Baldor 29M Installation And Operating Manual
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Baldor 29M Installation And Operating Manual

Baldor 29M Installation And Operating Manual

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AC SERVO DRIVE
Series 29M
Servo Control
Installation & Operating Manual
1/98
MN1230

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Summary of Contents for Baldor 29M

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

  • Page 2: Table Of Contents

    Table of Contents Section 1 Receiving & Inspection ................Receiving &...

  • Page 3: General Information

    Section 6 Manually Tuning the Series 29M Control ............
  • Page 4 Section 1 General Information Section 7 Specifications and Product Data ..............Identification .
  • Page 5 Section 1 General Information iv Table of Contents MN1230...

  • Page 6: Receiving & Inspection

    Receiving & Inspection Receiving & Inspection Baldor Controls are thoroughly tested at the factory and carefully packaged for shipment. When you receive your control, there are several things you should do immediately. Observe the condition of the shipping container and report any damage immediately to the commercial carrier that delivered your control.
  • Page 7 Section 1 General Information MN1230 1-2 Receiving & Inspection...

  • Page 8: Introduction

    Local mode operation status, perform diagnostics, and examine fault log. Baldor has tried to ensure that the information in this manual is correct at the time of printing. The information is subject to change without prior notice.

  • Page 9: Limited Warranty

    Limited Warranty For a period of one (1) year from the date of original purchase, BALDOR will repair or replace without charge controls which our examination proves to be defective in material or workmanship. This warranty is valid if the unit has...

  • Page 10: Safety Notice

    Safety Notice This equipment contains high voltages. Electrical shock can cause serious or fatal injury. Only qualified personnel should attempt the start–up procedure or troubleshoot this equipment. This equipment may be connected to other machines that have rotating parts or parts that are driven by this equipment.
  • Page 11 Section 1 General Information Caution: To prevent equipment damage, be certain that the electrical service is not capable of delivering more than the maximum line short circuit current amperes listed for 115 VAC or 230 VAC control rating. Caution: To prevent equipment damage, be certain that the input power has correctly sized protective devices installed as well as a power disconnect.

  • Page 12: Installation

    Section 3 Installation Location Considerations The location of the control is important. It should be installed in an area that is protected from direct sunlight, corrosives, harmful gases or liquids, dust, metallic particles, and vibration. Exposure to these can reduce the operating life and degrade performance of the control.

  • Page 13: Remote Keypad Installation

    Section 1 General Information Remote Keypad Installation The keypad may be remotely mounted using the optional Baldor keypad extension cable. The keypad assembly (grey - DC00005A-02) comes complete with the screws and gasket required to mount it to an enclosure. When the keypad is properly mounted to a NEMA Type 4 indoor enclosure, it retains the Type 4 indoor rating.

  • Page 14: Electrical Installation

    Overload Protection Baldor Controls feature motor overload protection suitable for motors that consume at least 50% of the output rating of the control. Other governing agencies such as NEC (National Electric Code) may require separate over current protection. The installer of this...
  • Page 15 Section 1 General Information Table 3-3 Short Circuit Current Ratings 115VAC 230VAC Catalog Numbers Max. Line Catalog Numbers Max. Line Short Circuit Short Circuit Current Current SD29M1A02-PR SD29M2A02-PR SD29M1A05-PR SD29M2A05-PR Table 3-4 Input Current Requirements 230VAC 460VAC Catalog Numbers Input Catalog Numbers Input Amps...
  • Page 16 Note 1 * Circuit Fuse Note 1 Breaker Connection Note 2 Baldor Control Note 2 * Motor Notes: 1. See Protective Device description in this section of the manual. 2. Shield wires inside a metal conduit. Optional components not provided with Control.

  • Page 17: Ac And Dc Power Connections

    Enable line (J1B pin 8) 20 msec before the main M-Contacts open. This will prevent contact arcing and allows use of IEC rated contacts. Connect the “U” terminal of the 29M to the U motor lead. Connect the “V” terminal of the 29M to the V motor lead.
  • Page 18 Section 1 General Information Figure 3-3 29M AC Servo Connector Locations X1 - Power Connector Ready Î Î Î Î PE Earth Input Power AC Line Neutral Motor lead “U” Motor Motor lead “V” Motor lead “W” Dynamic Brake or DB+ Dynamic Brake DB–...

