Page 1 VS1SD AC Servo Control Installation & Operating Manual 05/13 MN766...
Page 2 Any trademarks used in this manual are the property of their respective owners. Important: Be sure to check www.baldor.com for the latest software, fi rmware and drivers for your VS1SD product. Also you can download the latest version of this manual in Adobe Acrobat PDF format.
Page 3: Table Of Contents
Getting Assistance from Baldor ........
Page 4 4.16 Optional Dynamic Brake Hardware ..........4-13 4.17 Home (Orient) Switch Input .
Page 5 Chapter 6 Using the Keypad 6.1 Keypad Components ............. 6.1.1 Display Description .
Page 6 A.5 VS1SD Drive Ratings, Model Numbers and Frame Sizes ....... .
Page 7: Introduction
1.1 Getting Assistance from Baldor For technical assistance, contact your Baldor District Offi ce. Before calling, please review the troubleshooting section of this manual. You will be asked for the drive model number or catalog number that is located on the nameplate along with the drive serial number.
Page 8 L1, L2 or L3. Common Bus requires numerous changes. Contact Baldor for information. CAUTION: Only Baldor cables should be used to connect the keypad and control. These are special twisted pair cables to protect the control and keypad. Damage associated with other cable types are not covered by the Baldor warranty.
Page 9: Quick Start
Quick Start Guide MS766 is also available separately from www.baldor.com. If you are an experienced user of Baldor controls, you are probably already familiar with the keypad programming and keypad operation methods. If so, this quick start guide has been prepared for you. This procedure will help get your system up and running in the keypad mode quickly and allows motor and control operation to be verifi ed.
Page 10 The control is now ready for use in the keypad mode. If a different operating mode is desired, refer to Chapter 5 Operating Modes and Chapter 6 and 7 for Programming and Operation. For more advanced tuning of the drive speed loop once coupled to the load, see “Speed Loop Tune” in “Autotune Block” in Chapter 7.
Page 11: Limited Warranty
2.1 Limited Warranty For a period of two (2) years from the date of original purchase, BALDOR will repair or replace without charge controls and accessories which our examination proves to be defective in material or workmanship. This warranty is valid if the unit has not been tampered with by unauthorized persons, misused, abused, or improperly installed and has been used in accordance with the instructions and/or ratings supplied.
Page 12 2-2 General Information MN766...
Page 13: Receiving & Inspection
Chapter 3 Installing the Drive This chapter provides information that must be considered when planning a VS1SD drive installation and provides drive mounting information and installation site requirements. 3.1 Receiving & Inspection When you receive your control, there are several things you should do immediately.
Page 14: Cover Removal Procedure (Nema 1 Drives)
3.3.2 Watts Loss Data Table 3-2 Watts Loss Data 240VAC 480VAC Frame Size 2.5kHz PWM 8.0kHz PWM 2.5kHz PWM 8.0kHz PWM 50Watts + 50Watts + 50Watts + 50Watts + AA, B, C and D (14 W/Amp) (17 W/Amp) (17 W/Amp) (26 W/Amp) Example: At 2.5kHz, a 3HP, 240VAC control draws 10Amps.
Page 15: Cover Replacement Procedure (Nema 4X Frames Aa And B)
3.6 Cover Replacement Procedure (NEMA 4X Frames AA and B): CAUTION: Failure to follow this procedure may result in damage to the controller cover gasket which will cause improper sealing and inability to maintain speciﬁ ed NEMA 4X ratings. 1. While holding the cover close to the controller, plug the keypad cable (disconnected in step 4 above) into the connector on the keypad board making sure that the retention clip snaps into place.
Page 16 3-4 Installing the Drive MN766...
Page 17: Grounding The Drive
Baldor does not recommend using “Grounded Leg Delta” transformer power leads that may create ground loops. Instead we recommend using a four wire Wye. Baldor drives are designed to be powered from standard three phase lines that are electrically symmetrical with respect to ground. System grounding is an important step in the overall installation to prevent problems.
Page 18: Line Impedance
4.2 Line Impedance Baldor VS1SD drives require 1% line impedance minimum (3% for AA frame size drives and B Frame NEMA 4X drives). If the impedance of the incoming power does not meet this requirement, a 3 phase line reactor can be used to provide the needed impedance in most cases.
Page 19: Protective Devices
4.7 Motor Overtemperature Sensing All VS1SD must be used with Motor Overtemperature Sensing. The Motor Overtemperature Sensing equipment must disable the drive in the event of an overtemperature condition. This can be accomplished via the use of the TH1 and TH2 terminals.
Page 20: Optional Filter/Reactor
Line Table 4-1 240VAC Three Phase Wire Size and Protective Devices Control Rating Input Fuse (Amps) Wire Gauge Catalog Time Input Amps Fast Acting (UL) Fast Acting (CUL) Semiconductor (CUL) VS1SD Delay 2A10 2A15 15.2 2A22 2A28 2A42 2A54 *100...
Page 21 Table 4-2 480VAC Three Phase Wire Size and Protective Devices Control Rating Input Fuse (Amps) Wire Gauge Catalog Time Input Amps Fast Acting (UL) Fast Acting (CUL) Semiconductor (CUL) AWG VS1SD Delay 4A11 17.5 17.5 4A14 17.5 4A21 4A27 4A34...
Page 22: Incoming Power And Motor Connections
3. Metal conduit should be used. Connect conduits so the use of a Reactor or RC Device does not interrupt EMI/RFI *Optional Note 4 shielding. Line 4. See Line/Load Reactors described previously in this section. Reactor Note 2 Note 3 Baldor Control 4-6 Power Wiring MN766...
Page 23: Operating A 3-Phase Control On Single Phase Input Power
Output Wire Control Input Fuse (Amps) Catalog Control Rating Wire Gauge Gauge Rating Output Amps Input Fast Acting Fast Acting Time Semiconductor VS1SD (QCT Continuous) AWG mm AWG mm Amps (UL) (CUL) Delay (CUL) 2A10 11.8 2A15 16.6 2A22 2A28...
Page 24 * Optional Note 4 Line Line Reactor Reactor Note 3 Baldor Baldor Control Control Notes: See Protective Devices described previously in this section. * Optional components are not provided with control. Use same gauge wire for Earth ground as is used for L1 and L2.
Page 25: Single Phase Power And Motor Connections Vs1Sd6Xx-Xx
Line Reactor Reactor Note 2 Note 2 Note 3 Note 3 Baldor Baldor Control Control Notes: See Protective Devices described previously in this section. *Optional components not provided with control. Use same gauge wire for Earth ground as is used for L1, L2 and N.
Page 26: 3-Phase Motor Connections
Input Input Fuse (Amps) Amps Fast Acting Amps Fast Acting VS1SD VS1SD Note: All wire sizes are based on 75 C copper wire. Recommended fuses are based on 40 C ambient, maximum continuous control output and no harmonic current. 4.11 3-Phase Motor Connections Figure 4-9 shows typical connections to a control.
Page 27: Strain Relief (Mounted At Terminal Box)
4.12 Strain Relief (Mounted at Terminal Box) The motor cable is terminated at the Terminal Box using a Shielded Strain Relief Connector. Figure 4-11 shows the components. 1. Strip the outer shield from the cable to expose the conductors and shield. 2.
Page 28: Brushless Servo Motor Identifi Cation
SSBSM motors are IP67. Rotatable connectors are not available for BSM50 series. 10) Contact Baldor for special option availabliity. 4.14 External Trip Input Terminal J2-16 is available for connection to a normally closed contact. The contact should be a dry contact type with no power available from the contact.
Page 29: Resolver Installation
4.15 Resolver Installation The Resolver Board is installed in the Feedback Module Slot 3. Connect resolver wiring to the resolver board as shown in Figure 4-13. Use 16AWG (1.31mm ) maximum. Figure 4-13 Resolver Connections 16-22A WG J3 Index Source Select Twisted Pair External Index (sync) Shield...
Page 30: Home (Orient) Switch Input
