Baldor 29M Installation And Operating Manual Download

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Series 29M

Servo Control

Installation & Operating Manual

1/98

MN1230

AC SERVO DRIVE

Summary of Contents for 29M

Page 1: ...Series 29M Servo Control Installation Operating Manual 1 98 MN1230 AC SERVO DRIVE...

Page 2: ...tions 3 6 Motor Connections 3 6 Dynamic Brake Resistor 3 6 Resolver Feedback 3 8 Simulated Encoder Output 3 9 Control Circuit Connections 3 10 Active High Low Description 3 11 Keypad Mode 3 12 Standar...

Page 3: ...splay Contrast Adjustment 5 2 How to Access the Fault Log 5 4 How to Clear the Fault Log 5 4 How to Access Diagnostic Information 5 5 Electrical Noise Considerations 5 12 Causes and Cures 5 12 Special...

Page 4: ...ations 7 2 Keypad Display 7 3 Differential Analog Input 7 3 Analog Outputs 7 4 Digital Inputs 7 4 Digital Outputs 7 4 Diagnostic Indications 7 4 DB Resistor Selection 7 5 Terminal Tightening Torque Sp...

Page 5: ...Section 1 General Information iv Table of Contents MN1230...

Page 6: ...container and remove all packing materials The container and packing materials may be retained for future shipment 3 Verify that the part number of the control you received is the same as the part nu...

Page 7: ...Section 1 General Information 1 2 Receiving Inspection MN1230...

Page 8: ...a shaft mounted resolver A keypad interface is used to program the Series 29M parameters to customize your application The keypad is used to program the control parameters set the mode of operation mo...

Page 9: ...tion and removal inconvenience or consequential damage including injury to any person or property caused by items of our manufacture or sale Some states do not allow exclusion or limitation of inciden...

Page 10: ...us voltage is present within the control Remove input power and wait at least 5 minutes for the residual voltage in the bus capacitors to dissipate WARNING Be sure all wiring complies with the Nationa...

Page 11: ...amage be certain that the input power has correctly sized protective devices installed as well as a power disconnect CAUTION Avoid locating control immediately above or beside heat generating equipmen...

Page 12: ...ective cooling and maintenance the control should be mounted on a smooth non flammable vertical surface The amount of heat generated within the control can be calculated based on Table 3 1 2 At least...

Page 13: ...marked A and the large knockout marked B 4 Drill four 29 mounting holes A Thread each hole using an 8 32 tap 5 Locate the 1 1 4 knockout center B and punch using the manufacturers instructions 6 Debu...

Page 14: ...A power disconnect should be installed between the input power service and the control for a fail safe method to disconnect power The control will remain in a powered up condition until all input powe...

Page 15: ...rs Max Line Short Circuit Current Catalog Numbers Max Line Short Circuit Current SD29M1A02 PR 150 SD29M2A02 PR 150 SD29M1A05 PR 300 SD29M2A05 PR 300 Table 3 4 Input Current Requirements 230VAC 460VAC...

Page 16: ...omponents not provided with Control See Recommended Tightening Torques in Section 7 Note 2 Note 1 Optional RC Device Electrocube RG1781 3 7 8 9 M Enable J1 M Contactor To Power Source Rated Coil Volta...

Page 17: ...e the main M Contacts open This will prevent contact arcing and allows use of IEC rated contacts 1 Connect the U terminal of the 29M to the U motor lead 2 Connect the V terminal of the 29M to the V mo...

Page 18: ...9 8VDC 5 RCV 10 DGND J1A Analog I O 1 AGND 5 ANA IN 2 2 ANA IN 1 6 ANA OUT1 3 Reference 7 ANA OUT2 4 ANA IN 2 J1B J1B Digital I O 8 Enable 18 N C 9 FWD CMD 19 CREF OPTO IN 10 REV CMD 20 OUT1 11 IN1 21...

Page 19: ...must be separated from power wiring Separate parallel runs of resolver and power cables by at least 3 Cross power wires at right angles only Insulate or tape ungrounded end of shields to prevent conta...

Page 20: ...ill provide 4096 ppr with one index marker CHC per revolution It is recommended that this output only drive one output circuit load Driving multiple loads is not recommended Figure 3 5 Simulated Encod...

Page 21: ...e Multi INP e g 2 wire control mode 3 Wire Multi INP e g 3 wire control mode Serial Bipolar Speed or Torque Mode e g 10VDC 5VDC or 4 20mA Process Mode External devices are connected at the AC Servo Co...