  • Page 19: Resolver Feedback

    Section 1 General Information Resolver Feedback The resolver connections are made at the J2 connector as shown in Figure 3-4. The resolver cable must be shielded twisted pair #22 AWG (0.34mm ) wire minimum. The cable must also have an overall shield and not exceed 150 feet (45m) in length. Maximum wire-to-wire or wire-to-shield capacitance is 50pf per foot (maximum of 7500pf for 150 ft).

  • Page 20: Simulated Encoder Output

    Section 1 General Information Simulated Encoder Output The control provides a simulated encoder output at connector J3 as shown in Figure 3-5. This output provides position information to the host controller. Use twisted pair wire with an overall shield. This output simulates a 1024 ppr encoder with quadrature outputs. Counting in quadrature will provide 4096 ppr with one index marker (CHC) per revolution.

  • Page 21: Control Circuit Connections

    Section 1 General Information Control Circuit Connections Eight operating modes are available. These operating modes define the basic motor control setup and the operation of the input and output terminals. After the circuit connections are completed, the operating mode is selected by programming the Level 1 Input block Operating Mode parameter.

  • Page 22: Active High/Low Description

    Section 1 General Information Active High/Low Description A customer supplied power source is required for operation of the Opto Inputs. The V and GND inputs are optional and are not provided with this control. Active High - If pin 19 is grounded, an input is active when it is at +24VDC (+10VDC to +30VDC).

  • Page 23: Keypad Mode

    Section 1 General Information Keypad Mode In the Keypad Operating mode: To operate in the Keypad mode, set the Level 1 Input block, OPERATING MODE parameter to KEYPAD. In this mode, only two Opto inputs can be active. Both analog outputs (at J1A) remain active.
  • Page 24 Section 1 General Information Figure 3-7 Keypad Mode Connection Diagram ENABLE ANALOG GND Connection Connection ANALOG OUT 1 Note 1 ANALOG OUT 2 EXTERNAL TRIP Refer to Figure 3-17 N.C. Customer N.C. Supplied CREF +24VDC Source OUT 1– OUT 1 OUT 1+ Notes: OUT 2–...

  • Page 25: Standard Run 3 Wire Mode

    Section 1 General Information Standard Run 3 Wire Mode In standard run mode, the control is operated by the Opto Isolated inputs at J1B-8 through J1B-16 and the analog command input J1A pins 1, 2 and 3 (5K pot, 0-5VDC or 0-10VDC).
  • Page 26 Section 1 General Information Figure 3-8 Standard Run 3-Wire Mode Connection Diagram ENABLE ANALOG GND FORWARD ENABLE ANALOG INPUT 1 Command Pot Both CLOSED= Forward REVERSE ENABLE POT REFERENCE STOP ANALOG INPUT 2+ Closed=JOG SPEED Note 1 ANALOG INPUT 2– ACC/DEC/“S”...
  • Page 27 Section 1 General Information 15 Speed 2-Wire Mode In this mode, 15 preset motor speeds are stored during setup and selected during operation. Switch Truth Table is defined in Table 3-5. Operation in the 15 Speed 2-Wire mode is controlled by the Opto Isolated inputs at J1B-11 through J1B-15.

