Lin+Drive Servo Control
 Table of Contents
 Ii Table of Contents MN1851
Minimum system requirements
 Appendix a
24VDC Logic Power Input
Appendix B
 Iv Table of Contents MN1851
 Section General Information
Limited Warranty
CE Compliance
 Could result in damage to property
Product Notice Intended use
Could result in injury or death
General Information MN1851
 Do not apply AC power before you ensure that grounds are
Do not touch any circuit board, power device or electrical
Connection before you first ensure that power has been
Voltages that are conducted to its power input terminals.
 General Information MN1851
 Section Product Overview
 Control Outputs
Encoder Output
 Section Receiving and Installation
Mechanical Installation
 Control
Receiving & Installation MN1851
GND
 Recommended System Grounding 1 phase for UL
Recommended System Grounding 1 phase for CE
 Input Power Conditioning
System Grounding Ungrounded Distribution System
 Breaker
Wire Size for units without Power Supply
X1 Power Connections
Mm2
 Baldor
Components not provided with Control
Baldor Control
 Baldor Option S Option P Control Regen Resistor
Earth
Breaker
Baldor Option P Control
  Important
LPxAxxxx-xxx3 only
 To use an M4 bolt 12mm in length
Holes in the top and bottom
Enclosure are for cable clamps. Be sure
Longer bolts may short circuit
 11 Motor Connections for UL
12 Motor Connections for CE
 13 Optional M-Contactor Connections
 Single Ended Connection Differential Connection
Control Input Wiring
X3 Control Inputs & Digital I/O Connections
X3 Digital Inputs Opto Isolated Inputs uses Cref
 Opto Input Signal Conditions
Signal Name Opto Input Signal Definition
 Process Duration
Time Required Duration
 X3 Digital Outputs
Opto Output Signal Conditions
Fault Relay
MaO1
 Control TXD
X6 RS232 / 485 Connections
Null Modem Cable Connections
Computer
 RS485
What is a termination resistor?
Where are these resistors placed?
How many resistors should my system have?
 TX+ RX+ Dgnd
= Twisted Pair
TX+ Dgnd GND
TX+ RX+ Dgnd GND
 X7 Encoder Output
Buffered Encoder Output at X7 Connector
X7 Pin Signal Name
Reserved
 X9 Encoder and Hall Feedback LPxAxxxx-Exxx
 Control Address Setting
Section Switch Setting and Start-Up
Switch AS1 Settings
Address Setting, AS1-1 to AS1-4 for Multi-Drop Applications
 Offset Tuning
Setting of switches AS1-5 to AS1-8
Switch Function
AS1-5 to AS1-8 Description
 Power On Checks
Start-Up Procedure
Power Off Checks
Procedure
 Switch Setting & Start-Up MN1851
 Host Communications Setup
Installing Software on your PC
Section Operation
 Windows
Windows NT
 Using The Setup Wizard
 Flowchart of the Setup Wizard
Operation MN1851
Page
 There are 7 parts to the setup procedure Motor
Motor parameters. Click Download when finished
 Encoder Feedback
Encoder Feedback
Encoder Feedback Motor pitch mm 60.96
Lmcf All Micron Counts / meter Counts / mm
 Operating Mode Selection Screen
Operating Mode
 Current Parameter
MN1851 Operation
 Software Triggered
MAI4 MAI3 MAI2 MAI1
 Home
Procedure to define home position
Index channel, Capture and Actual Position
 Set this value. Click Download when finished
Drift
 File
Setup
Main Menu Choice Descriptions
Edit
 Functions
Tuning
Watch
Motion
 PLC Program Menu
Help
 Linear Motor
Velocity Parameters RPM m/s
Meters/second
 MN1851 Troubleshooting
Section Troubleshooting
1Operating Mode Indications
Overview
 Long as the error is less than ± 215 ±
 Section Specifications & Product Data
Identification
