7722-SV AC Vector Control Manual Control Model: 71X-XXX-175X Bipolar) Installation and Operation Manual Software Version 2.02 ee DRIVE CENTRE ©) TEL (816) 231-6767 worw drivecentre.caTable of Contents Introduction . Purpose... ‘About This Manual . For Additional information or Assistance . Chapter 1 General information ...... 4 Factory Assistance . WW Safety Notice WW Warranty .. 12 Control Description « 18 Components 15 Specifications . 16 Ratings . W Using The Keypad |: 18 Keypad Overview .... 18 Changing Parameters 18 LOCAL Keypad Control . . 19 Changing the Display Tt Software Revisions . cee TAZ Chapter 2 “installation and Setup . Introduction . Mounting Main Circuit Wiring Dynamic Braking Operating Mode Selection Control Wiring (31) . ; Optorsolated Inputs Optorsolated Outputs Analog Inputs ‘Analog Outputs Encoder Wiring (J2) Buffered Encoder Output Home or Orient Switch Input (12) . Check of Electrical tems... . Check of Motors / Couplings . Momentary Application of Power . Chapter 3 Setup Using the Keypad ... Hi Drive Setup From Motor Nameplate Data 3 Setup Parameters vee Bt Calculate Control Parameters ce 132 AutoTuning the Drive 132 Selection of Optional Parameters (PO - P65) . 34 system Control Parameters. 34 Misc Operating Parameters. 1 36 YO Parameters Il 38 Yo Threshold Parameters (For Opto Out) - : 39 Flux Control Parameters. . | 39 TABLE OF CONTENTS340 340 340 Bat Operate the Drive . . ‘Adjust Control Parameters to Suit the epkcaten « Select Security Code ........ : Record Parameters Chapter 4 Setial Command . Serial Connections 5 RS-232 Operation... . RS-422 / RS-A85 Operation - Drive Setup from Serial Command Using the Serial Command Language Commands Required for Setup Setup Parameters... . Calculate Default Parameters AutoTuning the Drive . Enter Optional Parameters Operate the Drive ‘Adjust Control Parameters to Suit the Application Select Security Code Sope0d Record Parameters ..... File Transfer Commands... Serial Command Language Reference NonProtected Commands: 410 Security Lockable Commands =.= a3 Local Mode Commands . ana Positioning Commands a5 Chapter 5 Theory of Operation Drive Overview . Bus Power Supply Control Power Supply Control Board Encoder Signals. Outputs to Base Drivers. Flux Control. ; Load Current (Torque) Controller... ‘Speed Controller Current Limiter Flux Vector Theory Power Output Circuit. Mod-Demod Current Sensor Hall Current Feedback board Base Drivers Chapter 6 Troubleshooting ...... . 64 No Display... 62 Fault Code Present 63 Phase Fault 64 Overcurrent Fault . 66 Overload Fault Goce 68 External Over Temp Fault 69 Controller Over Temp Fault. 610 Undervoltage Fault ent Overvoltage Fault . : 614 Following Error Fault . 615 ‘TABLE OF CONTENTS616 617 618 618 618 vee 621 sees G21 Torque Proving Fault . Current Sense Fault. Power Base ID Fault Improper Motor Operation No Motor Shaft Rotation Erratic or Jittery Shaft Rotation Wrong Response to Speed Commands Chapter 7 Wiring and Protective Devices Constant Torque Applications. . Variable Torque Applications Internal Fuse Lists Chapter 8 Braking Options Information. Chapter 9 Renewal Parts... Hoga Chapter 10 : Drawing List. 104 Appendix A. Elevator Applications « gpee6H pbeoG560 da sosbsbEpoEdaqson0 : oad Elevator Setup Procedure . ee err ce er Recommended Sequencing for Elevators or Cranes .......0...ccseseveeeee FAR Appendix B Interface 1/0 and Protective Features. ‘Analog Outputs Analog Inputs Selectable Parameter Tables | Opto Isolated Inputs . . . Opto Isolated Outputs Encoder Interface . Additional Protective Features. ‘Appendix C Discussion on Gain Parameters . 2 Gt Flux Current P72. ac Slip Frequency P78 . CA Current Controller Gains - P73 & P74 eal Speed Controller gains - P75 - P77 72 PlController oo... sees e eee ca ‘Appendix D ‘AC Vector Drive Parameter List D4 Appendix € ca Serial Command Quick List. Appendix F Recomnmentled Tightening Torques ..........2.eseeeee0+ ‘TABLE OF CONTENTSList of Figures and Tables Figure 1-1 Drive ...... : Figure 12 Drive With Cover Open. Table 1.1. Drive Ratings . 21 Installation and setup flow diagram 22 Main Circuit Wiring... 23 Typical Connections for Output Contactor . 24 — Mode 0 Standard Run (P90=0) 25 — Mode 1 PLC Interface (P90=1) 26 — Mode 2 Analog Input Speed or Torque Contollr ( 27 Mode 3 Serial Control (P90=3) : 28 Using an external power supply with the opto inputs . . 29 Using isolated supplies with the opto outputs 240 Analog Input Options for Mode 2. 241 Encoder Connections 2-12 Typical home or orient switch connections : 34 Typical SCurve Limited Velocity Profile. . : 41 RS-232 Serial Connections . we 42 RS422 / RS-485 Connections 43 RS-422 Point to Point System 44 RS4B5 2Wire Multi Drop System . 51 Simplified AC Vector Block Diagram 5.1 Bus Voltage Thresholds . 5-1 Simplified Position Feedback Block Diagram 61 No Display with Power Applied : 61 Explanation of fault codes 62 Phase Fault Flow Chart... 63 Single and Dual Transistor Configurations 64 —Over-current Fault Flow Chart. 65 Overload Fault Flow Chart . . 66 External Over Temp Fault Flow Chart 67 Controller Over Temp Fault Flow Chart . 68 —_Undervoltage Fault Flow Chart 69 700 Series Ac Ripple Testing .. 610 Normal DC Bus AC Ripple Before SCR Turn ON 611 DC Bus After SCR Turn ON (Normal Operation) 612 DC Bus problem after SCR Turn ON 613 Overvoltage Fault Flow Chart 6-14 Following Error Fault Flow Chart 645 Torque Proving Fault Flow Chart. 616 Current Sense Fault Flow Chart 647 Power Base ID Fauit Flow Chart 5 : 618 No Motor Shaft Rotation Flow Chart... oo 619 Drive will not enable Flow Chart : 620 Erratic Shaft rotation Flow Chart. 7.4 Constant Torque Protection . . 7.2 Variable Torque Protection . 713 internal Fuse List - Model 712-XXXX-175 (230 VAQ) 7.4 Internal Fuse List - Model 714-XXX%-175 (460 VAC) 81 Braking Resistor Assemblies 9.1 Renewal Parts Model No, 712XXXX175 (Part 1). 9.1 Renewal Parts Model No. 712XXXX-175 (Part 2) . 9:1 Renewal Parts Model No. 714XXXX175 & 713000175 (Part 1) 9.2 Renewal Parts Model No. 714:XXXX-75 & 713-XXXX-175 (Part 2) Al Elevator run sequence .... . cbc ee B41 Analog Outputs... ‘TABLE OF CONTENTS. 24 . 