  • Page 28: Speed 2-Wire Mode

    Section 1 General Information Figure 3-9 15 Speed 2-Wire Mode Connection Diagram ENABLE ANALOG GND FORWARD ENABLE Both CLOSED= Forward REVERSE ENABLE Both OPEN = Stop SWITCH 1 Connection SWITCH 2 All CLOSED= Fault SWITCH 3 ANALOG OUT 1 Reset SWITCH 4 Note 1 ANALOG OUT 2...
  • Page 29 Section 1 General Information 2 Wire Multi INP Control Mode The Opto inputs can be switches as shown in Figure 3-10 or logic signals from another device. The External Trip Opto Input at J1B-16 is active if connected as shown and the Level 2 PROTECTION block, EXTERNAL TRIP parameter is set to ON.
  • Page 30 Section 1 General Information Figure 3-10 2 Wire Multi INP Mode Connection Diagram ENABLE ANALOG GND FORWARD RUN ANALOG INPUT 1 Note 1 Command Pot Both Closed= REVERSE RUN POT REFERENCE or 0-10VDC Fault Reset ANALOG INPUT SELECT ANALOG INPUT +2 5VDC, 10VDC Note 1 RUN COMMAND...
  • Page 31 Section 1 General Information 3 Wire Multi INP Control Mode The Opto inputs can be switches as shown in Figure 3-11 or logic signals from another device. The External Trip Opto Input at J1B-16 is active if connected as shown and the Level 2 PROTECTION block, EXTERNAL TRIP parameter is set to ON.
  • Page 32 Section 1 General Information Figure 3-11 3 Wire Multi INP Mode Connection Diagram ENABLE ANALOG GND FORWARD RUN ANALOG INPUT 1 Note 1 Command Pot Both Closed= REVERSE RUN POT REFERENCE or 0-10VDC Fault Reset STOP ANALOG INPUT +2 5VDC, 10VDC Note 1 RUN COMMAND ANALOG INPUT –2...

  • Page 33: Bipolar Speed Or Torque Control Mode With Multiple Parameter Sets

    Section 1 General Information Bipolar Speed or Torque Control Mode with Multiple Parameter Sets The normal bipolar speed or torque control for servo motors is provided by this mode. This mode also allows the user to store up to four (4) different complete sets of operating parameters.
  • Page 34 Section 1 General Information Figure 3-12 Bipolar Speed or Torque Mode Connection Diagram ENABLE ANALOG GND FORWARD ENABLE No Connections REVERSE ENABLE CLOSED=ORIENT ANALOG INPUT +2 SPEED, TORQUE Note 1 ANALOG INPUT –2 TABLE SELECT ANALOG OUT 1 TABLE SELECT ANALOG OUT 2 Note 2 FAULT RESET...

  • Page 35: Process Mode Connections

    Section 1 General Information Process Mode Connections The process control mode provides an auxiliary closed loop general purpose PID set point control that is shown in Figure 3-13. The process control loop may be configured in either of two ways. Using two (2) inputs;...
  • Page 36 4-20mA EXB None Closed When Process Mode is Enabled (J1–13) Set Point adjustment limit w/ integral clamp to max limit value PROCESS FEEDFORWARD Existing Baldor Control System Motor Control COMMAND SELECT Available sources are: Differential Potentiometer 10 Volts Gd s...

  • Page 37: Specific Process Mode Outputs

    Section 1 General Information Table 3-7 Process Mode Input Signal Compatibility Feedback Setpoint or Setpoint or 4-20mA 3-15 PSI J1-1 & 2 J1-4 & 5 Feedforward 5V EXB 10V EXB J1-1 & 2 J1-4 & 5 5V EXB 10V EXB 4-20mA EXB 3-15 PSI EXB Serial...
  • Page 38 Section 1 General Information Figure 3-14 Process Mode Connection Diagram ENABLE ANALOG GND FORWARD ENABLE ANALOG INPUT 1 Note 1 Command Pot Both REVERSE ENABLE POT REFERENCE or 0-10VDC OPEN = Stop TABLE SELECT ANALOG INPUT +2 5VDC, 10VDC No Connection Note 1 ANALOG INPUT –2 or 4-20mA...

  • Page 39: Analog Inputs And Outputs

    Section 1 General Information Analog Inputs and Outputs Analog Inputs Two analog inputs are available: analog input #1 (J1A-1 and J1A-2) and analog input #2 (J1A-4 and J1A-5) as shown in Figure 3-15. Either analog input #1 or #2 may be grounded provided the common mode range is not exceeded.
  • Page 40 Section 1 General Information Figure 3-16 Jumper Locations Table 3-8 Jumper Positions Jumper Jumper Position Description of Jumper Position Setting 1–2 Voltage Command Signal. (Factory Setting) 2–3 4–20mA Command Signal. Note: Early production boards had JP2 jumper. If present, leave JP2 on pins 1 & 2. MN1230 Installation 3-29...

