Servo Systems Co. • 115 Main Road • P.O. Box 97 • Montville, NJ, 07045-0097 (973) 335-1007 • Toll Free: (800) 922-1103 • Fax: (973) 335-1661 www.servosystems.
Servo Systems Co. • 115 Main Road • P.O. Box 97 • Montville, NJ, 07045-0097 (973) 335-1007 • Toll Free: (800) 922-1103 • Fax: (973) 335-1661 www.servosystems.com Table of Contents Section 1 General Information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-1 Year 2000 Compliance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Servo Systems Co. • 115 Main Road • P.O. Box 97 • Montville, NJ, 07045-0097 (973) 335-1007 • Toll Free: (800) 922-1103 • Fax: (973) 335-1661 www.servosystems.com Section 4 Troubleshooting and Maintenance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-1 Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Section 1 General Information Year 2000 Compliance Servo Systems Co. • 115 Main Road • P.O. Box 97 • Montville, NJ, 07045-0097 (973) 335-1007 • Toll Free: (800) 922-1103 • Fax: (973) 335-1661 www.servosystems.com The motor control products listed below are manufactured or offered for sale by Baldor Electric and are certified to be year 2000 compliant. DC Motor Controls: Series BC100/200, BC19H, BC20H, LD, TSD, UM, UMH.
Servo Systems Co. • 115 Main Road • P.O. Box 97 • Montville, NJ, 07045-0097 (973) 335-1007 • Toll Free: (800) 922-1103 • Fax: (973) 335-1661 www.servosystems.com Safety Notice: This equipment contains high voltages. Electrical shock can cause serious or fatal injury. Only qualified personnel should attempt the start–up procedure or troubleshoot this equipment. This equipment may be connected to other machines that have rotating parts or parts that are driven by this equipment.
Servo Systems Co. • 115 Main Road • P.O. Box 97 • Montville, NJ, 07045-0097 (973) 335-1007 • Toll Free: (800) 922-1103 • Fax: (973) 335-1661 www.servosystems.com Section 1 General Information MN1269 Caution: To prevent equipment damage, be certain that the electrical service is not capable of delivering more than the maximum line short circuit current amperes listed for the control rating.
Servo Systems Co. • 115 Main Road • P.O. Box 97 • Montville, NJ, 07045-0097 (973) 335-1007 • Toll Free: (800) 922-1103 • Fax: (973) 335-1661 www.servosystems.com Introduction The Baldor “LD” Series Servo Control (see Figure 1-1) is a multi axis pulse width modulated (PWM), high performance servo control designed to be used with DC brush type permanent magnet servomotors.
Servo Systems Co. • 115 Main Road • P.O. Box 97 • Montville, NJ, 07045-0097 (973) 335-1007 • Toll Free: (800) 922-1103 • Fax: (973) 335-1661 www.servosystems.com Features The Baldor “LD” Series switching concept enables the user to operate with the highest possible bandwidth with reduced switching losses, ripple current, EMI and RFI. Servo Control cards are field replaceable. Note: “LD” and “UM” series cards are NOT interchangeable.
Servo Systems Co. • 115 Main Road • P.O. Box 97 • Montville, NJ, 07045-0097 (973) 335-1007 • Toll Free: (800) 922-1103 • Fax: (973) 335-1661 www.servosystems.com Model Information Model descriptors that describe key parameters of each unit specify the “LD” Series Servo Control and Chassis. The “LD” Series Servo Control cards can be configured with chassis to support up to four (4) axes at 160 VDC.
Servo Systems Co. • 115 Main Road • P.O. Box 97 • Montville, NJ, 07045-0097 (973) 335-1007 • Toll Free: (800) 922-1103 • Fax: (973) 335-1661 www.servosystems.com Functional Description Power Supply The “LD” Servo Control consists of (1) a power supply, (2) a velocity control amplifier and (3) fault logic circuitry. The functional concepts are detailed below. The power supply of a PWM bridge normally acts as a low output impedance voltage source.
Servo Systems Co. • 115 Main Road • P.O. Box 97 • Montville, NJ, 07045-0097 (973) 335-1007 • Toll Free: (800) 922-1103 • Fax: (973) 335-1661 www.servosystems.com Specifications Standard Chassis & Power Supply Assemblies Output: Rated Bus Voltage (VDC) Rated Continuous Current (A) Positive Logic 15VDC (A) Negative Logic 15VDC (A) LD2160 27 1.0 1.0 LD4160 50 1.0 1.0 LD2115 105-125 1 Prewired LD4115 105-125 3 115 (1 phase) LD2250 4000 195 220 LD4500 8000 195 220 LD20-50 14 LD40-50 20.6 9 10.5 7.