29 4 17 22 24 27 28 240 224 242 2243 214 2245 35 610 611 1612 613 613 613 614 615 2616 617 618 +619 +620 -621Table Figure Figure Figure Table Figure Figure Figure Figure Figure Figure Bt 82 B83 Ba B2 Bs Be ct ry C3 cA Analog Output Parameter setngs « ‘Analog inputs . Optically Isolated Inputs Optically isolated Outputs Optoisolated Output Parameter Settings Encoder Interface Additional Protective Features i) stings : Oscilloscope Response No. Oscilloscope Response No. Oscilloscope Response No. Oscilloscope Response No. 1 2 3 4 ‘TABLE OF CONTENTS‘TABLE OF CONTENTS.Introduction Purpose 0 ‘The purpose of this manual is to provide installation, setup, operation, reference and ‘troubleshooting information for the 71X series Encoder Feedback Vector Controllers. NOTE: if you are experienced with the installation and setup of drives, motors and control equipment you may wish to skip ahead to the flowchart at the beginning of Chapter 2. Each block of the flowchart represents the title of appropriate sections of this manual, including elevator appl About This Manual 0D Beso This manual uses the following icons to highlight points of interest: Indicates a note of interest. Indicates a safety warning; (ead the comments before continuing. Indicates possible high voltage present. Always insure that AC line voltage is off and that DC Bus Voltage is below 10 volts by measuring with a voltage meter before proceeding. Indicates instructions for factory support. NOTE: The words Controller and Drive are used interchangeably throughout this, manual. For Additional Information or Assistance If you require assistance or information please contact Baldor=Sweodrive at: 4330 150th Ave NE Redmond, WA 980525301 (206) 867-9677 (7:00AM - 5:00°M Pacific Standard Time) Fax: (206) 867.9719 Please have drive and motor information available when you call, INTRODUCTION iChapter 1 General Information Factory Assistance Should it become necessary to contact the factory for assistance, please have the following information and Control Nameplate Data on hand when you call: Control Model Number: Control Serial Number: The Application of the Control: Safety Notice WARNING: This equipment contains voltages which may be as high as 800 volts and rotating parts on motors and driven machines. High voltage and moving parts can cause serious or fatal injury. Only qualified personnel familiar with this manual and any driven machinery should attempt to startup or troubleshoot this equipment. Observe these precautions: + USE EXTREME CAUTION, DO NOT TOUCH ANY CIRCUIT BOARD, POWER DEVICE OR ELECTRICAL CONNECTION WITHOUT INSURING THAT HIGH VOLTAGE IS NOT PRESENT. + THE UNIT MUST BE PROPERLY GROUNDED. DO NOT APPLY AC POWER BEFORE FOLLOWING GROUNDING INSTRUCTIONS. + DO NOT OPEN COVER FOR 2 MINUTES AFTER REMOVING AC POWER, ‘TO ALLOW CAPACITORS TO DISCHARGE. : IMPROPER CONTROL OPERATION MAY CAUSE VIOLENT MOTION OF MOTOR SHAFT AND DRIVEN EQUIPMENT. BE CERTAIN THAT UNEXPECTED MOTOR SHAFT MOVEMENT WILL NOT CAUSE INJURY ‘TO PERSONNEL OR DAMAGE TO EQUIPMENT. PEAK TORQUES OF SEVERAL TIMES RATED MOTOR TORQUE CAN OCCUR DURING A CONTROL FAILURE. : MOTOR CIRCUIT MAY HAVE HIGH VOLTAGE PRESENT WHENEVER AC POWER IS APPLIED, EVEN WHEN MOTOR IS NOT ROTATING. GENERAL INFORMATION 11Warranty BALDOR SWEODRIVE warrants that the products sold will be free from defects in material and workmanship and perform to Selle’s applicable published specifications for a period of two (2) years from date of shipment from Seller's plant: Seller ‘extends this limited warranty to each buyer of the drive for the purpose of resale and to the original purchaser for use. (Use shall be defined as installation and application of power.) The lability of Seller hereunder shall be limited to replacing ‘repairing, at its option, any defective units or parts thereof which are returned F.0.B, Selle’s plant, Redmond, Washington. In no event shal Seller be liable for any consequential or incidental damages. Equipment or parts which have been subject to abuse, misuse, accident, alteration, neglect, unauthorized repair or installation are not covered by warranty. Seller shall rake the final determination as to the existence and cause of any alleged defect. No liability is assumed for expendable items such as fuses. "No warranty is made with respect to custom equipment or products produced to Buyer's specifications except as specifically stated in writing by Seller in the contract for such custom equipment. THIS EQUIPMENT IS STANDARD INDUSTRIAL CONTROL EQUIPMENT AND CONTAINS NO SPECIAL PROVISIONS TO MEET THE SAFETY CODES AND REQUIREMENTS FOR ELEVATOR USE. ALL SUCH SAFETY PROVISIONS MUST BE ADDED BY THE CUSTOMER. This warranty is the only warranty made by Seller with respect to the goods delivered hereunder, and may be modified or amended only by a written instrument signed by a duly authorized officer of Seller and accepted by Buyer. ‘Warranty of any product purchased by Seller from others is limited in time and scope to any warranty given Seller by such suppliers. Except as hereinabove provided, SELLER MAKES NO WARRANTIES, EXPRESS OR IMPLIED, INCLUDING ANY WARRANTY OF MERCHANTABILITY OR FITNESS FOR A PARTICULAR PURPOSE, 1-2. GENERAL INFORMATIONControl Description The 700 Series AC flux vector controls are especially adapted for high performance industrial drive systems. They operate directly from three phase 230, 400 or 460 VAC power. They can control 5 to 75 HP AC induction motors with encoder feedback. Operation on a single phase power source with a 40% reduction in ‘output current is also possible. Outline and mounting dimensions of the contro enclosure are specified on drawing 8-0022 at the end of this manual. Figure 1-1 700 Series Brive Drive Information and Serial Number Keypad J “AaMG05. iN Ta GENERAL INFORMATION 1-3Figure 7-2 700 Series Drive With Cover Open SOS06S05 2 ff PowefbseiQ DIP Swich Keypad Gonectr Sofware EPROMS fol ae 7 [} O23 a ¥ vat CORRELL NEEL a ' Soa a al 12 °«O Pt 2 1} (© amy am a sunny OO pusesas © 13 UTI Control Board 1-4 GENERAL INFORMATIONComponents Controls consist of the following major elements in a compact enclosed assembly: Mounting base with grounded heat sink, on which are mounted: bus capacitors, ‘main power transistor pair modules, output current sensing devices, three phase rectifying circuits, input filter inductor, soft start resistor, soft start