  • Page 41: Analog Outputs

    Section 1 General Information Analog Outputs Two programmable analog outputs are provided on J1A-6 and J1A-7. These outputs are scaled 10 VDC (1mA maximum output current) and can be used to provide real-time status of various control conditions. The output conditions are defined in Section 4 of this manual.

  • Page 42: Opto-Isolated Outputs

    Section 1 General Information Opto-Isolated Outputs Four programmable Opto-isolated outputs are available at terminals J1B-20 through J1B-27. See Figure 3-18. The Opto-isolated outputs may be configured for sinking or sourcing 50 mA each. However, all must be configured the same. The maximum voltage from opto output to common when active is 1.0 VDC (TTL compatible).

  • Page 43: Pre-Operation Checklist

    Section 1 General Information Pre-Operation Checklist Check of electrical items. CAUTION: After completing the installation but before you apply power, be sure to check the following items. Measure the AC line voltage and verify it matches the control rating. Inspect all power connections for accuracy, workmanship and tightness and compliance to codes.

  • Page 44: Power-Up Procedure

    Section 1 General Information Power-Up Procedure This procedure will help get your system up and running in the keypad mode quickly. This will allow you to prove the motor and control operation. You should have an understanding of the keypad programming & operation procedures. Note: The control terminal strip does not require any connections to operate in the Keypad mode (with factory preset parameter values).
  • Page 45 Section 1 General Information 3-34 Installation MN1230...

  • Page 46: Programming And Operation

    Section 4 Programming and Operation Overview The keypad is used to program the control parameters; to operate the motor when programmed for the Keypad operating mode; and to monitor the status and outputs of the control by accessing the display options, diagnostic menus and the fault log. Figure 4-1 Keypad JOG - (Green) lights when Jog is active.

  • Page 47: Display Mode

    Display Mode During normal operation, the control is in the DISPLAY MODE. In this mode, the Keypad Display shows the status of the control as in the following example. Motor Status Output Condition Control Operation Value and Units The DISPLAY MODE is used to view DIAGNOSTIC INFO and the FAULT LOG. The description of how to do these tasks are described on the following pages.

  • Page 48: Display Screens & Diagnostic Information Access

    Display Mode Continued Display Screens & Diagnostic Information Access Action Description Display Comments Apply Power Logo display for 5 seconds. Display mode showing motor No faults present. Local keypad speed. mode. If in remote/serial mode, press local for this display. Press DISP key First screen in Display Mode.

  • Page 49: Fault Log Access

    Display Mode Continued Fault Log Access When a fault condition occurs, motor operation stops and a fault code is displayed on the Keypad display. The control keeps a log of up to the last 31 faults. If more than 31 faults have occurred the oldest fault will be deleted from the fault log to make room for the newest fault.

  • Page 50: Program Mode

    Program Mode The Program Mode is used to: Enter or change parameter values. Enter Motor Data. Autotune the motor. From the Display Mode press the PROG key to access the Program Mode. Note: When a parameter is selected, alternately pressing the Disp and Prog keys will toggle between the Display Mode and the selected parameter.

  • Page 51: Changing Parameter Values When Security Code Not Used

    Program Mode Continued Changing Parameter Values when Security Code Not Used Use the following procedure to program or change a parameter already programmed into the control when a security code is not being used. The example shown changes the operating mode from Keypad to Bipolar. Action Description Display...

  • Page 52: Reset Parameters To Factory Settings

    Program Mode Continued Reset Parameters to Factory Settings Sometimes it is necessary to restore the parameter values to the factory settings. Follow this procedure to do so. Note: All specific application parameters already programmed will be lost when resetting the control to factory settings. Action Description Display...

  • Page 53: Initialize New Software Eeproms

    Program Mode Continued Initialize New Software EEPROMs After new EEPROMs are installed, the control must be initialized to the new software version and memory locations. Use the following procedure to Initialize the EEPROMs. Action Description Display Comments Apply Power Keypad Display shows this Logo display for 5 seconds.