4.17 Home (Orient) Switch Input The Home or Orient function causes the motor shaft to rotate to a predefi ned home position. The homing function allows shaft rotation in the drive forward direction only. The home position is located when a machine mounted switch or “Index” pulse is activated (closed).
Page 31: Control Board Connections
Chapter 5 Control Wiring 5.1 Control Board Connections The analog and digital input and output terminals are shown in Figure 5-1. The signals are described in Tables 5-1, 5-2 and 5-3. Connections will depend upon which operating mode is selected (P1401). Each mode is described and a connection diagram is provided later in this section.
Page 32 Table 5-2 J2 Connector Deﬁ nition Connector Terminal Signal Description J2-8 Enable Input J2-9 DIN1 – Digital Input 1 J2-10 DIN2 – Digital Input 2 J2-11 DIN3 – Digital Input 3 J2-12 DIN4 – Digital Input 4 J2-13 DIN5 – Digital Input 5 J2-14 DIN6 –...
Page 33: Analog Inputs
J1-1 to J1-5. Add these AC and DC values. If either of these measurement totals exceeds a total of ±15 volts, then the common mode voltage range has been exceeded. To correct this condition, isolate the command signal with a signal isolator, such as Baldor catalog number BC145. Figure 5-3 Jumper Locations...
Page 34: Analog Outputs
5.3 Analog Outputs Two programmable analog outputs are provided on J1-6 and J1-7. These outputs are scaled and can be used to provide status of various control conditions. The return for these outputs is J1-1 analog return. Each output function is programmed in the Level 1 Output Setup block, Analog Out1 Signal, (P1511), or Analog Out2 Signal (P1514) parameter values.
Page 35: Operating Modes
5.5 Operating Modes The operating modes defi ne 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 Operating Mode parameter in the Level 1 Input Setup Programming Block (P1401).
Page 36: Standard Run 2-Wire
5.5.2 Standard Run 2-Wire In Standard Run 2Wire mode, the control is operated by the digital inputs and the command source. Also, Preset Speed 1 can be selected. The opto inputs can be switches as shown in Figure 5-6 or logic signals from another device. Figure 5-6 Standard Run 2-Wire Connection Diagram Enable Enable...
Page 37: Standard Run 3-Wire
5.5.3 Standard Run 3-Wire In Standard Run 3Wire mode, the control is operated by the digital inputs and the command source. Also, Preset Speed 1 can be selected. The opto inputs can be switches as shown in Figure 5-7 or logic signals from another device. Figure 5-7 Standard Run 3-Wire Connection Diagram Enable User Analog Return...
Page 38: Preset Speeds
5.5.4 15 Preset Speeds Operation in 15 Preset Speeds 2-Wire mode is controlled by the opto isolated inputs at J2. The values of the Preset Speeds are set in the Level 1 Preset Speeds block, Preset Speed 1 to Preset Speed 15. J2-11 through J2-14 inputs allow selection of 15 Preset Speeds.
Page 39: Fan Pump 2-Wire
5.5.5 Fan Pump 2-Wire Operation in the Fan Pump 2-Wire mode is controlled by the opto isolated inputs at J2-8 through J2-16. The opto inputs can be switches as shown in Figure 5-9 or logic signals from another device. Figure 5-9 Fan Pump 2-Wire Connection Diagram Enable User Analog Return Enable...
Page 40: Fan Pump 3-Wire
5.5.6 Fan Pump 3-Wire Operation in the Fan Pump 3-Wire mode is controlled by the opto isolated inputs at J2-8 through J2-16. The opto inputs can be switches as shown in Figure 5-10 or logic signals from another device. Figure 5-10 Fan Pump 3-Wire Connection Diagram Enable User Analog Return Enable...
Page 41: Process Control
5.5.7 Process Control The process control mode provides an auxiliary closed loop general purpose PID set point control. The process control loop may be confi gured in various ways and detailed descriptions of the Process Control are given in MN707 “Introduction to Process Control”.
Page 42: Speed Analog 2-Wire
5.5.8 3 Speed Analog 2-Wire Provides 2 wire input control and allows selection of 3 Preset Speeds. The values of the Preset Speeds are set in the Level 1 Preset Speeds block, Preset Speed 1, Preset Speed 2 and Preset Speed 3. The opto inputs can be switches as shown in Figure 5-12 or logic signals from another device.
Page 43: Speed Analog 3-Wire
5.5.9 3 Speed Analog 3-Wire Provides 3 wire input control and allows selection of 3 Preset Speeds. The values of the Preset Speeds are set in the Level 1 Preset Speeds block, Preset Speed 1, Preset Speed 2 and Preset Speed 3. The opto inputs can be switches as shown in Figure 5-13 or logic signals from another device.
Page 44: E-Pot 2-Wire
5.5.10 E-POT 2-Wire Provides speed Increase and Decrease inputs to allow E-POT (Electronic Potentiometer) operation with 2 wire inputs. The values of the Preset Speeds are set in the Level 1 Preset Speeds block, Preset Speed 1 or Preset Speed 2. The opto inputs can be switches as shown in Figure 5-14 or logic signals from another device.
Page 45: E-Pot 3-Wire
5.5.11 E-POT 3-Wire Provides speed Increase and Decrease inputs to allow E-POT operation with 3 wire inputs. The opto inputs can be switches as shown in Figure 5-15 or logic signals from another device. Figure 5-15 E-POT 3-Wire Connection Diagram Enable User Analog Return Enable...
Page 46: Network
5.5.12 Network Provides bipolar speed or torque control. Preset speeds are set in software. The opto inputs can be switches as shown in Figure 5-16 or logic signals from another device. See Table 5-11 for Modbus coils that may be used in this mode. Figure 5-16 Network Connection Diagram Enable User Analog Return...
Page 47: Profi Le Run
5.5.13 Proﬁ le Run Provides a speed profi le consisting of seven segments to setup a cyclic operation or test cycle. The opto inputs can be switches as shown in Figure 5-17 or logic signals from another device. Speed settings for Speed Curve 1 to Speed Curve 7 are Preset Speed 1 to Preset Speed 7.
Page 48: Bipolar
5.5.14 Bipolar Provides bipolar speed or torque control. The control is operated by the digital inputs and the command source. The opto inputs can be switches as shown in Figure 5-19 or logic signals from another device. Figure 5-18 Bipolar Connection Diagram Servo Mode User Analog Return Enable...
Page 49 Bipolar - Multiple Parameter Sets The following procedure allows you to program up to four complete sets of parameter values and to use these multiple parameter sets. Each parameter table must be properly initialized before use. Each table must have an operating mode that supports table switching (Process Control, Bipolar or Network) and all motor data and related parameters must be the same in each table if switching tables with the drive enabled.
Page 50: Pulse Follower
a. If the homing speed is increased, the homing offset may also need to be increased to avoid the motor reversing direction to reach the home position. The Home Offset is actually the counts the motor travels to stop after the home switch is found.
Page 51: Relay Outputs
5.7 Relay Outputs Relay Outputs 1 and 2 provide N.O. and N.C. voltage-free contacts. The internal relay function is shown in Figure 5-22. Figure 5-21 Relay Contacts If the load is an AC If the load is a DC relay Control Board relay coil, install an RC coil, install a flyback...
Page 52: Communication Expansion Boards
3 jumpered) no terminating resistor is used. Setting the jumper to pins 1 and 2 selects the 120 ohm terminating resistor for the RS485 cable. The RS485 connections are described in Table 5-15. Refer to Baldor manual MN744 for connection and software information.
Page 53: Opto-Isolated Inputs
5.10 Opto-Isolated Inputs The equivalent circuit of the nine opto inputs is shown in Figure 5-25. The function of each input depends on the operating mode selected and each is described previously in this section. This Figure also shows the connections using the internal opto input Supply.
Page 54: Pre-Operation Checklist
