Contents
LinStep+ Dual-Axis Microstepping Indexer/Driver
Table of Contents
Arithmetic Operands and Equations
Other Programming Samples Ii Table of Contents MN1854
Increment/Decrement Variables
Troubleshooting Serial Communications Problems
Iv Table of Contents MN1854
Section General Information
Limited Warranty
CE Compliance
Could result in injury or death
Product Notice Intended use
Could result in damage to property
On next 2General Information MN1854
Connection before you first ensure that power has been
Do not touch any circuit board, power device or electrical
Do not apply AC power before you ensure that grounds are
Voltages that are conducted to its power input terminals.
Instead, we recommend using a four wire Wye
Extend more than 0.2 5 into keypad assembly
Power is removed from the drive
Driver should have specifications compatible to the drive
Overview
Section Product Overview
Motors
Product Overview MN1854
Power Dissipation
Section Receiving and Installation
Mechanical Installation
Receiving & Inspection
GND
2Receiving & Installation MN1854
System Grounding Ungrounded Distribution System
Input Power Conditioning
Power Connections Power connections are shown in Figure
Wire Size and Protection Devices
4Receiving & Installation MN1854
Connection Locations 115VAC, 2 Axis
MN1854 Receiving & Installation
Tools Required
6Receiving & Installation MN1854
RS-232 PC Connections
9 & 25 Pin RS-232 Cable Connections for UL Installations
Daisy Chain Connections
8Receiving & Installation MN1854
Rules for Daisy Chain Operation
PC / Host Device
Optional Opto I/O Connections
Programmable I/O Connections
These input connections are made at terminals 6-40 Figure
Typical connection each input
Encoder Signal PVS100 Danaher 9-Pin D
10Receiving & Installation MN1854
Encoder Color Code
+5VDC
LD9068A00 Leadwire Connection 9 pin to flying leads
Motor Connector
Interlock Intlk
Ground GND
Power Off Checks
Start-Up Procedure
Switch and Potentiometer Settings
Section General Information
Action Display Comments
Power On Checks
Motor should now be producing torque
High
Receiving & Installation MN1854
Overview
Section Keypad Operation
Keypad layout with the LCD display is shown in Figure
F1, F2, F3
Copies one program to another within the LinStep+
Comma
Decimal Point
Alpha
Thus eliminating the need for a PC terminal connection
Test
Trace Output Move
Shutdn RS232 Encoder
Pressing the Edit key displays a set of sub-menus
Edit Menu
Edit an existing program
Save the program
6Keypad Operation MN1854
Save Program? YesNo
Example of Naming a Program
Naming a program
Press ESC. You will be prompted as shown in Figure
Mine AC.3 VE2 DI1 GO
Use the =O keys for additional alpha characters
Entering Characters with the Alpha Key In edit mode
8Keypad Operation MN1854
Submenu Setup Parameter Description of Setup Parameter
Edit, Setup Submenu
Press EDIT, ↓ , List to
Press EDIT, POS F3 Press YES F1 or no F3
Display the number
Programs stored Press ↓ to display the total
Pressing Help in Menus and Sub-Menus
Pressing Help in the Main Menu
Pressing Help In the Program Edit function
Sequentially Eeprom message disappears
Enter the program number. Or, if
COPY, to PAD Submenu
You wish, you can scroll the list
Program names
Procedure Format Definition
Section Setup
Axis One Motor Type Steper
Setup MN1854
Axis One Drive Res
Axis One Motor Dir
Open Loop
Axis One ENC Mode
Application Notes
Axis One Encoder RES ↑5000 cnts/in ↓
Value
IN-RANGE Setup Window
IN-RANGE Window
PM Gain
Mech Setup
Configure Your Application Mechanics
Dist
Vmax Accel Amax
Edit
Axis One Vel Units In/s
Axis One MAX Vel
500.0 in/s ↓→
Iuuuuuuu ←↑↓→
Configure the I/O
Char Keypad Display Input Character Description
Service routine program
Inputs will work. See the RG command for more details
To summarize, when INT98CTRL=1
Reset to 1. This allows for input debounce and controlling
Power-up program, if defined, will start
Warm Boot