 +0 to 40. Above 40 C, derate the continuous and peak
Specifications
To 3300 feet 1000 meters. Derate the continuous
Output current by 2.5% per C above 40 C. Maximum
 Peak output current by 1.1% for each 330 feet
Description Unit
 Specifications & Product Data MN1851
24VDC Logic Power Input Option LPxAxxxx-xxx3 only
24VDC Logic Power Input Option LP4Axxxx-xxx3 only
Velocity Control
 Encoder Input Feedback
Regeneration
 Size A, B and C
Dimensions
Clearance Requirements all sizes 0.06″ 15mm top and bottom
 CE Declaration of Conformity
Wiring of Shielded Screened Cables
Section CE Guidelines
EMC Conformity and CE Marking
 CE Guidelines MN1851
EMC Wiring Technique
Grounding Earth
 EMC Installation Instructions
Cable Screens Grounding
 Encoder Input Cable Grounding
Input Signal Cable Grounding
Simulated Encoder Output Cable Grounding
To Controller
 Mating Connector by connector number for spare parts
Section Accessories and Options
Connectors
Cables
 Depth = F
AC Filter Dimensions
Accessories & Options MN1851
Fo r
 Regeneration Resistor
Package
 Accessories & Options MN1851
 General Tuning Rules
Appendix a Manual Tuning
Tools are available to make tuning easier, such as
Manual Tuning
 Manual Tuning MN1851
There are 7 parts to the setup procedure
Parameters. Click Download when finished
Motor
 15240 000,000 10,000,000
 Figure A-13 Current Parameter Screen
 Figure A-14 Velocity Parameter Screen Drift
Figure A-15 Drift Parameter Screen
 Figure A-16 Select Manual Tuning
 Figure A-17 Inertia and Load Response Examples
Tracking factor
 Figure A-18 PI Compensation Menu
Page
 Graphic Screen
Plotting of Move
Control Window
Jog Block
 Syntax General structure of the Ascii command
Appendix B Command Set
Lin Ascii Command Set General
MN1851 Command Set B-1
 Parameters and Units
Pulses/rev Resolution
Encoder
 Input Buffer Overflow command line exceeded 80 char
Start-up with Terminal Communication and Command Examples
Execution Error invalid command
Control Design Failure invalid control design
 Basic System Parameters Motor Parameters MTR. prefixed
General Settings System Constants
Command Set MN1851
Drive Parameters typical DRV. prefixed
 MN1851 Command Set B-5
Software Limit Switches Parameters
Variables None Software Limit Switches Methods
Command Description Units Range Default E2 / Par. set
 PLC.LINE
PLC Parameters
Variables None PLC Methods
Relay
 Digital Interface Parameters
MN1851 Command Set B-7
OCI Interface Parameters
Analog Interface Parameters
 X1 Possible Faults X1 Fault Display Description
Queries / modifications of Fault Listing Variables
System Variables General Variables
 Methods
Communication Settings Parameter
MN1851 Command Set B-9
Variable
 Data Record REC. prefixed Parameters
Queries of System Variables, Status, Faults Single Values
Data Record REC. prefixed Variable
 Eeprom related
Operation Mode Control Normal Modes Parameters
Memory related methods Queries / modifications RAM related
Normal Modes Variables
 Current mode Methods
Sys.mod Current mode Parameters
Current mode Variables
Query for actual current command
 Velocity mode Methods
Sys.mod 1 & Sys.mod Velocity mode Parameters
Velocity mode Variables
MN1851 Command Set B-13
 JOG.TYPE
Jog Parameters
JOG.TIME
JOG.VEL
 Position Controller Position Controller Parameters
MN1851 Command Set B-15
Variables
 HW.PLC
HW.GRFX
HW.GRSH
HW.RES
 Baldor Electric Company
 Baldor Electric Company MN1851 10/00 C&J
 Lin+Drive Servo Control MN1851