5.12 Pre-Operation Checklist (Check of Electrical Items) 1. Verify AC line voltage at source matches control rating. 2. Inspect all power connections for accuracy, workmanship and tightness and compliance to codes. 3. Verify control and motor are grounded to each other and the control is connected to earth ground. 4.
Page 55: Mint Workbench
5.14 Mint WorkBench As an alternative to using the keypad for programming and setup, Baldor’s Mint WorkBench software version 5.5 or greater can be used. When the software is installed and confi gured, the help topics provide information on how to use the software.
Page 56: Install Mint Workbench
1. Use the Add/Remove Software feature of the Windows control panel and remove previous versions of Mint WorkBench software. 2. The software must be downloaded from the Baldor site: http://www.baldor.com Simply log into that web site, Figure 5-27, and locate 1.
Page 57 5. Parameter values can be modifi ed as desired. Figure 5-29 Mint WorkBench Main Menu Change a Parameter Value Example: Change Preset Speed 1 to 48RPM. Click on Preset Speeds Block. Click in the Value Column for Preset Speed 1. Type in the new value “48”...
Page 58: Update Firmware
This procedure erases memory and restores factory settings. All user data will be lost. After the fi rmware download, all user data values must be reprogrammed. 1. The software must be downloaded from the Baldor site: http://www.baldor.com Simply log into that web site, Figure 5-27. Locate and click on Drive Firmware.
Page 59: Keypad Components
Chapter 6 Using the Keypad 6.1 Keypad Components The keypad is used to program the control parameters, to operate the motor and to monitor the status and outputs of the control by accessing the display options, the diagnostic menus and the fault log. Additionally drive parameters can be stored in the keypad for future retrieval.
Page 60: Display Features
6.1.2 Display Features STOP=Stop; FWD=Forward; REV=Reverse Present Menu Selection Local / Remote Mode STATUS LOCAL 159.5V 600RPM 6.2A 20.0HZ Previous Menu Selection Press F2 to go back one menu level DIAG 600r MAIN (Press F1 to return to previous menu) Speed Reference Prog Mode Display Features: The fi rst character of the parameter number...
Page 61: Status Mode
6.2 Status Mode When AC power is applied to the control, the keypad will display the status. Action Description Display Comments Apply Power Logo is displayed for a short time. The Status screen is then displayed. Normal screen at start up. MOTOR DATA PROG Displays Motor Voltage,...
Page 62: Menu Display
Status Mode Continued Action Description Display Comments Press The first screen format is STOP LOCAL STATUS displayed. 0.0V 0RPM 0.0A 0.0HZ DIAG 0.00r MAIN Press FWD key Motor begins to rotate in the STATUS LOCAL forward direction at the preset speed.
Page 63: Basic Params
6.4 Basic Params From the Menu display screen, select Basic Params and press Enter. Parameter Status All programmable parameters are displayed with an “F” at the bottom center of the display. “F” means it is the factory setting value. “C” means it is a custom value set by the user. “V” means the parameter value may be viewed but not changed while the motor is operating.
Page 64 Basic Params Continued Description Display Comments Action Press to go to the BASIC MOTOR DATA next Basic Params screen. CALC MOTOR MODEL STATUS F2414 BACK Press to go to the BASIC INPUT SETUP next Basic Params screen. OPERATING MODE Keypad STATUS F2401T1 BACK...
Page 65 How to Change a Value These are the BASIC screens. To change a value, simply display the desired parameter and press Enter and change the value. For example: Action Description Display Comments Press to go to the 1401 indicates the parameter BASIC INPUT SETUP next Basic Params...
Page 66: Save Parameter Values
6.5 Save Parameter Values The keypad keys and display work with the memory of the control. When a parameter value is displayed, the displayed value is the value stored in control memory. The changes are written to non-volatile memory and are stored even when power is removed.
Page 67: Restore Parameter Values
6.6 Restore Parameter Values The keypad keys and display work with the memory of the control. When a parameter value is displayed, the displayed value is the value stored in control memory. The changes are written to non-volatile memory and are stored even when power is removed.
Page 68: Advanced Prog
6.7 Advanced Prog At the Menu display screen, select ADVANCED PROG and press Enter. This menu provides access to all drive parameters which are organized in blocks that are grouped into one of 3 levels. Examples of tasks accomplished via this menu are: 1.
Page 69: Modifi Ed Parameters
6.7.1 Modiﬁ ed Parameters Allows viewing of all parameters that have been changed from factory set values. Action Description Display Comments Press to scroll to Modified Params. Advanced Prog Display. Top Level Advanced Prog menu. LEVEL 1 BLOCKS Press enter to view list of LEVEL 2 BLOCKS parameters that have been changed LEVEL 3 BLOCKS...
Page 70: Event Log
Change a parameter value within the linear list as follows: Action Description Display Comments Press Enter to select The number and name of each Press keys to scroll to C1001 PRESET SPEED 1 the parameter value to parameter is displayed in listing through the parameter list.
Page 71: Diagnostics
6.9 Diagnostics From the Menu display screen, select Diagnostics and press enter. These are read only values with the exception of the real time clock settings. See Chapter 9 for a more detailed description. Action Description Display Comments Displays top level menu options. Press Menu.
Page 72 Diagnostics Continued Action Description Display Comments Press to display next Press to go to the next or Displays energy cost (based on STOP LOCAL DIAG group. previous Diagnostic screen. parameter P2305 value). ENERGY EST POWER 0.00KW Press F2 to return to main menu. EST ENERGY 0.0KWH EST COST...
Page 73: Display Options
6.10 Display Options Action Description Display Comments Press “F1” or “F2” to return to Press “F2” to return to Displays top level menu options. STATUS DIAGNOSTICS. MAIN MENU. BASIC PARAMS ADVANCED PROG EVENT LOG DIAGNOSTICS DIAG BACK Press to DISPLAY BASIC PARAMS OPTIONS.
Page 74: Operating The Control From The Keypad
6.11 Operating the Control from the Keypad To activate the LOCAL Mode, fi rst press the “STOP” key (if enabled). Note: Pressing the keypad STOP key (if enabled) will automatically issue a motor stop command and change to LOCAL mode. Selection of LOCAL Mode overrides any remote or serial control inputs except the External Trip input, Local Enable Input or STOP input.
Page 75: Level 1 Parameters (Advanced Prog, Level 1 Blocks)
Chapter 7 Parameter Descriptions 7.1 Level 1 Parameters (Advanced Prog, Level 1 Blocks) Table 7-1 Level 1 Parameter Block Deﬁ nitions Parameter (Number) Block Title Parameter Name and Description Selection (Value) PRESET PRESET SPEED 1 (1001) Preset Value: 30 SPEEDS PRESET SPEED 2 (1002) Preset Value: 60 PRESET SPEED 3 (1003)
Page 76 Table 7-1 Level 1 Parameter Block Deﬁ nitions Continued Parameter (Number) Block Title Parameter Name and Description Selection (Value) RAMP PL DEC TIME (1113) Preset Value: 1.0 RATES Range: 0.0 to 3600.0 Seconds (Continued) Time to stop the motor from maximum drive speed during a power loss. % Maximum Speed Commanded Speed Speed Curve...
Page 77 Table 7-1 Level 1 Parameter Block Deﬁ nitions Continued Parameter (Number) Block Title Parameter Name and Description Selection (Value) KEYPAD STOP KEY (1301) Preset Value: 1 SETUP Range: 0 - 1 Off (0) Keypad STOP key is not active. Allows keypad STOP key to initiate motor stop during remote or serial operation.
Page 78 Table 7-1 Level 1 Parameter Block Deﬁ nitions Continued Parameter (Number) Block Title Parameter Name and Description Selection (Value) KEYPAD DOWNLOAD SELECT (1311) Preset Value: 0 SETUP Range: 0 - 2 (Continued) All (0) All parameters. Motor (1) Motor parameters only. Other (2) All parameters except Motor parameters.