Page 22: ...at 24VDC 10VDC to 30VDC Active Low If pin 19 is at 24VDC 10VDC to 30VDC an input is active when it is grounded Figure 3 6 Active HIGH LOW Relationship Active Low Active High GNDext Sink 24VDC GND Vex...

Page 23: ...required 1 The External Trip Opto Input at J1B 16 is active if the Level 2 PROTECTION block EXTERNAL TRIP parameter is set to ON If the Level 2 PROTECTION block EXTERNAL TRIP parameter is programmed O...

Page 24: ...in this section 2 Refer to Opto Isolated Outputs description in this section ENABLE Refer to Figure 3 17 N C Vext Customer Supplied 24VDC Source N C GNDext CREF J1B 8 CLOSED allows current to flow in...

Page 25: ...the input 0 5VDC 0 10VDC or 4 20mA The Opto inputs can be switches as shown in Figure 3 8 or logic signals from another device The External Trip Opto Input at J1B 16 is active if connected as shown a...

Page 26: ...J1B 8 CLOSED allows current to flow in the motor and produce torque OPEN disables the control and motor coasts to a stop J1B 9 Momentary CLOSED starts motor operation in the Forward direction In JOG m...

Page 27: ...d inputs at J1B 11 through J1B 14 allow selection of 15 preset speeds and provide Fault Reset as defined in Table 3 5 Table 3 5 Switch Truth Table for 15 Speed 2 Wire Control Mode Function J1B 11 J1B...

Page 28: ...e 3 17 N C Vext N C GNDext Customer Supplied 24VDC Source J1B 8 CLOSED allows current to flow in the motor and produce torque OPEN disables the control motor coasts to a stop J1B 9 CLOSED operates the...

Page 29: ...selects Start Stop and Reset commands from the terminal strip OPEN selects Start Stop and Reset commands from keypad J1B 13 CLOSED selects terminal strip speed source Level 1 Input block Command Sele...

Page 30: ...J1B OUT 2 OUT 3 OUT 3 OUT 4 OUT 4 OUT 1 OUT 2 OUT 3 OUT 4 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 Note 3 Refer to Figure 3 17 5kW Command Pot or 0 10VDC Note 2 Note 1 5VDC 10VDC or 4...

Page 31: ...top and Reset commands from keypad J1B 13 CLOSED selects terminal strip speed source Level 1 Input block Command Select OPEN selects speed command from Keypad Note When changing from keypad to termina...

Page 32: ...2 OUT 3 OUT 3 OUT 4 OUT 4 OUT 1 OUT 2 OUT 3 OUT 4 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 Note 3 Refer to Figure 3 17 5kW Command Pot or 0 10VDC Note 2 Note 1 5VDC 10VDC or 4 20mA P...

Page 33: ...tically save parameter values 2 Set switches J1B 13 closed and J1B 14 open Parameter Table 1 Be sure switches J1B 9 and J1B 10 are OPEN J1B 8 is CLOSED Use the keypad and enter all parameter values an...

Page 34: ...solated Outputs description in this section J1B 8 CLOSED allows current to flow in the motor and produce torque OPEN disables the control motor coasts to a stop J1B 9 CLOSED to enable operation in the...

Page 35: ...nt is a keypad programmed parameter value To program a fixed setpoint do the following i Set the Level 2 Process Control block Setpoint Source parameter to Setpoint CMD ii Set the Level 2 Process Cont...

Page 36: ...ntrol Block Diagram COMMAND SELECT Available sources are Potentiometer 10 Volts 5 Volts 4 TO 20 mA 10 V w Torq FF EXB Pulse FOL 5V EXB 10V EXB 4 20mA EXB Serial None Available sources are Potentiomete...

Page 37: ...imes Note Only one expansion board may be installed Specific Process Mode Outputs Process Mode Only Analog Monitoring Outputs Name Description Process FDBK Process Feedback scaled input Useful for obs...

Page 38: ...tion 3 Refer to Opto Isolated Outputs description in this section CREF N C Vext N C GNDext Customer Supplied 24VDC Source J1B 8 CLOSED allows current to flow in the motor and produce torque OPEN disab...

Page 39: ...to J1A 3 Pot Reference 2 Connect the wiper of the pot to J1A 2 The voltage across terminals J1A 1 and J1A 2 is the speed command input 3 A 0 10VDC speed command signal may be connected across J1A 1 a...

Page 40: ...umper Locations JP1 1 2 3 1 1 Table 3 8 Jumper Positions Jumper Jumper Position Description of Jumper Position Setting JP1 1 2 Voltage Command Signal Factory Setting 2 3 4 20mA Command Signal Note Ear...

