametersVelocity mode Methods MN1851 Command Set B-13JOG.TIME Jog ParametersJOG.TYPE JOG.VELVariables MN1851 Command Set B-15Position Controller Position Controller Parameters HW.GRSH HW.GRFXHW.PLC HW.RES Baldor Electric Company MN1851 10/00 C&J Baldor Electric CompanyLin+Drive Servo Control MN1851