Page 79 Table 7-1 Level 1 Parameter Block Deﬁ nitions Continued Parameter (Number) Block Title Parameter Name and Description Selection (Value) INPUT OPERATING MODE (1401) Preset Value: 0 SETUP (Continued) Range: 0 - 16 (Continued) Provides a seven segment speed profi le for cyclic operation or test cycle. Profi le Run (12) See Level 3, Profi le Run Block.
Page 80 Table 7-1 Level 1 Parameter Block Deﬁ nitions Continued Parameter (Number) Block Title Parameter Name and Description Selection (Value) INPUT ANA IN2 TYPE (1408) Preset Value: 1 SETUP Range: 0 - 6 (Continued) None (0) Input not used. -10V to +10V (1) Bipolar 10V signal used. -5V to +5V (2) Bipolar 5V signal used.
Page 81 Table 7-1 Level 1 Parameter Block Deﬁ nitions Continued Parameter (Number) Block Title Parameter Name and Description Selection (Value) INPUT CURR LMT SOURCE (1415) Preset Value: 0 SETUP Range: 0 - 9 (Continued) None (0) Turns off external current limit. Analog In1 (1) Connect a 10Kohm pot at J1 or connect a 0-10VDC signal to J1-2 and J1-1.
Page 82 Table 7-1 Level 1 Parameter Block Deﬁ nitions Continued Parameter (Number) Block Title Parameter Name and Description Selection (Value) INPUT TORQUE FF SRC (1418) Preset Value: 0 SETUP Range: 0 - 8 (Continued) None (0) Turns off external torque feedforward reference. Analog In1 (1) Connect a 10Kohm pot at J1 or connect a 0-10VDC signal to J1-2 and J1-1.
Page 83 Table 7-1 Level 1 Parameter Block Deﬁ nitions Continued Parameter (Number) Block Title Parameter Name and Description Selection (Value) OUTPUT DIGITAL OUTPUT 1 (1501) Preset Value: 1 SETUP DIGITAL OUTPUT 2 (1502) Preset Value: 8 RELAY OUTPUT 1 (1503) Preset Value: 9 RELAY OUTPUT 2 (1504) Preset Value: 17 Range: 0 - 31...
Page 84 Table 7-1 Level 1 Parameter Block Deﬁ nitions Continued Parameter (Number) Block Title Parameter Name and Description Selection (Value) OUTPUT ZERO SPD SET PT (1505) Preset Value: 180 SETUP Range: 0 - MAX Speed RPM (Continued) A digital output programmed to “At Zero Speed” becomes active when motor speed becomes less than this setting.
Page 85 Table 7-1 Level 1 Parameter Block Deﬁ nitions Continued Parameter (Number) Block Title Parameter Name and Description Selection (Value) OUTPUT ANA OUT1 SIGNAL (1511) Preset Value: 29 SETUP ANA OUT2 SIGNAL (1514) Preset Value: 3 (Continued) (Continued) Range: 0 - 34 Power Factor (8) Scaled value of power factor, range is from 0 to 1.0.
Page 86 Table 7-1 Level 1 Parameter Block Deﬁ nitions Continued Parameter (Number) Block Title Parameter Name and Description Selection (Value) OUTPUT ANA OUT1 GAIN (1512) Preset Value: 100.0 SETUP ANA OUT2 GAIN (1515) Preset Value: 100.0 (Continued) Range: 0.0 - 500.0% Scale factor for analog output (as in Y=Gain*X) CAL ANA OUT (1516) Preset Value: 0.0...
Page 87 Table 7-1 Level 1 Parameter Block Deﬁ nitions Continued Parameter (Number) Block Title Parameter Name and Description Selection (Value) MOTOR A.S. PROP GAIN (1639) Preset Value: 10.0 CONTROL Range: 0.0 - 255.0 (Continued) Sets the anti-saturation proportional gain. A.S. INT GAIN (1640) Preset Value: 50.00 Range: 0.00 - 150.00Hz Sets the anti-saturation integral gain.
Page 88 No (0) No Action. Yes (1) Reset settings. Restores factory settings to Browser User ID and Password. BROWSER USER ID (1707)(1708) Preset Value: baldor ASCII user ID for the Ethernet Web Browser Option Board if installed. BROWSER PASSWORD (1709) Preset Value: baldor (1710) Password for the Ethernet Web Browser Option Board if installed.
Page 89: Level 2 Parameters (Advanced Prog, Level 2 Blocks)
7.2 Level 2 Parameters (Advanced Prog, Level 2 Blocks) Table 7-2 Level 2 Parameter Block Deﬁ nitions Parameter (Number) Block Title Parameter Name and Description Selection (Value) DRIVE OPERATING ZONE (2001) Preset Value: 2 LIMITS Range: 0 - 3 Sets the PWM operating zone to Standard 2.5kHz output carrier frequency Std Const Trq (0) Constant Torque.
Page 90 Table 7-2 Level 2 Parameter Block Deﬁ nitions Continued Parameter (Number) Block Title Parameter Name and Description Selection (Value) DRIVE LANGUAGE SELECT (2102) Preset Value: 0 CONFIG Range: 0 - 1 (Continued) English (0) Sets English as displayed text. Sets "OTHER", (Spanish, German, Italian, French, or Portuguese) English and one language can be stored (Spanish, German, Italian, French and Other (1) Portuguese).
Page 91 Table 7-2 Level 2 Parameter Block Deﬁ nitions Continued Parameter (Number) Block Title Parameter Name and Description Selection (Value) DRIVE POWER INPUT (2110) Preset Value: 0 CONFIG Range: 0 - 3 (Continued) The output values are derated for single phase operation. Note: For three phase power input, if a phase is lost this parameter will Single Phase (0) automatically be changed to single phase and the control will automatically...
Page 92 Table 7-2 Level 2 Parameter Block Deﬁ nitions Continued Parameter (Number) Block Title Parameter Name and Description Selection (Value) DRIVE EXTERNAL TRIP (2201) Preset Value: 0 PROTECT Range: 0 - 1 Off (0) External Trip is Disabled. External Trip is enabled. If a normally closed contact at J2-16 is opened, an On (1) External Trip fault will occur and cause the drive to shut down.
Page 93 Table 7-2 Level 2 Parameter Block Deﬁ nitions Continued Parameter (Number) Block Title Parameter Name and Description Selection (Value) DRIVE Ki RIDE THROUGH (2215) Preset Value: 0 PROTECT Range: 0 to 1000.0000 (Continued) Integral gain of PI controller for pwer loss ride through. MISCELLA- AUTO RESTART (2301) Preset Value: 1...
Page 94 Table 7-2 Level 2 Parameter Block Deﬁ nitions Continued Parameter (Number) Block Title Parameter Name and Description Selection (Value) HOMING SPEED (2307) Preset Value: 90 MISCELLA- Range: 0 - MAX Speed RPM NEOUS (Continued) This parameter sets the speed that the motor shaft will rotate in the forward direction to “Home”...
Page 95 MOTOR POLE PAIRS (2413) Preset Value: 2 Range: 1 - 100 The number of motor poles/2. Factory setting is 2 pole pairs. The values shown here are for standard Baldor BSM motors. NUMBER OF MOTOR POLE PAIRS BSM63, BSM80...
Page 96 Table 7-2 Level 2 Parameter Block Deﬁ nitions Continued Parameter (Number) Block Title Parameter Name and Description Selection (Value) MOTOR REVERSE ROTATION (2415) Preset Value: 0 DATA Range: 0 - 1 (continued) Off (0) Standard rotation not changed. Control output phase change to reverse rotation direction without motor On (1) wiring change.
Page 97 Table 7-2 Level 2 Parameter Block Deﬁ nitions Continued Parameter (Number) Block Title Parameter Name and Description Selection (Value) PROCESS PROC FEEDBACK (2603) Preset Value: 0 CONTROL Range: 0 - 10 (Continued) None (0) No feedback assigned. Setpoint Cmd (1) Setpoint command value used for feedback. Loc Speed Ref (2) Local speed reference used for feedback.
Page 98 Table 7-2 Level 2 Parameter Block Deﬁ nitions Continued Parameter (Number) Block Title Parameter Name and Description Selection (Value) PROCESS PROC INTG CLAMP (2609) Preset Value: 100.0 CONTROL Range: 0.0 - 100.0% (Continued) Sets the level of the Integrator clamp as a percentage of maximum motor speed.
Page 99 Table 7-2 Level 2 Parameter Block Deﬁ nitions Continued Parameter (Number) Block Title Parameter Name and Description Selection (Value) AUTO TUNE ONE-STEP TUNING (2902) Preset Value: 0 (Continued) Range: 0 - 1 No (0) No action. Performs one step auto tune. (Prompts for “Press Enter” before a rotational Yes (1) test is performed).
Page 100: Level 3 Parameters (Advanced Prog, Level 3 Blocks)
7.3 Level 3 Parameters (Advanced Prog, Level 3 Blocks) Table 7-3 Level 3 Parameter Block Deﬁ nitions Parameter (Number) Block Title Parameter Name and Description Selection (Value) PROFILE NUMBER OF CYCLES (3001) Preset Value: 0 Range: 0 - 255 Sets the number of cycles that the profi le will automatically run before stopping.