  • Page 54: Parameter Adjustments

    Parameter Adjustments To make programming easier, parameters have been arranged into the two level structure shown in Table 4-1. Press the PROG key to enter the programming mode. The first programming block to be displayed is “Preset Speeds”. Use the Up (Y) and Down ( ) arrows to scroll through the parameter blocks.
  • Page 55 Table 4-2 Level 1 Parameter Block Definitions Block Title Parameter Description PRESET Preset Speeds Allows selection of 15 predefined motor operating speeds. #1 – #15 Each speed may be selected using external switches connected to J1B-11, J1B-12, SPEEDS J1B-13 and J1B-14. For motor operation, a motor direction command must be given along with a preset speed command.
  • Page 56 Table 4-2 Level 1 Parameter Block Definitions - Continued Block Title Parameter Description KEYPAD SETUP Keypad Stop Key Allows keypad “STOP” key to initiate motor stop during remote or serial operation (if Stop key is programmed to Remote ON). If active, pressing “STOP” automatically selects Local mode and initiates the stop command.
  • Page 57 Table 4-2 Level 1 Parameter Block Definitions - Continued Block Title Parameter Description OUTPUT OPTO OUTPUT Four optically isolated digital outputs that have two operating states, logical High or Low. #1 – #4 Each output may be configured to any of the following conditions: Condition Description Ready -...
  • Page 58 Table 4-2 Level 1 Parameter Block Definitions - Continued Block Title Parameter Description OUTPUT Analog Output Two Linear Analog outputs may be configured to represent any of the following (Continued) #1 and #2 conditions: (note 0-10VDC or 10VDC operation per condition) Condition Description ABS Speed -...
  • Page 59 Resolver Alignment A numerical alignment value. The autotune procedure aligns the motor and resolver positions. 22.3 degrees is correct for all Baldor BSM motors. Speed Filter The number of input samples by the control microprocessor over which to filter and determine the resolver speed.
  • Page 60 Table 4-3 Level 2 Parameter Block Definitions Block Title Parameter Description OUTPUT LIMITS MIN Output Speed Sets the minimum motor speed in RPM. During operation, the motor speed will not be allowed to go below this value except for motor starts from 0 RPM or during a stop. MAX Output Speed Sets the maximum motor speed in RPM.
  • Page 61 Note: Please record your access code and store it in a safe place. If you cannot gain entry into parameter values to change a protected parameter, please contact your local Baldor office. Be prepared to give the 5 digit code shown on the lower right side of the Keypad Display at the Security Control Access Code parameter prompt.
  • Page 62 Table 4-3 Level 2 Parameter Block Definitions Continued Block Title Parameter Description PROCESS Process Feedback Sets the type of signal used for the process feedback signal. CONTROL Process Inverse Causes the process feedback signal to be inverted. Used with reverse acting processes that use a unipolar signal such as 4-20mA.
  • Page 63 Table 4-3 Level 2 Parameter Block Definitions Continued Block Title Parameter Description AUTO TUNING The Auto Tune procedure is used to automatically measure and calculate certain parameter values. Occasionally, the Auto Tune procedure cannot be run due to various circumstances such as the load cannot be uncoupled from the motor. The control can be manually tuned by entering the parameter values based on calculations you have made.

  • Page 64: Troubleshooting

    Troubleshooting Overview The Baldor Series 29M Control requires very little maintenance and should provide years of trouble free operation when installed and applied correctly. Occasional visual inspection should be considered to insure tight wiring connections and to avoid the build up of any dust, dirt, or foreign debris which can reduce heat dissipation.

  • Page 65: Control Troubleshooting Procedure

    Section 1 General Information Control Troubleshooting Procedure No Keypad Display - Display Contrast Adjustment If there is no visible display, use the following 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.
  • Page 66 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 Control board was changed since last operation. No Faults Fault log is empty.

  • Page 67: How To Access The Fault Log

    Section 1 General Information How to Access the Fault Log When a fault condition occurs, motor operation stops and a fault code is displayed on the Keypad display. The control keeps a log of up to the last 31 faults. If more than 31 faults have occurred the oldest fault will be deleted from the fault log to make room for the newest fault.