bypass SCR, regenerated energy regulator transistor, and the power terminal block. Units rated over 20 amps rms have a fan or blower for circulation of cooling Base drivers mounted over the main power transistor modules. Power supply assembly mounted on inside surface of the swing out door. Control board mounted inside the control board cover. Keypaddisplay mounted on control board cover For controls rated from 5 to 25 HP @ 230 VAC, from 3 to 35 HP @ 400 VAC, and from 5 to 40 HP @ 460 VAC, a current feedback moddemod assembly is mounted (on the inside surface of the swing out door. GENERAL INFORMATION 1-5Specifications Output Voltage 2230, 400, 460 VAC Constant HP range ‘Above base speed Output Current Per Rating Table \elodty loop bandwidth'* Adjustable to 60 Hz Curent loop bandwidth Adjustable to 400 Hz ‘Maximum output frequency $00 Fz standard (Curent ripple frequency 5 KH standard Adjustable 2 tol0Kr2 UL iting Fle No. 632 SERVICE CONDITIONS Rated Input Voltages 13 phase 50/60 Hz ‘Single phase 50/60 Ha with 40% derate » 230 VAC Models 190 to 253 VAC 4400 VAC Medels 30 to 440 VAC 460 VAC Models $380 to 505 VAC ‘Ambient temperature Operating: 0 to 40°C fe Storage: 30 to 465°C Humidity 1095 to 50% . roncondensing Attude Sea level to 3,300 feet without derting Endosuce NEMA.1 with conduit entry knockout plate MOTOR AND ENCODER REQUIREMENT ‘Motor poles 2,4,6,008 Incremental encoder Mounted on motor Pusesfrev 60 to 15,000 adjustable Voltage outputs 2 channel quadrature, 5 VOC, diferentat Marker pulse Required for postion exientation Power output 45 VOC, 300 ma Max. Maximum frequency vz DIAGNOSTIC INDICATIONS ‘Curent Senseauit Following Eror Instantaneous over current or ground fait (each phase) Invalid Power Base 1D Line power loss Microprocessor failure (Over speed veroad vertemperature (motor or contre) Ovenaltage Parameter Loss Ready Regen Overload (@ynamic braking) Soft Stat Fault Torque Proving fault Undervotage | 1-6 GENERAL INFORMATION ANALOG AND CONTROL 1/0 Buffered speed/torque input ‘Common mode rejection 40 db Full scale range +£5\DG 4 10 VOC, 420 ma ‘Atoadjusted resolutions 12 bits + sign below s1V 9 its + sign above iV Update rate 2.0 ms in speed mode 4.0 ms in torque mode (ther analog input 1 assignable Full sale range £10 Resolution 9 bits + sign Update rate 20 ms ‘Analog outputs 2 assignable Full scale range Oto+5v0C Resolution Bbits Update rate 20 ms Optoisclated logic inputs 9 total, 6 assignable Rated voltage 10 to 30 VDC (dosed contacts standard) Input impedance 6.8K ohms ioe Update rate ams COptoiscated logic outputs 4 assignable (ON current sink © mA Max (ON voltage drop 2V0C Max. Update rate 8ms RS232C / 422 / 485 SERIAL PORT Functions Parameter load / display Digital control ‘Auto tuning Postoning Commands Addressable Up to31 drives aud Rate 1200:9.2K Baud SELECTABLE OPERATING MODES. Standard run LC interface with 16 preset speeds ‘Analog speed or torque contral Sel control KEYPAD DISPLAY ep 2 Ospley character 20 Funcions Mater Output Monitoring agnostic dsploy Digital speed coil ator Jog Parameter os/Sspay ‘touringRatings ‘Table 1.1 — Drive Ratings ‘VARIABLE vac CONSTANT TORQUE RATINGS ‘TORQUE RATINGS max | ames | ams | amps | MOPPENO | SPE TanaxT anes: HP cont 1 3 Hp | CONT MIN SEC 230 5 18 27 35 71224175 A 75 | 25 15 25 37 50 235175 | A 10 (| 35 10 35 52 70 247475 | A 1 | 45 15 50 75 100 72510175 | A 20 [55 25 68 102 135 2714175 | A 25 | 70 40 104 156 200 712-4020-175 | ¢ 50 | 130 50 235 202 270 7124427-175 | C 60 | 145 400 3 10 15 20 7342175 A 5 15 15 18 27 35 71324175 | A to | 25 10 25 37 50 713.35-175 | A 20 | 35 22 35 52 70 71347475 | B 2 | 45 35 52 78 100 713510175 | B 35 | 55 40 70 135 102 713714175 | ¢ so__| 80 60 100 150 200 713-1020-175 | ¢ 78 | 125 460 5 10 15 20 412175 | A 75 [15 10 18 27 35 71424175 | A 15 | 25 15 25 37 50 7435-175 | A 25 | 35 25 35 52 70 71447475 |B 30 | 45 30 45 68 100 714510175 |B 40 | 55 50 70 102 135 4714175 | 60 | 80 5 100 150 200 714-1020-175 | ¢ 1o0_| 125 GENERAL INFORMATION 1-7Using The Keypad Keypad Overview FOUR CHARACTER DISPLAY: DISPLAY INDICATORS. Diy mater sped oa, vege aquengy Inceat uns of cil or parameter enty. tng motor operation cea tenee ci ae tt np canon ore oo eee 108 aaa one | ROSY nee Ugh when 106 8 sche. mode Ugkewien ROG ache LOCAL KEY. Soe meee etee DISPLAY KEY den ome LOCA Pent ‘sede sth ete hemor pty SereeeenreneeeerrEaE modes, the fault og, and parameter vew, eo || os? || aa aaa i Sonu ane ae eS Tf serous vena Fey Tren omen) | SoSS Ser met rm sonter srop |reser|| WW] | | exrenxers eee ead sparta nA te {End temas parameter ber andes. RESET / CANCEL KEY- ‘SHIFT KEY BST LGANCE MY rc See eeeet eran cece cae gears Changing Parameters Pp Oe sis 602. ek ‘To change parameters the keypad must be in Program Mode. Pressing the PROG key enters and exits the program mode. A lit LED in the PROG key will indicate that the drive can be programmed. If security system is being used, the display will alternately flash SEC and CODE: Press the ENTER key and use the up and down arrow keys with the shift key to select the security code. Press enter. When the code is correct, the controler {ill switch to the program mode and the LED will be lt. Prog LED flashing (allow8'user to enter SEC code once, remember to "Reset" to secure the drive. Use the UP and DOWN arrow keys to select the desired parameter number and press ENTER. The parameter value will now be displayed. If the value isin units that can be indicated (ie. RPM, AMPS, VOLTS or Hz) then the appropriate LED will be lit. Use the UP and DOWN arrow keys to scroll to the desired value. (NOTE pressing RESET will cancel changes and return to displaying the parameter number). 