Page 101 Table 7-3 Level 3 Parameter Block Deﬁ nitions Continued Parameter (Number) Block Title Parameter Name and Description Selection (Value) PULSE TRACK MODE (3104) Preset Value: 0 FOLLOWER Range: 0 - 2 (Continued) Increment/Decrement changes the Rx Ratio Output by the value of the increment step parameter on the fl y, and follows the velocity of the master Velocity Following (0) (no position loop).
Page 102 Table 7-3 Level 3 Parameter Block Deﬁ nitions Continued Parameter (Number) Block Title Parameter Name and Description Selection (Value) PULSE SAVE RX OUT RATI (3114) Preset Value: 0 FOLLOWER Range: 0 - 1 (Continued) No (0) Does not save values to non-volatile memory. Yes (1) Saves values to non-volatile memory.
Page 103 Table 7-3 Level 3 Parameter Block Deﬁ nitions Continued Parameter (Number) Block Title Parameter Name and Description Selection (Value) PRESET PRESET REVs 8 (3307) Preset Value: 7:0000 POSITIONS PRESET REVs 9 (3308) Preset Value: 8:0000 (Continued) PRESET REVs 10 (3309) Preset Value: 9:0000 PRESET REVs 11 (3310) Preset Value: 10:0000...
Page 104 Table 7-3 Level 3 Parameter Block Deﬁ nitions Continued Parameter (Number) Block Title Parameter Name and Description Selection (Value) PLC MODE PLC CONFIG 1 through Preset Value: 000.128.000.000 PLC CONFIG 30 (3401 - 3430) Range: 0 to 255.255.255.255 30 PLC statements that defi ne the 32 bit word format and structure as: Parameter Number Format = DDD.CCC.BBB.AAA Example: P3401 = 051.000.000.020 Where:...
Page 105 Table 7-3 Level 3 Parameter Block Deﬁ nitions Continued Parameter (Number) Block Title Parameter Name and Description Selection (Value) COMP REF OPERATOR (3505) Preset Value: 0 (Continued) Range: 0 - 5 Sum (0) Difference (1) Multiply (2) Divide (3) Maximum (4) Minimum (5) The mathematical operator applied to the fi rst and second parameters.
Page 106 Table 7-3 Level 3 Parameter Block Deﬁ nitions Continued Parameter (Number) Block Title Parameter Name and Description Selection (Value) RTC ACTION 1 (3601) Preset Value: 0 FEATURES RTC ACTION 2 (3602) Range: 0 - 23 None (0) D.Out1 On (1) D.Out1 Off (2) D.Out2 On (3) D.Out2 Off (4)
Page 107 Table 7-3 Level 3 Parameter Block Deﬁ nitions Continued Parameter (Number) Block Title Parameter Name and Description Selection (Value) (3605) Preset Value: 0 ACT1 QUALIFIER FEATURES (3606) Range: 0 - 6 ACT2 QUALIFIER (Continued) Once (0) Second (1) Minute (2) Hourly (3) Daily (4) Monthly (5)
Page 108 7-34 Parameter Descriptions MN766...
Page 109: Manually Tuning The Control
Chapter 8 Customizing Your Application 8.1 Manually Tuning the Control Explanation of Closed Loop Block Diagrams Control systems are usually represented by a series of interconnected blocks. The blocks represent the individual functions of the system. The blocks are interconnected by a series of lines, which represent the variable or quantity involved with directional arrows showing the direction of information fl ow.
Page 110 Deﬁ nition of “P” (Proportional Gain) Proportional Gain is the amplifi cation that is applied to the process error signal, which will result in a particular control output. Proportional Gain is mathematically defi ned as; Where: = Control output = Proportional gain = Error signal = (Input Command - feedback) In Figure 8-2 we see that the amplitude of the output of the control is dependent on the error, multiplied by the proportional gain.
Page 111 Deﬁ nition of “I” (Integral Gain) Integral Gain (like Proportional Gain) is amplifi cation of the process error signal, but is time dependent. If a steady state error exists for long periods of time, it is known as an offset. Integral gain compensates for this long term error or offset. Generally speaking, if you were to use only proportional control in a process, the control output would never get the controlled variable exactly equal to the input command.
Page 112 To illustrate the concept of offset, refer to the following waveform. When the feedback has stabilized, it is not equal to input command. In this case, the difference between the input command and the feedback is the offset. Note that the integral gain is set to zero.
Page 113 Manually Tuning the Control In some applications the drive cannot be accurately auto-tuned. In these cases it is necessary to calculate the values needed to tune the drive and manually enter these calculated parameter values. Current Prop Gain Parameter This parameter (P1633) is located in the Level 1, Motor Control Block. The Current Prop Gain parameter is normally autotuned when motor inductance is not known.
Page 114 8-6 Customizing Your Application MN766...
Page 115: Event Log
Chapter 9 Troubleshooting The VS1SD continuously monitors its status and operation. When a fault occurs, the event and drive status is captured to help you troubleshoot problems. The following are designed to help in troubleshooting: • LEDs on the keypad indicate status (Stop, FWD, REV, Jog) •...
Page 116 FAULT LATCH Word Interpretation Hexadecimal Binary Description 0000 0000 0000 0000 0000 No Fault 0001 0000 0000 0000 0001 Motor Phase U upper Transistor 0002 0000 0000 0000 0010 Motor Phase U lower Transistor 0004 0000 0000 0000 0100 Motor Phase V lower Transistor 0008 0000 0000 0000 1000 Motor Phase V upper Transistor...
Page 117 Trace Displays Continued Action Description Display Comments Fault Trace Display Third word in the event trace is Press to view next entry. FAULT TRACE EV . LOG the Voltage reference for the Analog to Digital Converter. ADC CURRENT REF 0.000 V STATUS T0003 BACK...
Page 118 Trace Displays Continued Action Description Display Comments Next is the voltage present at Fault Trace Display Press to view next entry. FAULT TRACE EV . LOG Analog Input 1. ANA INPUT 1 0.0 V STATUS T0003 BACK Next is the voltage present at Fault Trace Display Press to view next entry.
Page 119 Trace Displays Continued Action Description Display Comments Fault Trace Display Next is the Motor Voltage. Press to view next entry. FAULT TRACE EV . LOG Display MOTOR VOLTS 0.0V STATUS T0003 BACK Fault Trace Display Next is the Motor Speed. Press to view next entry.
Page 120: Diagnostic Information
9.2 Diagnostic Information After power up, select the Diagnostic Menu to see information from the diagnostic displays. Action Description Display Comments Press Menu Displays top level menu options. Press to move cursor over STATUS the “DIAGNOSTICS” selection. BASIC PARAMS ADVANCED PROG EVENT LOG Press Enter to view diagnostic DIAGNOSTICS...
Page 121 Diagnostics Information Continued Comments Action Description Display Press to display next Displays energy cost (based on Press to go to the next or STOP LOCAL DIAG group. parameter P2305 value). previous Diagnostic screen. ENERGY 0.00KW EST POWER Press F2 to return to main menu. 0.0KWH EST ENERGY 0.0$...
Page 122: Fault Messages
Problem reading EEPROM on the control board, contact Baldor for service. Control EE Fault Problem writing fault log to control board EEPROM, contact Baldor for service. Problem writing the header record to the control board EEPROM, contact Control EE Fault Baldor for service.
Page 123 All 3 input phases lost. Check input circuit breaker, fuses or input contacts Line Regen Fault This fault code is not used. If it occurs, contact Baldor for service All 3 phase input lines have sagged below 70% of nominal. Check input line Line Sag Alarm quality;...
Page 124 Factory settings will be restored. Verify all settings and setup custom parameters. No Fault Fault No Fault Exists. Problem writing a parameter to the control board EEPROM, contact Baldor for NV memory Fail Fault service. Invalid protocol selected for optional communication card 1. Select a protocol...
Page 125 Ser Heating Sys Alarm Triggered from RTC Module. Service Drive Alarm Triggered from RTC Module. Service Motor Alarm Triggered from RTC Module. Soft Version Fault This fault code is not used, if it occurs contact Baldor for service. MN766 Troubleshooting 9-11...