Servo Systems Co. • 115 Main Road • P.O. Box 97 • Montville, NJ, 07045-0097 (973) 335-1007 • Toll Free: (800) 922-1103 • Fax: (973) 335-1661 www.servosystems.com Servo Control Card Output: Rated Bus Voltage (VDC nominal) Rated Continuous Current (A) Current Limit Adjust (A) Peak Current Adjust (A) (maximum time 1.5 seconds) Peak Current Adjust (A) Switching Frequency (kHz) Form Factor Minimum Inductance (mH) Frequency Response (kHz) LD3015HS 160 15 5-15 30 0-30 20 1.01 2.0 2.
Servo Systems Co. • 115 Main Road • P.O. Box 97 • Montville, NJ, 07045-0097 (973) 335-1007 • Toll Free: (800) 922-1103 • Fax: (973) 335-1661 www.servosystems.com General Description A typical Baldor “LD” Servo Control like that shown in Figure 1-3 can contain from 1 to 4 servo control cards and a chassis assembly. The chassis assembly includes a Logic Power Supply, Bus Power Supply, Overvoltage Protector, Fans and miscellaneous hardware.
Servo Systems Co. • 115 Main Road • P.O. Box 97 • Montville, NJ, 07045-0097 (973) 335-1007 • Toll Free: (800) 922-1103 • Fax: (973) 335-1661 www.servosystems.com Adjustments Each servo control card contains six (6) potentiometers located on the top left side of the unit. The location of each potentiometer is provided in Figure 1-4. Auxiliary (A) (A) pot is used to adjust the gain of an optional single ended input voltage between ±10 VDC.
Servo Systems Co. • 115 Main Road • P.O. Box 97 • Montville, NJ, 07045-0097 (973) 335-1007 • Toll Free: (800) 922-1103 • Fax: (973) 335-1661 www.servosystems.com Optional Adjustments Each servo control contains six jumper settings and a personality module that can be used to custom tailor the module to the application (for location see Figure 1-4). Underlined positions indicate the factory default settings. P1 P2 P3 P4 P5 P6 Right position (pins 1 and 2) when normally opened switches are used.
Servo Systems Co. • 115 Main Road • P.O. Box 97 • Montville, NJ, 07045-0097 (973) 335-1007 • Toll Free: (800) 922-1103 • Fax: (973) 335-1661 www.servosystems.com Fault Indicators Each servo control card contains four (4) red fault indicators located on the top left side of the unit (for location see Figure 1-4). Each fault is a latch type function (unless in Foldback Mode) where the servo control card will not function when tripped. A reset must be done in order to restart the servo control.
Servo Systems Co. • 115 Main Road • P.O. Box 97 • Montville, NJ, 07045-0097 (973) 335-1007 • Toll Free: (800) 922-1103 • Fax: (973) 335-1661 www.servosystems.com Tools There are a few basic tools recommended to install the “LD” Servo Control.
Servo Systems Co. • 115 Main Road • P.O. Box 97 • Montville, NJ, 07045-0097 (973) 335-1007 • Toll Free: (800) 922-1103 • Fax: (973) 335-1661 www.servosystems.com Section 2 Installation Receiving & Inspection Location Considerations Baldor Controls are thoroughly tested at the factory and carefully packaged for shipment. When you receive your control, there are several things you should do immediately. 1.
Servo Systems Co. • 115 Main Road • P.O. Box 97 • Montville, NJ, 07045-0097 (973) 335-1007 • Toll Free: (800) 922-1103 • Fax: (973) 335-1661 www.servosystems.com Figure 2-1 Installing the Module Mount the Chassis 2-2 Installation 1. Remove the shipping base by taking off the four nuts and bolts at the corners of the chassis. 2. Select an appropriate mounting location that meets the vapor, vibration and particle avoidance requirements stated in General Precautions in section 1. 3.
Servo Systems Co. • 115 Main Road • P.O. Box 97 • Montville, NJ, 07045-0097 (973) 335-1007 • Toll Free: (800) 922-1103 • Fax: (973) 335-1661 www.servosystems.com General Wiring Considerations Care should be taken to see that all interconnecting wiring is sized and installed in conformance with the National Electrical Code (NEC) or Canadian Electrical Code (CEC) and other applicable local codes. To minimize electrical interference problems, interconnecting wires should be arranged in groups.
Servo Systems Co. • 115 Main Road • P.O. Box 97 • Montville, NJ, 07045-0097 (973) 335-1007 • Toll Free: (800) 922-1103 • Fax: (973) 335-1661 www.servosystems.com Signal Wiring All signal wiring and limit circuit wiring need not be larger than 22 AWG gauge. Signal circuits, including the tachometer, should employ twisted, shielded pairs. Proper termination of shielded cables is important to avoid creating ground loops or otherwise degrading the noise immunity of the servo package.
Servo Systems Co. • 115 Main Road • P.O. Box 97 • Montville, NJ, 07045-0097 (973) 335-1007 • Toll Free: (800) 922-1103 • Fax: (973) 335-1661 www.servosystems.com Power Wiring Continued 1. 2. 3. 4. 5. Connect the negative lead (black wire) from the first servomotor to terminal 1 on the 12 position terminal block (see Figure 2-2). Connect the positive lead (red wire) from the first servomotor to terminal 2 on the 12 position terminal block (see Figure 2-2).
