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