  • Page 68: How To Access Diagnostic Information

    Section 1 General Information How to Access Diagnostic Information Action Description Display Comments Apply Power Logo display for 5 seconds. Display mode showing output No faults present. Local keypad frequency mode. If in remote/serial mode, press local for this display. Press DISP key Display mode showing motor speed (based on output...
  • Page 69 Section 1 General Information Table 5-5 Troubleshooting INDICATION POSSIBLE CAUSE CORRECTIVE ACTION No Display Lack of input voltage. Check input power for proper voltage. Loose connections. Check input power termination. Verify connection of operator keypad. Adjust display contrast. See Adjust Display Contrast in Sec. 5. Auto Tune Resolver miswired.
  • Page 70 Control does not recognize HP and Press “RESET” key on keypad. If fault remains access ”Diagnostic Info” Voltage configuration. and compare reported ID number with Table 5-6. If different, call Baldor. Logic Supply FLT Power supply malfunctioned. Replace logic power supply.
  • Page 71 Section 1 General Information Table 5-5 Troubleshooting Continued INDICATION POSSIBLE CAUSE CORRECTIVE ACTION Motor has wrong Input common mode voltage may Connect control input source common to control common to minimize response to be excessive. common mode voltage. Maximum common mode voltage at terminals Speed Command J1A-4 and J1A-5 is 15VDC referenced to chassis common.
  • Page 72 Section 1 General Information Table 5-5 Troubleshooting Continued INDICATION POSSIBLE CAUSE CORRECTIVE ACTION New Base ID Software parameters are not Press “RESET” key on keypad to clear the fault condition. Reset initialized on newly installed parameter values to factory settings. Re-enter the Parameter Block Values control board.
  • Page 73 CORRECTIVE ACTION PWR Base FLT Excessive current usage. Disconnect motor leads from control and retry test. If problem persists, contact your local Baldor office. Excessive noise on resolver lines. Check resolver connections. Separate resolver leads from power wiring. Cross resolver wires and power leads at 90 .
  • Page 74 Section 1 General Information Table 5-6 Power Base ID 115 VAC Control Power 230 VAC Control Power Catalog N mbers Catalog Numbers Base Base Catalog N mbers Catalog Numbers Base Base ID No. ID No. SD29M1A02-PR SD29M2A02-PR SD29M1A05-PR SD29M2A05-PR Note: The Power Base ID number of a control is displayed in a Diagnostic Information screen.

  • Page 75: Electrical Noise Considerations

    Section 1 General Information Electrical Noise Considerations All electronic devices are vulnerable to significant electronic interference signals (commonly called “Electrical Noise”). At the lowest level, noise can cause intermittent operating errors or faults. From a circuit standpoint, 5 or 10 millivolts of noise may cause detrimental operation.
  • Page 76 Section 1 General Information Electrical Noise Considerations Continued Using an R-C snubber and twisted-pair shielded cable keeps the voltage in a circuit to less than 2 V for a fraction of a millisecond. Note that the vertical scale is 1 V/div., rather than the 20 V/div.
  • Page 77 Section 1 General Information Electrical Noise Considerations Continued Wires between Controls and Motors Output leads from a typical 460 VAC drive controller contain rapid voltage rises created by power semiconductors switching 650V in less than a microsecond, 1,000 to 10,000 times a second.

  • Page 78: Special Drive Situations

    Section 1 General Information Electrical Noise Considerations Continued Even input AC power lines contain noise and can induce noise in adjacent wires. This is especially severe with SCR controlled DC drives, current–source and six–step inverters. Figure 5-9 shows a transient induced in 1 ft. wire adjacent to the AC input power wire of a 20 hp, DC drive.

  • Page 79: Control Enclosures

    Section 1 General Information Electrical Noise Considerations Continued Control Enclosures The cure for some electrical noise may be a grounded metallic control enclosure. The enclosure should be grounded to the building ground with a short, heavy gauge wire. Also, the power conduit, motor lead conduit and signal wire conduit must be grounded to the enclosure.

  • Page 80: Wiring Practices

    Section 1 General Information Wiring Practices The type of wire used and how it is installed for specific applications makes the difference between obtaining reliable operation and creating additional problems. Power Wiring Conductors carrying power to anything (motor, heater, brake coil, or lighting units, for example) should be contained in conductive conduit that is grounded at both ends.