Page 126 U-Phase. If the signal is off for more than 5 mS, the fault will occur. Unknown Fault This fault should not occur. Contact Baldor for service. Transistor #1 failed to fi re or misfi red. Verify IGBT is not shorted. Verify no Upper U Gate Fault debris has fallen into drive.
Page 127: Electrical Noise Considerations
9.4 Electrical Noise Considerations All electronic devices are vulnerable to signifi cant 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 128 9-14 Troubleshooting MN766...
Page 129: Overview
Chapter 10 PLC Mode Description 10.1 Overview PLC functionality is selected by setting Level 1, Input Setup block, Operating Mode parameter P1401 to PLC. PLC mode allows 2-Wire and 3-Wire operating modes to be created using a selection of conditions, logical operators and desired actions.
Page 130: Timers
A and B are deﬁ ned as follows: A = (Value of Parameter P3431) / (Max of Parameter P3431) B = (Value of Parameter P3433) / (Max of Parameter P3433) Then, A & B are signals with the following properties: -1≤ A ≤1 and -1≤ B ≤1. A and B are normalized signals derived from parameters pointed to by P3431 and P3433.
Page 131 Table 10-1 PLC Conditions Description False - This condition is always False True - This condition is always True Reserved (Workbench - Digital Input) Reserved (Workbench - Hard Forward Limit) Reserved (Workbench - Hard Reverse Limit) Reserved (Workbench - Soft Forward Limit) Reserved (Workbench - Soft Reverse Limit) Reserved (Workbench - Move Statue) Reserved (Workbench - Idle)
Page 132 Table 10-1 PLC Conditions Continued Description Accelerating - If absolute speed demand is accelerating this condition is True. Constant Speed - If absolute speed demand is constant this condition is True. Decelerating - If absolute speed demand is decelerating this condition is True. At Zero Speed - If absolute speed demand is below the Zero Speed Set Point (P1505) this condition is True.
Page 133 Table 10-2 PLC Logical Operators Description OR - Performs logical OR operation on input conditions AND - Performs logical AND operation on input conditions XOR - Performs logical XOR operation on input conditions NOR - Performs logical NOR operation on input conditions NAND - Performs logical NAND operation on input conditions Table 10-3 PLC Actions Description...
Page 134 Table 10-3 PLC Actions Continued Description Preset Speed Select Table Index Bit 3 - If the input condition is True then bit 3 of the Preset Speed Select Table Index is set else it is reset. NOTE: If this action is not programmed then bit 3 is reset. Process PID Enable/Disable - If the input condition is True then the Process PID is active otherwise it is inactive.
Page 135 Table 10-3 PLC Actions Continued Description Pulse Start Timer D –If the input condition is True and timer D has expired then restarts timer D Reset PLC – If the input condition is True then a PLC reset is performed. All timers are expired and all logical variables are set to FALSE.
Page 136: Plc Mode As Standard Run 2-Wire Mode
10.5 PLC Mode as Standard Run 2-Wire Mode This example shows how the PLC Mode may operate as the Standard Run 2-Wire Mode. These parameter values are entered from the keypad. Initialization: Parameter Value Comment P1401 PLC operating mode selected PLC Mode conﬁ...
Page 137: Plc Mode As 15 Preset Speed Mode
10.6 PLC Mode as 15 Preset Speed Mode This example shows how the PLC Mode creates the 15 Preset Speed Mode. Initialization: Parameter Value Comment P1401 PLC operating mode selected PLC Mode conﬁ guration parameters: Parameter Parameter Dec Byte 3 Condition Byte 2 Logic Byte 1 Condition Byte 0 Action...
Page 138: Plc Mode As Process Pid Mode
10.7 PLC Mode as Process PID Mode This example shows how the PLC Mode rendered as the Process PID Mode. Initialization: Parameter Value Comment P1401 PLC operating mode selected PLC Mode conﬁ guration parameters: Parameter Parameter Dec Byte 3 Condition Byte 2 Logic Byte 1 Condition Byte 0 Action...
Page 139: Plc Mode As A Modifi Ed Process Pid Mode
10.8 PLC Mode as a Modiﬁ ed Process PID Mode This example shows how the PLC Mode as a modifi ed Process PID Mode. Initialization: Parameter Value Comment P1401 PLC operating mode selected P1501 Digital Output 1 Set by PLC Mode Logic P3431 Comparator A monitors absolute speed demand (P10) P3432...
Page 140 Note that P3401 is programmed to set logical variable “A” before it is used since statements are executed in order from P3401 through P3410. Either input 5 or 6 enable jog and they also set jog direction as in P3407 and P3408. Speed mode is active above 12 Hz but torque mode is active when less than 12Hz.
Page 141 Chapter 11 Composite Reference Description 11.1 Overview This reference is mathematically computed from any two valid drive parameters. Once confi gured, it can provide a signal to drive the speed loop, torque loop or process PID. In addition, this reference can drive all existing operating modes including the PLC Mode.
Page 142: Composite Reference Examples
Table 11-3 Composite Reference Parameters Stage Description 3501 & Scale Factor - Monitor a parameter number (Variable A or B) and scales the value into percentage of 3503 maximum value for use by the next stage. As an example, P3501=5 Motor Voltage (assume its maximum is 230V) is monitored and internally 20% is computed for P5= 46 V or 10% for P5=23 V.
Page 143 Chapter 12 Monitor and RTC Description 12.1 Monitor Parameters (P0001 to P0818) Monitor parameters can be viewed using the WorkBench software. Most are read only (P0001) but some (P0052) can be written as well. Table 12-1 Monitor Parameters Descriptions Type Name Unit Help...
Page 144 Table 12-1 Monitor Parameters Descriptions Continued Type Name Unit Help PROC FEEDBACK FB Process Feedback. - Process PID feedback signal ADC User Reference. - Hardware ADC reference voltage for analog ADC USER REF inputs ADC CURR REF ADC Current Reference. - Hardware ADC reference voltage for currents USER 24V User 24V.
Page 145 Units: kHW Estimated Cost. - Cost of output energy delivered. Estimated from cost EST COST of kWH unit parameter Access Key. - Parameter security access key. Contact Baldor to decode ACCESS KEY the key code KEYPAD SOFT VER Keypad Software Version.
Page 146 Table 12-1 Monitor Parameters Descriptions Continued Type Name Unit Help Autotune test result. Use keypad back/forward keys to review results on AUTOTUNE TEST RE the keypad Autotune test result. Use keypad back/forward keys to review results on AUTOTUNE TEST RE the keypad CMD TYPE Command Type.
Page 147 Table 12-1 Monitor Parameters Descriptions Continued Type Name Unit Help Component B of Composite Reference. - First part of the composite COMPONENT B reference signal. PLC Mode Timer A Counter. - General purpose timer/counter in 10ms PLC TIMER A clock ticks. PLC Mode Timer B Counter.
Page 148 Table 12-1 Monitor Parameters Descriptions Continued Type Name Unit Help Option Card 1 Confi guration Word 3. Slot 1 option card's general OPT1 CONFIG3 purpose confi g data from its EE Option Card 1 Confi guration Word 4. Slot 1 option card's general OPT1 CONFIG4 purpose confi g data from its EE Option Card 2 Confi guration Word 1.
Page 149: Real Time Clock (Rtc) Overview
Table 12-1 Monitor Parameters Descriptions Continued Type Name Unit Help MOTOR CURRENT Motor Current. Fault trace signal: motor instantaneous RMS current MOTOR TORQUE Motor Torque. Fault trace signal: motor instantaneous torque MOTOR VOLTS Motor Voltage. Fault trace signal: instantaneous voltage to motor MOTOR SPEED Motor Speed.
Page 150 Table 12-2 Actions (P3601 & 3602) ACTION DESCRIPTION None No action assigned. Default setting. Digital Output 1 On Digital output 1 is turned on. P1501 set to RTC. Digital Output 1 Off Digital output 1 is turned off. P1501set to RTC Digital Output 2 On Digital output 2 is turned on.