1-8 GENERAL INFORMATIONweer entry. ‘The character selected for adjustment will lash. Repeated presses of the SHIFT key will move the active character from right to left across the display and then return the display to normal adjustment. O02-2 lena, Pressing the SHIFT key allows a single character to be.changed at a time for faster re ‘sec |[Coca. ["Pros| Jovetr displaying "extended" numbers. The display will then show "thousands" of units with 10.2 as NOTE: When numbers larger than 9999 are entered the display will switch to the decimal point flashing. This allows for motor operation above 9999 RPM as Pica [froca|l"maos] well as parameter entry. Press ENTER to enter the new parameter value. Press RESET to cancel and return to displaying parameter numbers. To exit the program mode press the PROG or DISP keys. LOCAL Keypad Control Running the Motor To operate the motor from the Keypad the drive must be in LOCAL mode. This is done by pressing the LOCAL key. The local LED will be lit when the drive is LOCAL keypad control. The drive will ignore all input connections on the J1 terminal strip except the external motor temp input. ‘The motor can now be controlled by the FWD, REV, STOP, JOG and arrow keys. Make sure the PROG LED is not li. The FWD and REV keys control the direction of motor rotation while the arrow keys are used to adjust the speed. ‘There are three ways to control the motor in local Keypad control. They are Increment, Entered Speed and Preset speed. Parameter P38 KEYPAD SPEED CONTROL determines which one is active. The factory preset is Increment. (Refer to Chapter 3 for more information on setting P38). Increment Mode (P38 = 0 or 1) (Factory Preset) Use the arrow keys to ramp the motor speed at the defined ACC / DEC rate. EXAMPLE: Press FWD. Power will be applied to the motor and a small amount of audible noise may be heard. Press the UP arrow momentarily, the drive will accelerate toward the defined max speed. Press the DOWN arrow momentarily, the drive will decelerate toward zero speed. Press STOP to disable the driv. To adjust motor speed more precisely, press the ENTER key after pressing the FWD and before using the arrow keys. The RPM LED will flash and you can use the arrow keys and shift key to adjust motor speed. Press Enter again and the RPM LED ‘will adjust motor speed. Press Enter again and the RPM LED will stop flashing and the arrow keys will work as described above, EXAMPLE: Press FWD to enable the drive. Press ENTER. The RPM LED will now flash, Press the SHIFT key until the "tens" position flashes. Now repeatedly press the UP arrow key, the drive speed will advance in increments of 10 RPM. Press the SHIFT key again, the "hundreds’ position will now flash. Repeated presses of the UP arrow key will now advance the speed by 100 RPM. Press STOP to disable the drive, GENERAL INFORMATION 1-9Entered Speed Keypad Control (P38 = 2 or 3) Use the arrow and shift keys to enter an exact digital speed command, NOTE; This differs from the Increment control described above in that the desired command is riot acted upon until the ENTER key is pressed. EXAMPLE: Press FWD to enable the drive. Press ENTER, UP, or DOWN; the display will change to RPM will the RPM LED flashing. Use the arrow and shift keys to select the desired speed. Press ENTER, the drive will now command the entered speed and return to viewing the selected output condition (the RPM LED will stop flashing). Press STOP to disable the drive. Preset Speed Keypad Control (P38 = 4 or 5) Operate:the motor at from the defined preset speeds (Parameters P11 - P25). EXAMPLE: Press FWD to enable the drive. Press ENTER, UP or DOWN, the display will change to RPM will the RPM LED flashing. Use the arrow and shift keysito select the desired preset speed number (1-15). Press ENTER, the drive will now. command the preset speed and return to viewing the selected output condition (the RPM LED will stop flashing). Press STOP to disable the drive. Jog Keypad Control When the JOG and LOCAL LED's are Lit, the motor will run at a predetermined speed as long as the FWD or REV key is held. When the key is released the motor decelerates to a stop and holds zero speed. ‘This is useful in applications such as a machine tool, where the drive is used to control an axis of the table. The drive can be used to "jog" the table around manually before returning it to automatic control. Four Jog parameters (PO - P3) are available to control the jog speed, accel rate, decel rate, and *scurve". EXAMPLE: While in LOCAL mode: Press JOG to place the drive in JOG mode,.(the JOG LED will be lit). The FWD and REV keys are used to jog the motor in the appropriate direction: Press and hold the FWD key. The motor will rotate in the forward direction at the Jog speed (PO). Release the FWO key, the motor wil decelerate to zero speed. Press JOG to exit JOG mode and disable the drive. 1-40. GENERAL INFORMATIONLOG [= del oe While the motor is in operation seven different output conditions can be monitored by pressing the display key. NOTE: The decimal point is not displayed for whole numbers. For numbers larger than 9999, the display will switch to extended numbers, showing ‘thousands’ of units with the decimal point flashing. Pressing the DISP key will toggle through the following display modes: ‘Motor Speed in RPM Motor Current in amps % of Rated Load Output Voltage in volts ‘Output Frequency in Hertz Fault Log Parameter View When motor.data is displayed an indicating LED will be lit to show the appropriate Units. In the case of % Rated load; the display will.be normalized so that 1.00 = 100% motor rated amps. The Amps LED will be lit and the display will begin with an‘n’, (ie. n0.30 = 30% rated load). Fault Log The drive retains up to 15 of the most recent faults for display. To view the fault log, press the DISP key until LOG is displayed. Press the ENTER key and the present drive status will be displayed. Use the arrow keys to scroll through the previous faults. While scrolling, the display will momentarily show the log position (1-15) before displaying the fault code. Refer to Chapter 6 for a complete lst of faults. Pressing the SHIFT key will momentarily display the elapsed time in minutes between ‘the selected fault and the previous fault. (If pressed while viewing the current status the elapsed run time in hours will be displayed). To exit the fault log press either the DISP key of the RESET key. Parameter View ‘The drive can display any parameter during operation. Press the display key until the display reads PXXX where XXX is the parameter number. Press ENTER to see the value for the selected parameter. The PROG LED will not be lit since the user cannot change parameter values while in this mode. Fault Condition Mode If a fault condition exists, the display will show one of the fault codes automatically Pressing