  • Page 81: Optical Isolation

    Section 1 General Information Optical Isolation Two methods of optical isolation are commonly used; optical couplers and fiber optics. Optical Couplers The common term for optical couplers, opto couplers use a light transmitter and light receiver in the same unit to transmit data while electrically isolating two circuits. This isolation rejects some noise.

  • Page 82: Manually Tuning The Series 29M Control

    This input is usually a sensor voltage or current representing the measured value. Definition of Error Error is the result of subtracting the Input Command and Feedback signals. Error is mathematically defined as: Error Signal ( ) = Input Command - Feedback MN1230 Manually Tuning the Series 29M Control 6-1...

  • Page 83: Definition Of "P" (Proportional Gain)

    Figure 6-2 Block Diagram of the P Element Summing Junction (error detector) Power Input Load Disturbance Error Controlled Signal Variable Output Control Motor Input Command Feedback Input Feedback Measuring Means Controlled Variable 6-2 Manually Tuning the Series 29M Control MN1230...

  • Page 84: Definition Of "I" (Integral Gain)

    Figure 6-3 Block Diagram of the I Element Summing Junction (error detector) Power Input Load Disturbance Error Controlled Signal Variable Output Input Control Motor Command Feedback Input Feedback Measuring Means Controlled Variable MN1230 Manually Tuning the Series 29M Control 6-3...
  • Page 85 25 to 100. An increase in the proportional gain causes the controlled variable to respond more quickly as indicated by the feedback signal. Input Command Feedback Offset Process Gain Settings: Proportional gain=100 Integral gain=0.00 Hz (Oscilloscope set to: vertical=1 V/ division horizontal=1.0 sec/division 6-4 Manually Tuning the Series 29M Control MN1230...

  • Page 86: Manually Tuning The Control

    The A/V scaling for the control can be found in the diagnostic information located in the DISPLAY MODE. For most applications setting the Current Prop Gain parameter to a value of 60 will yield adequate performance. MN1230 Manually Tuning the Series 29M Control 6-5...

  • Page 87: Current Int Gain Parameter

    J1–6 or –7 with Level 1, Output Block Analog Out #1 or #2 set to ABS SPEED, 0 VDC = zero speed. See Section 3 for a discussion of analog outputs. 6-6 Manually Tuning the Series 29M Control MN1230...

  • Page 88: Specifications And Product Data

    Section 7 Specifications and Product Data Identification Servo Control SD 29 M X A X X –P Servo Drive Series “M” Family Input DC Power (1=115VAC 1 Phase Input) (2=230VAC 1 Phase Input) A=Amps Control Current Rating Panel Mounting Requires External DB Resistor MN1230 Specifications and Product Data 7-1...

  • Page 89: Servo Control Specifications

    Section 1 General Information Servo Control Specifications: (115VAC) Description Unit SD29M1A02–PR SD29M1A05-PR Nominal Input Voltage (Range) 115 (97-125) 1 Input Frequency 50/60 Nominal Output Bus Voltage (Range) 160 (50-176) Nominal Output Bus Current Peak Output Bus Current ( 10%); 2.5s .5s 10.0 Nominal Output Power Efficiency...

  • Page 90: Keypad Display

    Section 1 General Information Keypad Display: Display Backlit LCD Alphanumeric 2 Lines x 16 Characters Keys 12 key membrane with tactile response Functions Output status monitoring Digital speed control Parameter setting and display Fault log display Motor run and jog Local/Remote toggle LED Indicators Forward run command...

  • Page 91: Analog Outputs

    Section 1 General Information Analog Outputs: Description Unit SD29M Series Analog Outputs 2 Assignable Full Scale Range 10 VDC Source Current 1 mA maximum Resolution bits 9 bits + sign Update Rate msec 1.92 Digital Inputs: Description Unit SD29M Series Opto-isolated Logic Inputs 9 Assignable Rated Voltage...

  • Page 92: Db Resistor Selection

    Section 1 General Information DB Resistor Selection Table 7-1 DB Resistor Input Control Continuous Dynamic Braking Voltage Catalog No. Catalog No. Watts (VAC) SD29M1A02-PR RG27 SD29M1A05-PR RG27 SD29M2A02-PR RG56 SD29M2A05-PR RG56 1.7 (45) 3.54 (100) (90) 13.2 (337) (65) MN1230 Specifications and Product Data 7-5...