Page 151 RTC Action/Message Qualiﬁ er Parameters (P3605-P3608) Qualifi er parameters shown in Table 12-4 set the interval of time of the actions and messages selected. Table 12-4 Action/Message Qualiﬁ er Parameters (P3605 – P3608) QUALIFIERS DESCRIPTION Once Action/Message is scheduled once to occur on the date and time entered. Action/Message is scheduled every second.
Page 152 RTC Scheduling Examples The following table gives examples of the kinds scheduled events that may be programmed. Table 12-6 Scheduled Events Examples Action 1 Action 2 Message 1 Message 2 P3601 Digital Out 1 ON P3602 Digital Out 1 OFF P3603 Change Filters P3604...
Page 153 Action Description Display Comments At the Level 3 At the first menu Press to change value. Action Action Programming Menu “RTC ACTION 1” press ENTER. Press to move cursor to Action Date & Time Qualifier Action Qualifier. select RTC FEATURES Press to change value.
Page 154 12-12 Monitor and RTC Description MN766...
Page 155 Chapter A Technical Speciﬁ cations A.1 VS1SD Speciﬁ cations Table A-1 VS1SD Speciﬁ cations Voltage Voltage Range 95-130 180-264 180-264 340-528 Input Ratings Phase Single Phase Three Phase (single phase with derating) Frequency 50/60Hz ±5% Impedance 1% minimum from mains connection (3% minimum for AA frame drives)
Page 156 Table A-1 VS1SD Speciﬁ cations Continued Display LCD Graphical 128x64 Pixel Keys 14 key membrane with tactile feedback Output status monitoring Digital speed control Parameter setting and display Functions Diagnostic and Fault log display Motor run and jog Local/Remote toggle...
Page 157 Table A-1 VS1SD Speciﬁ cations Continued Full Scale Range 0 - 10VDC Single Ended Resolution 11 bits Analog Input Input Impedance 80 kOhms Analog Outputs 2 Assignable Full Scale Range AOUT1 (0-5V, 0-10V, 0-20mA or 4-20mA), AOUT2 (±5V, ±10V) Analog Outputs...
Page 158 A.2 Speciﬁ cations for Power Terminal Block Wiring Table A-2 Terminal Tightening Torque Speciﬁ cations Tightening Torque 240 VAC B+/R1; B+; Control J1, Power TB1 Ground TH1 and TH2 Control J3 Catalog No. B-; or R2 J2, P3 In-lbs In-lbs In-lbs In-lbs In-lbs...
Page 159: A.3 Identifying The Drive By Model Number
Each drive can be identifi ed by its model number, as shown in Figure A-1. The model number is on the shipping label and the drive nameplate. The model number includes the drive and any options. Drive model numbers for the VS1SD drive are provided in Table A-3.
Page 160: A.5 Vs1Sd Drive Ratings, Model Numbers And Frame Sizes
A.5 VS1SD Drive Ratings, Model Numbers and Frame Sizes Similar VS1SD drive sizes are grouped into frame sizes to simplify re-ordering and dimensioning. Refer to Table A-5 for the dimensions of each frame size. Table A-3 provides VS1SD drive ratings, model numbers and frame sizes.
Page 161 A.6 VS1SD Terminal Wire Gauge Speciﬁ cation Table A-4 specifi es the wire gauge allowed for each terminal in the drives. Table A-4 Terminal Wire Gauge Speciﬁ cation Power B+/R1, R2 & B- Ground TH1/TH2 Control J1, J2 & P3...
Page 162 A.7 Mounting Dimensions for the VS1SD Drive Figure A-2 Drive Dimensions 0.25 (6.35) dia. Exhaust Size # Holes Diameter inches (mm) 0.87 (22) 0.25 (6.35) Size AA dia. OM2000A01 0.35 (8.9) Exhaust CONDUIT INFORMATION Size # Holes Diameter inches (mm) 1.115 (28.3)
Page 163: B.1 Level 1 Parameters (Advanced Prog, Level 1 Blocks)
Chapter B Parameter Tables B.1 Level 1 Parameters (Advanced Prog, Level 1 Blocks) All parameters displayed in this appendix are Parameter Table 1 (T1) factory set values. Setting parameter P2103 to yes will load these values into all four parameter tables. Level 1 & 2 parameters are secured by security access code (P2107). Table B-1 Parameter Block Values Level 1 Block Title Parameter...
Page 164 Table B-1 Parameter Block Values Level 1 (Cont.) Block Title Parameter Adjustable Range Factory User Setting KEYPAD STOP KEY 1301 0-Off (Keypad Stop inactive in remote) SETUP 1-On (Keypad Stop active in remote) STOP MODE 1302 0-Regen 1-Coast RUN FORWARD 1303 0-Off 1-On...
Page 165 Table B-1 Parameter Block Values Level 1 (Cont.) Block Title Parameter Adjustable Range Factory User Setting INPUT SETUP ANA IN1 TYPE 1403 0-None (Continued) 1-Potentiometer ANA IN1 INVERT 1404 0-Off 1-On ANA IN1 GAIN 1405 0.0% to 300.0% 100.0 ANA IN1 OFFSET 1406 -100.0% to 100.0% ANA IN1 FILTER...
Page 166 Table B-1 Parameter Block Values Level 1 (Cont.) Block Title Parameter Adjustable Range Factory User Setting OUTPUT DIGITAL OUTPUT 1 1501 0-Drive Run SETUP 1-Drive Ready DIGITAL OUTPUT 2 1502 2-Drive On 3-Drive Stopped RELAY OUTPUT 1 1503 4-Jog RELAY OUTPUT 2 1504 5-Accelerate 6-Constant Speed...
Page 167 Table B-1 Parameter Block Values Level 1 (Cont.) Block Title Parameter Adjustable Range Factory User Setting OUTPUT ANA OUT1 SIGNAL 1511 0-Speed Ref SETUP 1-Speed Demand (Continued) 2-ACC/DEC 3-Motor Current 4-Mag Current 5-Mag Curr Cmd 6-Load Current 7-Load Curr Cmd 8-Power Factor 9-Ph1 Current 10-Ph2 Current...
Page 168 Table B-1 Parameter Block Values Level 1 (Cont.) Block Title Parameter Adjustable Range Factory User Setting OUTPUT ANA OUT2 SIGNAL 1514 0-Speed Ref SETUP 1-Speed Demand (Continued) 2-ACC/DEC 3-Motor Current 4-Mag Current 5-Mag Curr Cmd 6-Load Current 7-Load Curr Cmd 8-Power Factor 9-Ph1 Current 10-Ph2 Current...
Page 169 3-Slots 1 & 2 SECURITY DEFAULT 1706 0-No 1-Yes BROWSER USER ID 1707 ASCII user ID for the Ethernet Web baldor Browser Option Board if installed. BROWSER PASSWORD 1709 Password for the Ethernet Web Browser baldor Option Board if installed. CUSTOM...
Page 170: B.2 Level 2 Parameters (Advanced Prog, Level 2 Blocks)
B.2 Level 2 Parameters (Advanced Prog, Level 2 Blocks) Table B-2 Parameter Block Values Level 2 Block Title Parameter Adjustable Range Factory User Setting DRIVE LIMITS OPERATING ZONE 2001 0-Std Const Torq 1-Std Var Torq 2-Quiet Const Torq 3-Quiet Var Torq MIN OUTPUT SPEED 2002 0 - MAX Speed RPM...
Page 171 Table B-2 Parameter Block Values Level 2 (Cont.) Block Title Parameter Adjustable Range Factory User Setting DRIVE OVER TEMPERATURE 2210 0-Derate PROTECT 1-Fault (Continued) POWER DOWN OPTIONS 2211 0-Fault 1-Ride Through CNTRL STP BUS LBL 2212 200 to 800V CACL CNTL STOP DELAY 2213 0-3600.0 Seconds...
Page 172 Table B-2 Parameter Block Values Level 2 (Cont.) Block Title Parameter Adjustable Range Factory User Setting MOTOR DATA ENCODER TYPE 2410 0-Single Use default (Continued) 1-Differential setting only RESOLVER SPEED 2411 0 - 10 MOTOR POLE PAIRS 2413 1 - 100 CALC MOTOR MODEL 2414 0-No...
Page 173 Table B-2 Parameter Block Values Level 2 (Cont.) Block Title Parameter Adjustable Range Factory User Setting AUTO TUNE ANA OFFSET TRIM 2901 0-No 1-Yes ONE-STEP TUNING 2902 0-No 1-Yes CUR. LOOP TUNE 2906 0-No 1-Yes FLUX CUR. TUNE 2907 0-No 1-Yes FEEDBACK TEST 2908...
Page 174: B.3 Level 3 Parameters (Advanced Prog, Level 3 Blocks)
B.3 Level 3 Parameters (Advanced Prog, Level 3 Blocks) Table B-3 Parameter Block Values Level 3 Block Title Parameter Adjustable Range Factory User Setting PROFILE RUN NUMBER OF CYCLES 3001 0 - 255 PR RESTART MODE 3002 0-Restart 1-Continue SPEED CURVE 1 3003 0-FWD-Group1 1-REV-Group1 2-FWD-Group2...
Page 175 Table B-3 Parameter Block Values Level 3 (Cont.) Block Title Parameter Adjustable Range Factory User Setting PULSE RX RATIO OUT 2 3108 1 - 1048576 1024 FOLLOWER RX RATIO OUT 3 3109 1 - 1048576 1024 (Continued) RX RATIO OUT 4 3110 1 - 1048576 1024 OUTPUT TYPE...
Page 176 Table B-3 Parameter Block Values Level 3 (Cont.) Block Title Parameter Adjustable Range Factory User Setting PLC MODE PLC CONFIG 9 3409 0 to 255.255.255.255 000.128.000.000 (Continued) PLC CONFIG 10 3410 0 to 255.255.255.255 000.128.000.000 PLC CONFIG 11 3411 0 to 255.255.255.255 000.128.000.000 PLC CONFIG 12 3412 0 to 255.255.255.255...
Page 177 Table B-3 Parameter Block Values Level 3 (Cont.) Block Title Parameter Adjustable Range Factory User Setting COMPOSITE PARAM B FUNCTION 3504 0-Zero 1-Identity (Continued) 2-Absolute Value 3-Invert 4-Square 5-Square Root 6-Sine 7-Cosine 8-Ramp Generator 9-Freq Generator OPERATOR 3505 0-Sum 1-Difference 2-Multiply 3-Divide 4-Mazimum...