RESET will lear the fault as long as the condition that caused the fault no longer exists. Refer to Chapter 6 for a complete list of fault codes and troubleshooting flowcharts. GENERAL INFORMATION’ 1-11Software Revisions ‘This manual has been prepared for software version 2.02 but can be used on prior versions with the following exceptions. Ver 2.01 Fault log recorded power loss and undervoltage faults on turn off. After fault reset dcLo, dcHi or REG sometimes remained on the Regen still active during an 1D, SSF, or CUr fault. During a fault condition the keypad does not allow programming. RPM display not consistent with digital speed command, ‘The serial commands "06" and "07" are not supported, Drive allows upload of incompatible software versions Serial command "8" deleted, ay. 4-12. GENERAL INFORMATIONChapter 2 Installation and Setup Introduction The flowchart (figure 2-1) outlines the sections in this manual that should be followed to install and setup the drive. Each block represents the appropriate section of this manual to follow. It is strongly recommended that the flowchart be followed and each section of the manual referenced during the installation, setup, and operation of the drive. INSTALLATION AND STARTUP 2-1Figure 21 22 Thstallation and setup Tow diagram 2 installation And Startup Wea Tide Cha Weg ca ‘Operating Mode Salton ¥ Cone Wing ¥ Checkof Faces® Mechanical ems ¥ ‘ppiction of Power (Chapter 4 Seal Command (a Parameter Fao ‘valsle? No Operate Dive ¥ (ce Record Params 2) —r— Enter Operating Mode Enter Operating Mode Upload Fle ¥ ~ ie ae Enter tote Nameplate ¥ Glaiie bails ‘alae Defoe veg) ARpera EeratorAppiaton? Elevator Aptian? levator ‘Aplications Ho +. if ‘Agotune Dave atoiune Die oe Entet Optional Paremeters Enter Opes Paramoters I. a) operat Die [ oowniorry | INSTALLATION AND STARTUP{Refer to Chapter 10 for appropriate mounting drawings) ‘The drive is designed for panel mounting. Mount in a clean dry enclosure with an ambient temperature less than +40° C. Contact factory for derating to be used at higher ambient temperatures. DO NOT mount control above transformer or other heat source. DO provide 2° minimum clear area above and below the control to allow free flow of air over heat sink on the back of the enclosure. Mounting dimensions are-shown on the appropriate drawing given in Chapter 10. Provide access to the front of the enclosure to adjust parameters and to observe the keypad display. Allow room to remove the top cover (if applicable) to gain access to the power components. Main Circuit Wiring CAUTION: Check the motor nameplate and power source voltage to be sure they match the drive nameplate ratings. DO NOT USE THIS DRIVE ON ANY OTHER VOLTAGES WITHOUT FACTORY APPROVAL. All wiring shall be in accordance with the National Electric Code and applicable local codes. Install wiring as shown in Figure 2-2A. External or remote motor overload protection must be provided in accordance with the National Electrical Code or equivalent. Use the appropriate wire gauge per Chapter 7 and terminal block tightening torques as called out in Appendix F The drive requires input power protection in the form of either a circuit breaker or fuses. Required sizes and types of circuit breakers and fuses for this particular drive are given in chapter 7 entitled PROTECTIVE DEVICES. Circuit breakers are recommended. Connect control terminals L1, L2 and L3 to the load side of the customer supplied protective device. The control may be powered with AC three phase power or single phase power. NOTE: Apply only line voltage for which the controler is rated. Phase sequence of incoming'power is not important. If single phase,power is to be used, connect power to drive terminals L1 and 12. Place a jumper between control input terminals L2 and 13. Size this wire the same as the incoming line to L1. Note that drive capacity is restricted to 60% of normal when operated on single phase power. INSTALLATION AND STARTUP 2-3Figure 22 Main Greait Wiring raking Resistor me Fuse and Resistor Kit available ma from BaldorSweodsive Ld [Motor B B R 2 mn ee rr LY Breaker or Fuse Protection x Customer Option i — 50/60 HZ 2 AR} 3 Pras Power u GND GND | Plant Factory Ground Wire the three phase motor stator to control terminals T1, T2 and 73 using appropriately sized wire per table, Chapter 7. Connect the control to the motor either directly (Figure 2-2) or through a contactor as shown in Figure 2:3, Connection of motor temperature sensor / switch is optional (refer to Appendix B). ‘A motor circuit contactor is recommended whenever a positive disconnection must prevent motor motion which could pose a safety hazard to personnel or equipment. Figure 25 ‘Typical Connections for Output Contactor ee Neo 1 w eueue Ly ern AIH nly ply 1318 CONNECTION (Open the Enable input to J1 at least 20 msec before main M contacts open to prevent arcing at contacts. This greatly increases contactor life and allows use of TEC rated contactors. Ground both the drive chassis ground lug and motor frame to machine or plant ground, Use the same size wire used for the AC connections. Refer to Figure 2-2. 244 INSTALLATION AND'STARTUPDynamic Braking If your controller requires dynamic braking capability (optional) an external braking assembly or braking resistor with suitable fuse or breaker protection will be required. Minimum resistance of the braking resistor is limited by the regeneration capacity of the drive. Dissipation rating of the resistor must be selected to suit the average regeneration of an overhauling load or dynamic braking deceleration. The protective fuse or breaker for the braking resistor must be rated at 400 VDC minimum for 230 VAC drives and 800 VDC minimum for 460 VAC drives. It must be of sufficient capacity to interrupt a continuous connection of the resistor across the DC bus, should a control failure occur. Chapter 8 lists several kits for regeneration resistors. Connect regeneration resistor and associated fuse or breaker between control terminals R1 and R2. INSTALLATION AND STARTUP 25Operating Mode Selection The controller has four interface modes of operation. Select the operating mode that best suits your application. Refer to Figures 2-4 through 2-7 for typical terminal strip connections for each mode, Refer to Figure 2-3 for use of contactor to provide positive disconnection of power to the miotor. During the setup procedure, parameter,(P 90) will be set to the value defined below to match the desired mode of operation. 