Page 41: ...th no power available from the contact If the motor thermostat or overload relay activates opens the J1B 16 connection the control will automatically shut down and give an External Trip fault Connect...

Page 42: ...siderations in Section 5 of this manual 1 Connect OPTO OUT 1 wires to J1B 20 and J1B 21 2 Connect OPTO OUT 2 wires to J1B 22 and J1B 23 3 Connect OPTO OUT 3 wires to J1B 24 and J1B 25 4 Connect OPTO O...

Page 43: ...he control is connected to earth ground 4 Check all signal wiring for accuracy 5 Be certain all brake coils contactors and relay coils have noise suppression This should be an R C filter for AC coils...

Page 44: ...EEDS Preset is One 6 At the Level 2 Motor Data block go to CALC Presets and select YES using the Y key Press ENTER and let the control calculate the preset values for the parameters that are necessary...

Page 45: ...Section 1 General Information 3 34 Installation MN1230...

Page 46: ...ontrol is in the local mode all other external commands to the J1B terminal strip will be ignored with the exception of the external trip input DISP Press DISP to return to display mode from programmi...

Page 47: ...ollowing pages Adjusting Display Contrast When AC power is applied to the control the keypad should display the status of the control If there is no visible display use the following procedure to adju...

Page 48: ...ey Display mode showing overload current remaining Press DISP key Display mode showing opto inputs outputs state 0 Open 1 Closed Opto Inputs states Left Opto Outputs states Right Press DISP key Displa...

Page 49: ...fault To access the fault log perform the following procedure Action Description Display Comments Apply Power Logo display for 5 seconds Display mode showing motor speed Display mode Press DISP key P...

Page 50: ...yed with an L the value is locked and the security access code must be entered before its value can be changed Parameter Blocks Access for Programming Use the following procedure to access parameter b...

Page 51: ...5 seconds If no faults and programmed for LOCAL operation Display mode Stop LED on Press PROG key Access programming mode Press Y or B key Scroll to Level 1 Input Block Then press ENTER to access Inpu...

Page 52: ...rammed for LOCAL operation Display mode Stop LED on Press PROG key Enter program mode Press Y or B key Scroll to Level 2 Blocks Press ENTER key Select Level 2 Blocks Press Y or B key Scroll to the Mis...

Page 53: ...ENTER key Select Miscellaneous block Press Y key Scroll to Factory Settings parameter Press ENTER key Access Factory Settings parameter V represents blinking cursor Press Y key Scroll to YES to choos...

Page 54: ...eset Speed 8 Output Custom Units Process Feedback Preset Speed 9 Opto Output 1 Decimal Places Process Inverse Preset Speed 10 Opto Output 2 Value at Speed Setpoint Source Preset Speed 11 Opto Output 3...

Page 55: ...0 represents no S and 100 represents full S with no linear segment Note Accel 1 Decel 1 and S Curve 1 are associated together Likewise Accel 2 Decel 2 and S Curve 2 are associated together These assoc...

Page 56: ...ed Current loop allows long cable lengths without attenuation of the command signal Note JP1 jumper on the main control board must be in the correct position for current or voltage operation Refer to...

Page 57: ...when control is within the tolerance band Over Temp Warn Active when control heatsink temperature is within 3 C of the INT Overtemp value Process Error Active when the process feedback signal is outsi...

Page 58: ...g control problems Direct Voltage 0 10VDC represents flux controller output Useful to troubleshoot control problems AC Voltage PWM control voltage which is proportional to AC line to line motor termin...

Page 59: ...over which to filter and determine the resolver speed It is automatically set to suit the resolver resolution The preset filter may be reduced to obtain smoother slow speed operation The greater the n...

Page 60: ...alue you want the keypad to display at a specific motor speed The second number right most is the motor RPM corresponding to the units in the first number A decimal may be inserted into the numbers by...

Page 61: ...encoder counts to provide deceleration distance for a smooth stop Note Homing direction is always forward direction only SECURITY CONTROL Security State Off No security Access Code required to change...

Page 62: ...much adjustment to motor speed or torque within the Set PT ADJ Limit is made to reduce process error Sets the PID loop Integral gain This determines how quickly the motor speed or torque is adjusted...

Page 63: ...to perform Auto Tune Always run CALC Presets as the first step of Auto Tune This procedure trims offset voltage at the differential analog input at J1A 4 and J1A 5 Measures current response while run...

Page 64: ...nics It is important to familiarize yourself with the following information before attempting any troubleshooting or service of the control Most troubleshooting can be performed using only a digital v...