Page 178 Table B-3 Parameter Block Values Level 3 (Cont.) Block Title Parameter Adjustable Range Factory User Setting ACT1 QUALIFIER 3605 0-Once FEATURES 1-Second ACT2 QUALIFIER 3606 (Real Time 2-Minute Clock) 3-Hourly MSG1 QUALIFIER 3607 (Continued) 4-Daily MSG2 QUALIFIER 3608 5-Monthly 6-Yearly ACT1 DATE/TIME 3609 01 January 2000, 00:00:00 - Jan 01,2000...
Page 179: C.1 Outline
This section provides general information regarding recommended methods of installation for CE compliance. It is not intended as an exhaustive guide to good practice and wiring techniques. It is assumed that the installer of the VS1SD is suffi ciently qualifi ed to perform the task, and is aware of local regulations and requirements. Baldor products that meet the EMC directive requirements are indicated with a “CE”...
Page 180: C.3 Emc Installation Options
C.3 EMC Installation Options When installed for Class A or Class B operation, the control is compliant with EN55011 (1991)/ EN55022 (1994) for radiated emissions as described. C.4 Grounding for Wall Mounting (Class A) also see Chapter 4 Top cover must be installed. •...
Page 181: C.7 Emc Wiring Technique
Schaffner FN3258 and FN351 series ﬁlters. 4 GROUNDING (EARTH) For safety reasons (VDE0160), all Baldor components must be connected to ground with a separate wire. The diameter of the wire must be at minimum AWG#6 (10mm ).
Page 182: C.8 Emc Installation Instructions
C.8 EMC Installation Instructions To ensure electromagnetic compatibility (EMC), the following installation instructions should be completed. These steps help to reduce interference. Consider the following: • Grounding of all system elements to a central ground point • Shielding of all cables and signal wires •...
Page 183: D.1 Dynamic Braking (Db) Hardware
Chapter D Options and Kits D.1 Dynamic Braking (DB) Hardware Whenever a motor is abruptly stopped or forced to slow down quicker than if allowed to coast to a stop, the motor becomes a generator. This energy appears on the DC Bus of the control and must be dissipated using dynamic braking hardware. Dynamic braking resistors are completely assembled and mounted in a NEMA 1 enclosure.
Page 184: D.2 Expansion Boards
D.2 Expansion Boards Baldor offers a wide variety of plug-in expansion boards for their Controls. Expansion boards allow a control to be compatible with various inputs and outputs. Each control can accept up to two expansion boards. Chapter 3 of this manual describes the locations of the connectors for these expansion boards.
Page 185: D.3 Keypad Extension Cable
CAUTION: Only Baldor cables should be used to connect the keypad and control. These are special twisted pair cables to protect the control and keypad. Damage associated with other cable types are not covered by the Baldor warranty.
Page 186: D.5 Optional Remote Keypad Installation
D.5 Optional Remote Keypad Installation The keypad may be remotely mounted using optional Baldor keypad extension cable (refer to Table D-3). When the keypad is properly mounted to a NEMA Type 4X enclosure, it retains the Type 4X rating. The mounting/drill template is located in Appendix E of this manual.
Page 187: E.1 Remote Keypad Mounting Template
Chapter E Remote Keypad Mounting Template E.1 Remote Keypad Mounting Template Figure E-1 2.81 0.28 4.99 1.38 Knockout 3.95 1.89 Drill #27 Hole 3 Places 1.07 2.14 Note: Template may be distorted due to reproduction. KP0030A00 MN766 Remote Keypad Mounting Template E-1...
Page 188 E-2 Remote Keypad Mounting Template MN766...
Page 189 NOTES _________________________________________________________________________ _________________________________________________________________________ _________________________________________________________________________ _________________________________________________________________________ _________________________________________________________________________ _________________________________________________________________________ _________________________________________________________________________ _________________________________________________________________________ _________________________________________________________________________ _________________________________________________________________________ _________________________________________________________________________ _________________________________________________________________________ _________________________________________________________________________ _________________________________________________________________________ _________________________________________________________________________ _________________________________________________________________________ _________________________________________________________________________ _________________________________________________________________________ _________________________________________________________________________ _________________________________________________________________________ _________________________________________________________________________...
Page 190 NOTES _________________________________________________________________________ _________________________________________________________________________ _________________________________________________________________________ _________________________________________________________________________ _________________________________________________________________________ _________________________________________________________________________ _________________________________________________________________________ _________________________________________________________________________ _________________________________________________________________________ _________________________________________________________________________ _________________________________________________________________________ _________________________________________________________________________ _________________________________________________________________________ _________________________________________________________________________ _________________________________________________________________________ _________________________________________________________________________ _________________________________________________________________________ _________________________________________________________________________ _________________________________________________________________________ _________________________________________________________________________ _________________________________________________________________________...
Page 191 Baldor Sales Ofﬁ ces UNITED STATES IOWA OHIO (Continued) INTERNATIONAL SALES DES MOINES CLEVELAND FORT SMITH, AR 8929 FREEWAY DRIVE ARIZONA 1943 HULL AVENUE P.O. BOX 2400 PHOENIX DES MOINES, IA 50313 MACEDONIA, OH 44056 FORT SMITH, AR 72902 4211 S 43RD PLACE...
Page 192 P.O. Box 2400, Fort Smith, AR 72902-2400 U.S.A., Ph: (1) 479.646.4711, Fax (1) 479.648.5792, International Fax (1) 479.648.5895 Baldor - Dodge 6040 Ponders Court, Greenville, SC 29615-4617 U.S.A., Ph: (1) 864.297.4800, Fax: (1) 864.281.2433 www.baldor.com © Baldor Electric Company All Rights Reserved. Printed in USA. MN766 05/13...

Baldor VS1SD Installation & Operating Manual

Chapter 1 Introduction

Chapter 2 General Information

Chapter 3 Installing the Drive

Chapter 4 Power Wiring

Chapter 5 Control Wiring

Chapter 6 Using the Keypad

Chapter 7 Parameter Descriptions

Chapter 8 Customizing Your Application

Chapter 9 Troubleshooting

Chapter 11 Composite Reference Description

Chapter 12 Monitor and RTC Description 12.1 Monitor Parameters (P0001 to P0202) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12-1

Appendix A

Appendix B

Appendix C

Appendix D

Appendix E

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