Jog Speed
Inputs
OUT1 Programmable Pppppppp ←↑↓→
OPTO9 Input
Configure the Output States
Iiiiiiii
OFF
Configure JOG Parameters
Configure End of Travel Switch Polarity
Enable
Accel LO-VEL HI-VEL
Mode Edge Switch
Configure Home Parameters
Offset DIR
Negative
↑SETUP↓
Configure Power-up Program
Power Up Program PROGRAM0
Axis One Final Dir Positive
RS232C Setup
Configure Serial Communications
↑ Enabled ↓
Echo UNIT#
Data Type Description of Display Data Type
Configure Miscellaneous Setup Parameters
Password Setup
General Password Rules
Opratr Admin Clear
Password Type Description Gives access to these menus
Section Keypad Programming
Keypad Program Command List
Acceleration Start Home Outputs On/Off
Function Key Message to Display
Value Units Range
Keypad Programming MN1854
Example
AC2 DE.5 VE12 DA3 GO DA3 GO DA3 GO
DC Distance to Change
DCn * DCn*1 * Vn*1 2* Vnt w
Example Distance to Change
Examples of DC move profiles, AC = seconds, VE=ips
DC n + 10 +
AC.1 VE60 DI2 GO DI1 GO DI-4 GO
DE Deceleration
LP2 DI3 GO EB
Value Units Range N/A
IF2,1 EN EB DI2 GO
=26 =27 =28
=12 =13 =17 =18 =22 =23
RUN Edit
Copy DEL
Example 3-Screen Menu Program
GH Start Home
Set in Edit Setup Mech Accel VEL
Value N/A Units N/A Range N/A
Go Immediate Syntax GI or GIi
Value N/A Units N/A Range i=1-16
GO Go Start a Move Syntax GO or GOi
AC.05 DE.05 VE50 DI5 GO
VE2 AC.1 DA4,2 GP
=1-400, name = any legal program name
Gosub Syntax GSi and GSname
IF10 Gtpart a EB
If input 1 is on and input 2 is off, jump to program Part a
IFPARTS=25 GS20 EB
Units Range
Lppieces
IV12,LENGTH
Dilength
Value Units N/A Range N/A
Syntax LPi LP Loop
Syntax MC+ MC Move Continuous
Move Continuous
27 7th character, 2nd row
MS27,COUNT
Gthome
Powerup ONL,GTON EOT
Main
VE5 DA20 GO
=0 input high. X=1 input low grounded
= starting output number
=anything else ignore input changes
OT4,1 Turn on Output OT2,0D1
Syntax RGr RG Registration
Value N/A Units N/A
SQRESULT=0 SQ27.96,SQRESULT
ST1 AC1 DE1 VE25 DA6 GO VE50 DA0 GO EN
Value N/A Units seconds
WTexpression
Syntax VEr VE Velocity
= starting input number
Helpful Hints Programming your application
Summary of Expressions, Operators and Functions
Programming Overview
Program
Example of Hosted Mode
Variable Names
Built-in Variables
Examples of how to use Built-in Variables
Variable Name Description of Built-in Variable Type
Using Built-in Variable Arowrel
Parts
Non-Volatile Variables
Lpnumber
Arithmetic Operands and Equations
AO15=VOLTAGE + Error
Examples of incorrect use
Instead, you should use
Increment/Decrement Variables
Logical Operators
Expressions
Other Programming Samples
Create a Message and Read an Input Variable
Setting an Output=On on-the-fly
Create a Menu menu display on keypad display for operator
Reading an Analog Input Value
Read a 4 Digit BCD number, 2 Digits at a time
GET 4 Bcds
Digit BCD=4 Digit BCD+2TW
1Operation Indicators
Section Troubleshooting
2Axis 1 and 2 Indicators
Additional Information General
Additional Information
Troubleshooting MN1854
Serial Communications Problems
Troubleshooting MN1854
MN1854 Specifications & Product Data
Section Specifications & Product Data
Identification
LinStep+ LX 2 P 1 a
Protection & Indicators Description
General Specifications
VAC
VDC
Optional Keypad 10.08 256.0 Axis Driver 148.3
Dimensions
94.7 230.1
Specifications & Product Data MN1854
Section CE Guidelines
Wiring of Shielded Screened Cables
CE Declaration of Conformity
EMC Conformity and CE Marking
CE Guidelines MN1854
EMC Wiring Technique
Cit
Grounding Earth
Cable Screens Grounding
EMC Installation Instructions
Simulated Encoder Output Cable Grounding
Input Signal Cable Grounding
Encoder Cable Grounding
To Controller
Programming Template
Appendix a
MN1854 Appendix A-1
Appendix MN1854
MN1854 Appendix A-3
122.88
Remote Keypad Mounting Template
838
111.25
Baldor Electric Company MN1854 01 C&J
Baldor Electric Company
LinStep+ Dual-Axis Microstepping Indexer/Driver