Page 65: ...ollowing procedure to adjust the contrast of the display Action Description Display Comments Apply Power No visible display Press DISP key Ensures control in Display mode Display mode Press SHIFT key...

Page 66: ...t or corrupted When fault cleared Reset the control will reset to factory preset values Low INIT Bus V Insufficient bus voltage on startup Memory Error EPROM error occurred Contact Baldor New Base ID...

Page 67: ...Log entry point Press ENTER key Display first fault type and time fault occurred Typical display Press Y key Scroll through fault messages If no messages the fault log exit choice is displayed Press E...

Page 68: ...C Press DISP key Display mode showing bus voltage Press DISP key Display mode showing overload current remaining Press DISP key Display mode showing opto inputs outputs states Opto Inputs states Left...

Page 69: ...resolver wires and power leads at 90 angles Current Sense FLT Open circuit between control board and current sensor Check connections between control board and current sensor Defective current sensor...

Page 70: ...NT Over Temp Motor Overloaded Correct motor loading Verify proper sizing of control and motor Ambient temperature too high Relocate control to cooler operating area Add cooling fans or air conditioner...

Page 71: ...r Change Command Select parameter to match wiring at J1A and J1B Incorrect speed command Verify control is receiving proper command signal at J1A and J1B Motor Will Not Reach Maximum Speed Max Output...

Page 72: ...der from motor Install optional Isolated Encoder Feedback expansion board Electrical noise from external DC coils Install reverse biased diodes across all external DC relay coils as shown in the Opto...

Page 73: ...in the Opto Output circuit examples of this manual See Electrical Noise Considerations in Section 5 of this manual Electrical noise from external AC coils Install RC snubbers on all external AC coils...

Page 74: ...C Control Catalog N mbers Power Base 230 VAC Control Catalog N mbers Power Base Catalog Numbers Base ID No Catalog Numbers Base ID No SD29M1A02 PR 49 SD29M2A02 PR 09 SD29M1A05 PR 4B SD29M2A05 PR 0B No...

Page 75: ...tive circuits All methods are less costly when designed into a system initially than if added after installation Figure 5 1 shows an oscilloscope trace of noise induced as the coil circuit is opened i...

Page 76: ...s than 2 V for a fraction of a millisecond Note that the vertical scale is 1 V div rather than the 20 V div in figures 5 1 and 5 2 Figure 5 3 R C Snubber Circuit twisted pair A reverse biased diode ac...

Page 77: ...of a 10 hp 460 VAC drive Scope is set at 5 V div and 2 msec div Figure 5 5 10HP 460VAC Drive If the shielded pair cable is used the coupling is reduced by nearly 90 Figure 5 6 Figure 5 6 10HP 460VAC...

Page 78: ...eactors are installed between the control and motor These are often required where a motor housing lacks the necessary shielding typically linear motors mounted directly to machine frames or where the...

Page 79: ...ground The severity of these voltages increases with the length of the ground wire Installations with the motor and control mounted on a common frame and with heavy ground wires less than 10 ft long...

Page 80: ...rols push buttons and switches relay contacts limit switches PLC I O s operator displays and relay and contactor coils operate at low current levels Therefore these wires should be routed away from se...

Page 81: ...severe noise environments Fiber Optics Special plastic or glass fiber stands transmit light over long as well as short distances Because the fibers are immune to electromagnetic energy the use of fib...

Page 82: ...rror The summing junction compares the measured value of the controlled variable Feedback Input with the Input Command desired value and generates a error signal The operation is a simple mathematical...

Page 83: ...d feedback In Figure 6 2 we see that the amplitude of the output of the control is dependent on the error multiplied by the proportional gain For a given amount of error the greater the proportional g...

Page 84: ...nd corrects the control output to reduce the effect of offset Integral gain is mathematically defined as Aout Ki e Dt Where Aout Controller output Ki Integral gain s Integrator symbol e Process error...

Page 85: ...dback Input Command Oscilloscope set to vertical 1 V division horizontal 1 0 sec division Gain Settings Proportional gain 25 Integral gain 0 00 Hz Offset The next waveform illustrates what happens whe...

Page 86: ...parameter values Current Prop Gain Parameter This parameter is located in the Level 1 Brushless Control Block The Current Prop Gain parameter is normally auto tuned when motor inductance is not known...

Page 87: ...on This results in a proportional loop only This selection is ideal for systems where overshoot must be avoided and substantial stiffness ability of the control to maintain commanded speed despite var...