  • Page 93: Terminal Tightening Torque Specifications

    Section 1 General Information Terminal Tightening Torque Specifications Table 7-2 Tightening Torque Specifications Tightening Torque L, N, PE, DB +,DB– Logic J1A, J1B VAC Control VAC Control Lb-in Lb-in 7-6 Specifications and Product Data MN1230...

  • Page 94: Dimensions

    Section 1 General Information Dimensions Î Î Î Î Î Î MN1230 Specifications and Product Data 7-7...

  • Page 95: Mounting Hole Location

    Section 1 General Information (Rear View) Mounting Hole Location 2.047 (52mm) .393 (10mm) .0.2 (5.2mm) 7.244 (184mm) Heat Sink .0.2 (5.2mm) 1.299 (33mm) Location of mounting hole. Locate and drill hole in enclosure. Mount control to enclosure. 6.023 (153mm) 5.66 (144mm) .0.2 (5.2mm)

  • Page 96: Parameter Values

    Appendix A Parameter Values Parameter Block Values Level 1 Level 1 Blocks Block Title Parameter Adjustable Range Factory User Setting Setting PRESET PRESET SPEED #1 1001 0-MAX Speed 0 RPM SPEEDS SPEEDS PRESET SPEED #2 1002 0-MAX Speed 0 RPM PRESET SPEED #3 1003 0-MAX Speed...
  • Page 97 Section 1 General Information Parameter Block Values Level 1 Continued Level 1 Blocks - Continued Block Title Parameter Adjustable Range Factory User Setting Setting INPUT OPERATING MODE 1401 KEYPAD KEYPAD STANDARD RUN 15SPD 2 WIRE MULTI INP 3 WIRE MULTI INP SERIAL BIPOLAR PROCESS MODE...
  • Page 98 Appendix A Section 1 General Information Parameter Block Values Level 1 Continued Level 1 Blocks - Continued Block Title Parameter Adjustable Range Factory User Setting Setting OUTPUT ANALOG OUT #1 1508 ABS SPEED (Continued) ABS TORQUE SPEED SPEED COMMAND PWM VOLTAGE FLUX CURRENT CMD FLUX CUR LOAD CURRENT...
  • Page 99 Section 1 General Information Parameter Block Values Level 2 Level 2 Blocks Block Title Parameter Adjustable Range Factory User Setting Setting OUTPUT LIMITS MIN OUTPUT SPEED 2001 0-MAX Speed 0 RPM MAX OUTPUT SPEED 2002 0-22500 RPM Rated Motor Speed PK CURRENT LIMIT 2003 0-PEAK RATED CURRENT...
  • Page 100 Appendix A Section 1 General Information Parameter Block Values Level 2 Continued Level 2 Blocks - Continued Block Title Parameter Adjustable Range Factory User Setting Setting PROCESS PROCESS FEEDBACK 2601 POTENTIOMETER NONE CONTROL +/-10VOLTS +/-5 VOLTS 4 TO 20 mA 5V EXB 10V EXB 4-20mA EXB...
  • Page 101 Section 1 General Information Parameter Block Values Level 2 Continued Level 2 Blocks - Continued Block Title Parameter Adjustable Range Factory User Setting Setting AUTO-TUNING CALC PRESETS CALC YES, NO CMD OFFSET TRM Measures and trims out offset voltage at Analog Input #2 (J1-4 &...

  • Page 102: Appendix B

    Appendix B MN1230 Appendix B-1...

  • Page 103: Remote Keypad Mounting Template

    Section 1 General Information Remote Keypad Mounting Template 4.00 2.500 Four Places Tapped mounting holes, use #29 drill and 8-32 tap (Clearance mounting holes, use #19 or 0.166 drill) diameter hole Use 1.25 conduit knockout 1.250 Note: Template may be distorted due to reproduction. B-2 Appendix MN1230...
  • Page 104 BALDOR ELECTRIC COMPANY P.O. Box 2400 Ft. Smith, AR 72902–2400 (501) 646–4711 Fax (501) 648–5792 Baldor Electric Company Printed in USA MN1230 1/98 C&J2500...

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