0 NOTE: The keypad may be used with any of the operating modes below. When ‘the drive is placed in LOCAL keypad control (by pressing the LOCAL key) it bypasses all the terminal strip connections except the external motor temp input J1-16, (if oe active) to allow front - panel operation. OPERATING MODE: F STANDARD RUN - The Drive operates from Speed potentiometer of a 0-10 VDE signal (PS0=0). ‘This mode includes logic inputs for Enable, Forward/Reverse selection, Stop, Jog, Fault Reset, and a Motor temp switch. Also included are dn { input to select between two separate Accel / Decel / "S* curve ramps and an input ' ‘to command a preset speed (selected with parameter P11, preset speed 1). See ; Figure 2-4 1 PLC INTERFACE - Drive operates from logic inputs (analog speed input and command 4 input are not used). This mode includes inputs for Enable, Forward / Reverse selection, 15 preset speeds and 2 Accel /Decel /*S* curve ramps. See Figure 25, . 2 ANALOG INPUT SPEED OR TORQUE CONTROLLER - The drive follows an analog ‘command from selected input source, some of these options include a differential S5VDC, #10VDC, or 420mA (see parameter P 50). (See Appendix B for more information on Analog input options). Logic inputs are provided for Enable, Forward ‘and Reverse Limit (provides simple travel limit protection), Home, Fault Reset, Speed “ ‘or Torque Control, 4 selectable parameter tables, and a motor temp switch. See i Figure 2-6 and Appendix B (Selectable parameter tables). 3 ‘SERIAL CONTROL - Control is exclusive through the RS232 / 422 / 485 port. Inputs ’ | to the ENABLE, FORWARD LIMIT SWITCH, and REVERSE LIMIT SWITCH (1-8,9,10) are still required for safety considerations. Opening the Enable input will cause the> motor to coast to a stop. Opening the FORWARD/REVERSE LIMIT SWITCHES will Cause the motor to brake to zero speed, and hold zero speed with full torque. All speed and control commands are given digitally via the Serial Command Language ts * (See chapter 4). This mode should be used if serial control is the ONLY mode of : operation. See Figure 2-7. os e NOTE: it is not necessary to select this mode to use the Serial Command Language. a The drive can be placed in SERIAL LOCAL CONTROL, which is the equivalent of the . Keypad LOCAL mode, effectively bypassing all terminal strip connections except E ENABLE (J1-8), FORWARD LIMIT SWITCH (J1-9), and REVERSE LIMIT SWITCH (11-10), ‘and MOTOR TEMP SWITCH (if active) (J1-16) which are stil required. 2.6 INSTALLATION AND STARTUPFigure 27 Weds 0 Standard Run (PI0=0) ne a0 wat COMMAND POT 5K (PSO = 0) NOTE: OPTIONAL otovoc ON PINS 1&2 PROGRAMMABLE OSV (FACTORY PRESET: SPEED) PROGRAMMABLE OSV (FACTORY PRESET: CURRENT) «| ENABLE n 1 | ANALOG 6No 2 | ANALOG INPUT POT REFERENCE COMMAND INPUT + COMMAND INPUT - L,_ FORWARD RUN, L,_ REVERSE RUN 3 4 5 <— 5 | anatos our 1 0656) 7 8 9 sl, stop i,_FAULT RESET -z_SLOSED=JOG MODE -<__AEC/DECY/'S* SELECT -¢_CLOSED*PRESET SPEED MODE! ‘MOTOR TEMP SWITCH ANALOG OUT 2 (°57) ENABLE FORWARD. 10 | reverse 11 | eur in 12 | pura, 13 | pura, 14 | input as 15 | inpur as 16 | inur ts 17 | INeur ComMON 18 | output common 19 | oto our at (Psa) 20 | oPTo our #2 (P59) 21 | OPTO OUT #3 (P60) 22 | oFto our #4 61) USER COMMON user 2¢v0c. —+ SOmA MAX {60mA MAX 60 mA MAX| 60. mA MAX| RELAY Cows (OPEN disables the dive & motor coass to a step, Closed allows current to flowin the motor and produce torque. Parameter PSS contro Enable polarity. Momentary CLOSED starts motor operation in the Forward direction, In Jog mode (1-12 CLOSED), continuous CLOSED jogs motor inthe Forward deecton, Momentary CLOSED starts metor operation in the reverse diection. In Jog mode (11-12 CLOSED), continuous CLOSED jogs moter in the Reverse direction. ‘When CLOSED chive brakes to Stop and disables. saa sa3 saa sas mas ‘CLOSED places eve in JOG mode, Forward and Reverse fun are used to Jog the motor. (OPEN selects ACC / DEC /*5* Curve group #1, (CLOSED selects group #2. ‘CLOSED selects preset speed #1 Parameter P11, (OPaN alows speed command from Fot input Jog node (1-2) wl overie tis preset Speed. ‘OPEN to run, CLOSED to reset fault condition, (OPEN causes a motor overterp to be rectived by the dive. The drive wil disable and display the fault, "This input is optional and is controlled by Pao, INSTALLATION AND STARTUP 2-7Mode 1 PLC Tntertace n 1 | awuos eno 2 | autos neur wo-convecrons 4 | 3 | POTREFERENCE 4 | commano inrur + 5 | commano nrur- PROGRAMABLE OSV FACTORY PRESET: SHEED) «| 6 | ANALOG OUT 1 055) PROGRAMMABLE OSV (FACTORY eset: cut) | 7 | ANALOG OUT 2°57) ENABLE 8 | ENABLE BOTH cLoseD=roRWanof} ——°- + LOSED-FORWASD ot eonwaen) Somioreestor {| croseo-revense See _ * |____.-—-_PRESET SELECT 1 41 INPUT #1 =~ tt cuosens | -——>- + ESSERE 12 | INPUT #2 i fabaresser j|___-_PReser saxecra so | mnesersuecr 4 va | input ea aceeess sac? | 45 | npures “MOTOR TEMP SWITCH 46 | INPUT #6. 17 | rut common ust coMMON 18 | ovreurcommon user voc —p- C20 MAX] 19 | oro ours 5) | ____ so mame 20 | opro our az 055 J soma mat a5 | pro our acer Loma 22 | orto our na ret) neavcous 318 OPEN disables the dive & motor coasts to a stop, Closed allows current to flow in the mator and Preset PTT ae dtu. Pana FS cota nae eee 19.9 CLOSED operates moter in the Forward direction ee (wth 1-10 OF&). S140 CLOSED operates motor in the Reverse direction (wih 11.9 OPE. M1144 Selects preset speeds, (se table lf), JHAS Selects ACC / DEC. group (ee table below), Ts FONCTION ‘OPEN AEEIDEC GROUPT CLOSED ACCIDEC GROUPT 2.8 INSTALLATION: AND STARTUP s6 ‘OPEN causes a motor overtemp to be received by the dive. The dive wil disable and display the fault. *Thisinpatis optional an is controled byFigure 26 ne ns st0 ma sz Mode 2 Analog Input Speed or Torque Controller (F50=2) a <— 1 | atatos ano AUXIUARY INPUT >} 2 | ANALOG INPUT 3 | Por rerenence DIFFERENTIAL + SV (P50=1), + 10V (P50=2) ——>} 4 | COMMAND INPUT + OR 420maA (P5"3, LOSE IPS)INPUT. |g | connaano inruT- PROGRAMMABLE OSV (FACTORY PRESET: SPEED) <— « | anatos our 1 (e556) PROGRAMMABLE OSV (FACTORY PRESET: CURRENT) | 7 | ANALOG OUT2 (57) inet 8 | ENABLE FORWARD LIMIT SWITCH Belen REVERSE LIMIT SWITCH fee |____--closep-onenr Pines | __-s OPENSSPEED, CLOSED-TORQUE _| 45 | input #2 | __o-~-« TABLE SELECT 1 13 | inpur a3. |e Taste setect 2 Palneor ee jl FAULT Reser 45 | INPUT #5: *MOTOR TEMP SWITCH ae lene 17 | INPUT COMMON useR COMMON 18 | OUTPUT COMMON UseR 240 ‘PTO OUT #1 (P58) ‘PTO OUT #2 (P58) ‘PTO OUT #3 (P60) ‘PTO OUT #4 (P61) RELAY Colls (OPEN disables the dive & motor coasts to a stop, CLOSED allows current to flow in the motor ard produce torque. Parameter P55 controls enable polarity, CLOSED to enable operation in the Forward direction. (OPEN to csable Forward operation (drive wl brake to stop if a Forward command is stil present) CLOSED to enable operation in the Reverse diection. (OPEN to disable Reverse operation (tive wll rake to 2 sop if a Reverse command i stil present) NOTE: OPENING bath 11.9 and J-10 causes the dive to brake toa stop. ‘CLOSED commants the crve to stop the motor at a ‘redefined home / orient postion. OPEN for normal contr, (OPEN for Speed control, CLOSED for Torque Control 3143814 Select from four Parameter tables (cee table below), For more information reer to. Appendix 8. Tad Ts FONCTION OF ‘OPEN Parameter table WO FEN ‘CLOSED —| Parameter table WT CORD ‘OPER Parameter table 32 ‘closed | ~closed — | Parameter tate #2 3115 OPEN to run, CLOSED to rest faut colton S118 OFEN causes'a motor overtemp to be received by the dive, The drive will dzable and cspay the fault. “This inputs optional and is contrlled by PO. INSTALLATION AND STARTUP 2.9Figure 2 PROGRAMMABLE. Mode 3 Serial Control (P50=3) NO CONNECTIONS (OSV (FACTORY PRESET: SPEED) «| PROGRAMMABLE OSV (FACTORY PRESET: CURRENT) -<——| OPEN FORWARD & REVERSE LIMITS FOR"E-STOP" ae Es ‘USER 24vDC — ENABLE n 7 8 FORWARD LIMIT SWITCH REVERSE UMIT SWITCH, 9 ‘MOTOR TEMP SWITCH USER COMMON. 60 mA MAX ————O 2mm - 60 mA MAX O 60 mA MAX O 60 mA MAX| 10 " 2 3 4 15 16 7 18 19 20 a 2 RELAY COILS: M8 CLOSED allows serial contrl of the motor current. (rive s not enabled until a serial enable command |s gven). OPEN prevents the tive from operation, (i the motor isi-operation it wl coast toa stop) Parameter P35 contrals enable polarity. M8. CLOSED to enable operation i in the Forward direction. (OPEN to clsable Forward operation (ive wil brake toa stop if a Forward command is still present). s40 ‘CLOSED to enable operation inthe Reverse rection. OFEN to disable Reverse operation (ive wil brake toa stop i a Reverse command is sil presen) NOTE: OPENING both J1.9 and J-10 causes the dive to regen toa stop. sas (OPEN causes a motor overtep to be received by the div The dive will disable and display the faut. “This input is optional and is controlled by P20. 240 INSTALLATION:AND STARTUP ‘ANALOG GND ANALOG INPUT POT REFERENCE ‘COMMAND INPUT + ‘COMMAND INPUT - ANALOG OUT 1 (P56) ANALOG OUT 2 (P57) ENABLE FORWARD REVERSE INPUT #1 INPUT #2 INPUT #3 INPUT #4 INPUT #5 INPUT #6 INPUT COMMON. ‘OUTPUT COMMON ‘PTO OUT #1 (P58) PTO OUT #2 (P58) PTO OUT #3 (P60) PTO OUT #4 (P61)Control Wiring (J1) All control connections are made to terminal strip J1 located on the edge of the control board, above the power connections. This terminal strip contains chassis ground referenced analog 1/0 circuits, and opto isolated discrete 1/0 circuits. The front panel cover (if supplied) will need to be removed to access these connections. Make control connections per the appropriate Figure 2-4 thru 2-7 for your selected ‘operating mode. Opto-Isolated Inputs The optoisolated inputs (J18 to J1-16) are normally operated by closing contacts or switches between them and the Input Common J1-17. All switches shown in Figures 2-4 through 2-7 may be replaced by static logic outputs from a PLC, CNC or Computer if the outputs of such devices are open collector and the ground is connected to Input Common (J1-17). Jumper JP2 is factory preset on 1 and 2 for use with the internal supply. When using an external supply (10:30 VDC) with the optoisolated inputs the JP2 Jumper must be moved to pins 283 (refer to Figure 2-8). The inputs can be configured to close to common or to positive DC voltage. Figure 28 Using an external power supply with the opto Inputs f ENABLE [ay enaste me foe ee ots an ralieeare iar pers cere lene a oles =e eres ee falar Fe [7 srrccnmen we {| rc vsensipanoc eee LJ i] cron rover fi Er 1 | cro wrowen ileroomman /L} BO ¥ |: | cro omen ol ercareantsl TH ere ereete eel el roars a al escent OFTOINPUTS CLOSINGTO GROUND coroL SOND oPTo INPUTS CLOSING To +vDC INSTALLATION AND STARTUP 2-11Opto-Isolated Outputs Four programmable optoisolated outputs are provided on Jt (J1-19 to J1-22), These outputs can be used to provide indications of various drive conditions. The source Of these outputs is programmed with parameters P58 - P61. The optoisolated ‘outputs will sink up to 60 mA of current. The minimum voltage from opto output to common, when active, is 2.5 VDC (this is not TTL compatible). Their factory preset connection with common emmiters (Jumpers on JP1 set towards J1) is shown in the appropriate connection diagram (Figures 2-4 thru 2-7). See appendix B for complete schematic diagram. NOTE: An internal +24V supply'is available on J1A pin 1 when the jumper JP2 is ‘connected across pins 1 & 2. This supply is normally connected to the opto inputs. ‘The four optoisolated outputs can be diconnected from each other by moving the jumpers on JP1 toward the J1 connector. Each output can then be used to switch ‘an external 10 - 30 VOC supply in elther a sourcing or sinking mode. Connections are shown in Figure 2-9. The complete schematic diagram of the output circuits is shown in Appendix B. rae 25 OT a = ser serum at g-O-] 18 userszavei —] 19 Uuserszavez ———} 20 Uuserezaves ——] 21 useszeveg ——] 22 aa Ccrnonau nea 2a gut Pa 192) User rerun #2 5-O-] User aerunn #3 5-O-] User nevunn #4 g-O-] raLaycats - ‘SOURCING #8 Analog Inputs isolated supplies with the opto outputs coutrur con useeerumw #1 gle | oureur comm ‘oto our at user-szaven —-O—| 19 | orto our at como our a2 vuser'zavez —O—| 20 | orto our a2 corto our #3 userszeves —O—| 21 | onto our ea orto curs equine JUMPER SETTINGS usenszeves —O— 22 | orto our es FOR SOLATED OPTO OUTPUTS reveals Move JP1 JUMPERS ormons eran rowan & ovro mn rower TowaRD i saevoururz 22)! 