Page 88: ...cations and Product Data 7 1 MN1230 Identification Servo Drive SD 29 M X A X X P Series M Family Input DC Power 1 115VAC 1 Phase Input 2 230VAC 1 Phase Input A Amps Control Current Rating Panel Mounti...

Page 89: ...ing Temperature C 40 C Maximum Storage Temperature Range C 25 to 70 C All values at ambient temperature of 25 C unless otherwise stated Servo Control Specifications 230VAC Description Unit SD29M2A02 P...

Page 90: ...ntrol Signal Levels Description Unit SD29M Series Command Input VDC 0 10 5 10 or 4 20mA Command Signal Resolution bits 9 bits plus sign Feedback System Resolver Feedback Resolution bits 12 Resolver Po...

Page 91: ...put Impedance KW 6 8 K Ohms Leakage Current mA 10 mA maximum Update Rate msec 15 36 Digital Outputs Description Unit SD29M Series Opto isolated Logic Outputs 4 Assignable ON Current Sink mA 60 mA Max...

Page 92: ...30 DB Resistor Selection Table 7 1 DB Resistor Control Catalog No Input Voltage VAC Continuous Dynamic Braking Watts Catalog No SD29M1A02 PR 115 44 RG27 SD29M1A05 PR 115 44 RG27 SD29M2A02 PR 230 44 RG...

Page 93: ...ifications and Product Data MN1230 Terminal Tightening Torque Specifications Table 7 2 Tightening Torque Specifications Tightening Torque VAC Control L N PE DB DB Logic J1A J1B VAC Control Lb in Nm Lb...

Page 94: ...Section 1 General Information Specifications and Product Data 7 7 MN1230 Dimensions...

Page 95: ...mm 6 023 153mm Heat Sink 1 299 33mm Location of mounting hole Locate and drill hole in enclosure Mount control to enclosure Alternate mounting using two 2 tabs and four 4 screws provided 393 10mm 393...

Page 96: ...PM PRESET SPEED 13 1013 0 MAX Speed 0 RPM PRESET SPEED 14 1014 0 MAX Speed 0 RPM PRESET SPEED 15 1015 0 MAX Speed 0 RPM ACCEL DECEL RATE ACCEL TIME 1 1101 0 to 3600 Seconds 3 0 SEC RATE DECEL TIME 1 1...

Page 97: ...OMETER EXB SERIAL NONE 10 VOLTS ANA CMD INVERSE 1403 ON OFF OFF ANA CMD OFFSET 1404 20 0 TO 20 0 where 0 5V 20 0 0 ANA 2 DEADBAND 1405 0 10 00 V 0 00 V ANA 1 CUR LIMIT 1406 ON OFF OFF OUTPUT OPTO OUTP...

Page 98: ...VOLTAGE BUS VOLTAGE TORQUE POWER VELOCITY OVERLOAD PH2 CURRENT PH1 CURRENT PROCESS FDBK SETPOINT CMD POSITION MOTOR CURRENT ANALOG 1 SCALE 1510 10 100 100 ANALOG 2 SCALE 1511 10 100 100 POSITION BAND...

Page 99: ...on of 9 Character Sets PROTECTION OVERLOAD 2201 FAULT FOLDBACK FOLDBACK EXTERNAL TRIP 2202 ON OFF OFF LOCAL ENABLE INPUT 2204 ON OFF OFF FOLLOWING ERROR 2203 ON OFF OFF MISCELLANEOUS RESTART AUTO MAN...

Page 100: ...INT CMD POTENTIOMETER 10VOLTS 5 VOLTS 4 TO 20 mA 5V EXB 10V EXB 4 20mA EXB 3 15 PSI EXB TACHOMETER EXB NONE SETPOINT CMD SETPOINT COMMAND 2604 100 to 100 0 0 SET PT ADJ LIMIT 2605 0 100 10 0 PROCESS E...

Page 101: ...d trims out offset voltage at Analog Input 2 J1 4 J1 5 AU1 CUR LOOP COMP Measures current response while running motor at one half the rated motor current AU2 RESOLVER ALIGN Sets the Motor Mag Amps AU...

Page 102: ...Appendix B Appendix B 1 MN1230...

Page 103: ...unting Template Four Places Tapped mounting holes use 29 drill and 8 32 tap Clearance mounting holes use 19 or 0 166 drill 4 00 2 500 1 250 1 340 4 810 5 500 1 11 16 diameter hole Use 1 25 conduit kno...

Page 104: ...BALDOR ELECTRIC COMPANY P O Box 2400 Ft Smith AR 72902 2400 501 646 4711 Fax 501 648 5792 Baldor Electric Company MN1230 Printed in USA 1 98 C J2500...

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