Baldor MIN1853 - page 41

5-2 Setup MN1853

Configure Motor Adjustments for Current, Waveform, Rest, Idle, Inductance, and Anti–Resonance

can be made while the motor is energized and moving or at rest.

Configuring Motor Type [ MT11 ]

EDIT > SETUP > MOTOR > TYPE > STEPER –↑STEPPER SETUP↓–

CURRENT A–RES INDUCT

Press F1 (CURRENT)

Configuring Motor Current [ MIn ]

EDIT > SETUP > MOTOR > TYPE > STEPER > CURRENT

Value: 2.0 Amps

Range: 0.0 – 8.0 Amps

Axis One Motor Curnt

2.0 Amps

Enter Amps, press ENTER

Note: This parameter sets the motor current for your stepper motor.

Entering a value outside the “Range” will reset the motor

current to 0.0 Amps.

Configuring Anti–Resonance [ ARi ]

EDIT > SETUP > MOTOR > TYPE > STEPER > A–RES

Value: 7

Range: 0–30

– Axis One Anti–Res –

7

Enter value, press ENTER

This parameter sets the anti–resonance gain level for your motor.

For example, entering AR14 sets the anti–resonance gain to 14.

K+log ǒJRotor)JLoad

JRotor Ǔ

0.155

Calculate AR

AR = ARunloaded – K

Where:

Hint: The AR value will decrease as the J load increases. To observe this, reduce the AR

value until the motor begins to hiss – then increasing your AR setting slightly.

Note: ARunloaded will be different for series and parallel motors, because the speed–torque

curve is a component of Break Velocity and Low Speed Motor Torque.

Vb = Break Velocity of Knee of Speed–Torque Curve in RPS

Tm = Low Speed Torque of Motor in Nm

Jr = Unloaded Rotor Inertia in Kg–m2

ARunloaded +(12.987) x logǒ9.3

Vb (Tm * Jr)

ǸǓ

Contents

Main Table of Contents Page Page Page Section 1 General Information CE Compliance Limited Warranty Product Notice Safety Notice Page Page Section 2 Product Overview Figure 2-1 Motion Control with LinStep+ S S Page Section 3 Receiving and Installation Receiving & Inspection Location Considerations Power Dissipation Mechanical Installation Electrical Installation Figure 3-1 Recommended System Grounding for UL Figure 3-2 Recommended System Grounding (1 phase) for CE Power Disconnect Protection Devices Table 3-1 Wire Size and Protection Devices Figure 3-3 115VAC Single Phase AC Power Connections * Figure 3-4 230VAC Single Phase AC Power Connections Receiving & Installation Figure 3-5 Connection Locations (115VAC, 1 Axis) Figure 3-6 Connection Locations (230VAC, 1 Axis) Figure 3-7 Keypad (Nullmodem) Connections Receiving & Installation Figure 3-8 9 & 25 Pin RS-232 Cable Connections for UL Installations Figure 3-9 9 & 25 Pin RS-232 Cable Connections for CE Installations Figure 3-10 Daisy Chain Connection Figure 3-11 9 Pin RS-485 Cable Connections For UL Installations Figure 3-12 9 Pin RS-485 Cable Connections For CE Installations 3-10 Receiving & Installation MN1853 Figure 3-13 RS485 4 Wire Multi-Drop for UL Installations *Terminating resistor TR is 120 W typical value. Only the PC and last control are terminated. Use twisted pair shielded cable with an overall shield. PC / Host Device Figure 3-14 RS485 4 Wire Multi-Drop for CE Installations Discrete I/O Connections Figure 3-15 Opto Isolated Input Connections Figure 3-16 Programmable Output Connections Limits Connections Figure 3-17 Opto Isolated Input Connections Encoder Connections Figure 3-18 Differential Encoder Connections for UL Installations Table 3-2 Encoder Color Code Motor Connections Figure 3-20 Stepper Motor Connections Series Motor Connections Parallel Motor Connections LXOpto 44 and 88 Figure 3-21 OPTO Racks Receiving & Installation Figure 3-22 LXDB25 Converter Figure 3-23 Start-Up Procedure Figure 3-24 Keypad Adjustments Section 4 Keypad Operation . Keypad Operation Overview ESC 0 9 Table 4-1 Run Menu JOG Menu Edit Menu Figure 4-2 New Program Figure 4-3 Figure 4-4 Figure 4-5 Figure 4-6 Figure 4-7 Figure 4-8 Alpha Characters Edit, Setup Submenu Table shows the structure within the EDIT, SETUP submenu. Table 4-2 Edit, Setup Submenu Page HELP Menu COPY Menu DEL Menu Page Section 5 Setup Overview Configure Motor Page 5-4 Setup MN1853 Configure Encoder Setup Configure Your Application Setup 5-8 Setup MN1853 Configure the I/O are defined, it is a good idea to write down the configuration for later reference. Table 5-1 Setup Table 5-1 5-10 Setup MN1853 Table 5-1 Setup Figure 5-1 Table 5-2 Table 5-2 Configure the Optional LXOPTO 44/88 Configure the Output States Setup Configure End of Travel Switch Polarity Configure JOG Parameters 5-14 Setup MN1853 Configure HOME Parameters Setup Configure Powerup Program Configure Serial Communications 5-18 Setup MN1853 Configure Miscellaneous Setup Parameters Table 5-3 Setup Table 5-4 Page Section 6 Keypad Programming Commands Table 6-1 Keypad Program Command List 6-2 Keypad Programming MN1853 Keypad Programming Page Keypad Programming Page Page 6-8 Keypad Programming MN1853 Figure 6-1 Example 3Screen Menu Program Keypad Programming 6-10 Keypad Programming MN1853 Figure 6-2 Keypad Programming (4,2) X Page Keypad Programming 6-14 Keypad Programming MN1853 Page 6-16 Keypad Programming MN1853 Keypad Programming Move Continuous Continued 6-18 Keypad Programming MN1853 Keypad Programming 6-20 Keypad Programming MN1853 Keypad Programming 6-22 Keypad Programming MN1853 Keypad Programming Table 6-2 Summary of Expressions, Operators and Functions Helpful Hints Variables 6-26 Keypad Programming MN1853 Examples of how to use Builtin Variables Using Builtin Variable (AROWREL) NonVolatile Variables Arithmetic Operands and Equations Boolean Operators Logical Operators Increment/Decrement Variables Expressions Other Programming Samples Keypad Programming Create a Message and Read an Input Variable Create a Menu (menu display on keypad display for operator) Fast In, Slow Feed Move (Using the Distance to Change (DC) command) Setting an Output=On (onthefly) 6-32 Keypad Programming MN1853 Read a 4 Digit BCD number, 2 Digits at a time Reading an Analog Input Value Section 7 Troubleshooting Troubleshooting Overview The tables in this section provide information related to the indications provided by these devices. Table 7-1 7-2 Troubleshooting MN1853 Additional Information Serial Communications Problems Page Section 8 Specifications & Product Data Identification General Specifications Dimensions Page Section 9 CE Guidelines CE Declaration of Conformity EMC Conformity and CE Marking Wiring of Shielded (Screened) Cables Page EMC Installation Instructions Cable Screens Grounding 9-4 CE Guidelines MN1853 Input Signal Cable Grounding Simulated Encoder Output Cable Grounding To Controller Encoder Cable Grounding Appendix A Appendix Programming Template A-2 Appendix MN1853 Appendix Remote Keypad Mounting Template