4 | cpromrowen corto our aera ser serume a2 5} 2 | orto ourser 02 orto our rer sen sevun 2 ¢] 3 | 0FTO OUT RET #3 coro our ner a User serum ea g] 4 | oF70 OUT RET He 2av CONTROL BOARD SINKING 24": Two analog speed inputs are available on J1, the auxliary or pot input (J1-1 to J1-3), and the command input (J1-4 and J1-5). The auxiliary input is used when Parameter P50 is set to O (speed pot). The reference comes from a SK pot connected as shown in Figure 2-4, or a 0-10V signal fon J1-1 and J1-2. ‘The command input (J1-4 to J1-5) accepts a differential 45V, +10V or 420mA as selected in Parameter P50 (refer to Figure 2-10). This input is buffered to provide 40 db common mode isolation with up to +15 Volts common mode relative to ‘common. ither analog input may be grounded provided the common mode range is not exceeded. 242 INSTALLATION AND STARTUPFigure 2-10 Analog Input Options tor Mode ” a 4” {1 | autos ov 1 | avavos ovo {1 | auiosoro auntawvineat | 2 | pasos ineur 2 | anmos mest auaanenest! > | syaos nour 2 | porserenence a | rorrererewce 2 | ror nerenence 4 | comneano meur+ 4 | commoneurs 4 | coumanoinrur+ al 5 | comuanomeur- 5 | comenomeur. 4724 5 | commanoineur- eanaoerensertnes [02 Savy sanaerenserines [O2 omens TA cs Po-t fot P50=2 or 0=3 1 13 contro. nosto| 3 contro. 2040 3 conor v0 DIFFERENTIAL 10V INPUT DIFFERENTIAL SV INPUT 4-20 mAINPUT Analog Outputs ‘Two programmable analog outputs are provided on J1, (1-6 & J1-7). These outputs are scaled O-SVDC and can be used.to provide realtime status of various drive conditions. The type of output is selected by parameters PS6 and PS7 (see Appendix 0). Additional information on the Analog Outputs is available in-Appendix B. Encoder Wiring (J2) ‘The controller requires the use of an encoder mounted on the shaft of the motor. ‘The encoder power and input connections are made to terminal strip J2. A SVDC supply is provided, on J2-7, to power the encoder (350 mA max). . 0 NOTE: When installing the encoder take note of the number of counts per revolution, this number will be used later in Chapter 3 to set parameter P95. Encoder wiring must be in twisted shielded pairs per Figure 2-11, #22 AWG minimum size, 150' maximum, with an insulated overall shield. Connect all shields to 128. DO NOT CONNECT ANY SHIELDS TO THE ENCODER CASE OR MOTOR FRAME. Maximum wirewire or wire-shield capacity shall not exceed 7500 picofarads per pair (50 pf/foot at 150). \Baldor=Sweodrive stocks encoder cable as an optional accessory. Electrical isolation of the encoder case and shaft from the motor is highly recommended to prevent capacitively coupled motor noise from influencing the encoder signal. ‘The encoder #5 VOC power supply output provided by the drive at J2-7 is referenced to circuit board common. DO NOT CONNECT THIS OUTPUT TO GROUND OR ANOTHER POWER SUPPLY or damage to the drive may result. 2) HOT Encoder wiring must be separated from power wing. Separate parallel rns of encoder cable by at least 3" from power wire, cross power wires at right angles only. Insulate or tape off ungrounded end of shields to prevent contact with other conductors or ground. INSTALLATION AND STARTUP 2-13Figure 211 — Encoder Connections ENCODER INPUT ELECTRICALLY ISOLATED ENCODER, FF] l<-te| a BUFFERED ENCODER OUTPUT (FROM LINE DANVER) i Differential inputs from SVDC encoder as shown in Figure 2-10 are highly recommended for best noise immunity. if only nondifferential encoder signals are available, connect these to +A, +8 and #INDEX on the plugin terminal strip 12. NOTE: The encoder signals can be open collector, however recommended. wos Inox sv COMMON swour out sour eoup Woe out woex-our coMMON 0 NOTE. Contact factory if encoder output has any connections to voltage higher ‘than #5VDC (eg, a pullup resistor or high voltage line driver). Special connections are required to prevent damage to the encoder input circuit when this type of encoder is used. Buffered Encoder Output = The controller provides a buffered encoder output, (from line drivers), on terminal strip J2 pins 9- 16 (Refer to figure 2-11). This output can be used by external hardware which needs to monitor the encoder signals. Spliting the encoder output is not recommended. Home or Orient Switch Input (J2) 244 ‘A machine mounted switch may be used to define the Home or Orient position in ‘place of the encoder index channel. A differential line driver output from a solid state switch is preferred for best noi immunity. Connect this input to J2-5 and J26 replacing the encoder INDEX channel. Wire the non-differential solid state switch or limit switch per Figure 2-12, INSTALLATION AND STARTUPFigure 2-12 Typical home or orient switch connections - 2 2 iaearal INDEX + INDEX + INDEX INDEX a 45 Vv coMMON COMMON. comm ‘SVDC PROXIMITY SENSOR LUMIT SWITCH (OPEN AT HOME) The logic input defining Home is arising edge at J25. Regardless of the type of switch used, clean rising and falling edges at 125 are required or erroneous positioning will occur. Check of Electrical Items e CAUTION: After completing al the installation steps outlined in this Chapter, and before applying line power to the system, double check the following items: Verify AC line voltage at source matches rating control Inspect all power terminations for workmanship and tightness. Verify contro! and motor are grounded to each other and the control is connected to supply ground, Check incoming signal and encoder wiring for accuracy. Be certain all brake coils, contactors, and relay coils have noise suppression. This should be RC filters for AC coils and reverse polarity diodes for DC coils. MOV type transient suppression is not adequate. @ [Eq WARNING: ‘Make sure that unexpected operation of the motor shaft during startup will not cause injury to personnel or damage to equipment: Check of Motors / Couplings Verify freedom of motion for all motor shafts and that all motor couplings are tight without backlash. Check that the encoder shaft coupling and encoder body mounting have no backlash or looseness. Verify the holding brakes, if any, are properly adjusted to fully release and set to the desired torque value. INSTALLATION AND STARTUP 245