Servo Systems Co. • 115 Main Road • P.O. Box 97 • Montville, NJ, 07045-0097 (973) 335-1007 • Toll Free: (800) 922-1103 • Fax: (973) 335-1661 www.servosystems.com Input Wiring Connections Left Limit, Right Limit (Pins 8 & 9 for Normally Open, 17 & 18 for Normally Closed) When the Left or Right limit is pulled to common (for normally open switches), output is inhibited in that direction. This function disables the control and the motor will coast to a stop.
Servo Systems Co. • 115 Main Road • P.O. Box 97 • Montville, NJ, 07045-0097 (973) 335-1007 • Toll Free: (800) 922-1103 • Fax: (973) 335-1661 www.servosystems.com Figure 2-5 Optional Input Signal Wiring Interlock (Pin 10) The interlock is bidirectional. That is, it can be pulled to common internally to disable the output stage of the control or externally to accomplish the same disabling function (see Figure 2–5). The internal pull down function occurs as a result of: High bus or low bias voltage.
Servo Systems Co. • 115 Main Road • P.O. Box 97 • Montville, NJ, 07045-0097 (973) 335-1007 • Toll Free: (800) 922-1103 • Fax: (973) 335-1661 www.servosystems.
Servo Systems Co. • 115 Main Road • P.O. Box 97 • Montville, NJ, 07045-0097 (973) 335-1007 • Toll Free: (800) 922-1103 • Fax: (973) 335-1661 www.servosystems.com Section 3 Start-up Overview The start-up information provided in this section contains the procedures necessary to get each axis running and properly tuned using the 6 adjustment potentiometers on the servo control. Each axis should be started up independently to insure that catastrophic problems do not cause damage to the equipment.
Servo Systems Co. • 115 Main Road • P.O. Box 97 • Montville, NJ, 07045-0097 (973) 335-1007 • Toll Free: (800) 922-1103 • Fax: (973) 335-1661 www.servosystems.com Adjustment Procedure Caution: The X–Axis motor may tend to run away, out of control, if the tach wires are reversed. If the axis moves in the wrong direction, the motor wires are reversed. If, however, reversing the leads doesn’t stop a runaway motor, make sure the T (Tachometer) potentiometer is not full counterclockwise. 1.
Servo Systems Co. • 115 Main Road • P.O. Box 97 • Montville, NJ, 07045-0097 (973) 335-1007 • Toll Free: (800) 922-1103 • Fax: (973) 335-1661 www.servosystems.com Section 4 Troubleshooting and Maintenance Overview This troubleshooting section describes the symptoms of possible malfunctions along with information needed to check and correct the causes of a fault. Using the four LED fault indicators on the Servo Control Card and a VOM can identify most of the faults.
Servo Systems Co. • 115 Main Road • P.O. Box 97 • Montville, NJ, 07045-0097 (973) 335-1007 • Toll Free: (800) 922-1103 • Fax: (973) 335-1661 www.servosystems.com Fault Symptom No torque in one direction. No output in either direction. N/A Motor runs at uncontrolled speeds Oscillation in motor seen as instability or rocking of motor shaft. Motor may have growling sound. Motor exhibits a “dead zone“ when responding to a signal input. Low output voltage from logic power supply. VE Bus Voltage too high.
Servo Systems Co. • 115 Main Road • P.O. Box 97 • Montville, NJ, 07045-0097 (973) 335-1007 • Toll Free: (800) 922-1103 • Fax: (973) 335-1661 www.servosystems.com WARNING: Do not touch any circuit board, power device or electrical connection before you first ensure that power has been disconnected and there is no high voltage present from this equipment or other equipment to which it is connected. Electrical shock can cause serious or fatal injury.
Servo Systems Co. • 115 Main Road • P.O. Box 97 • Montville, NJ, 07045-0097 (973) 335-1007 • Toll Free: (800) 922-1103 • Fax: (973) 335-1661 www.servosystems.
Servo Systems Co. • 115 Main Road • P.O. Box 97 • Montville, NJ, 07045-0097 (973) 335-1007 • Toll Free: (800) 922-1103 • Fax: (973) 335-1661 www.servosystems.com Section 5 Special Functions Current (Torque) Mode The “LD” can be configured for current mode operation by moving jumper P6 to its right position (pins 1 to 2). This current mode operation is useful in applications where commanded motor torque must be proportional to a voltage at the signal input.
Servo Systems Co. • 115 Main Road • P.O. Box 97 • Montville, NJ, 07045-0097 (973) 335-1007 • Toll Free: (800) 922-1103 • Fax: (973) 335-1661 www.servosystems.com Emergency Stop In some applications, a requirement may exist to positively disconnect a motor in the event of an emergency (E) stop. A suggested approach using a relay with 4 sets of contacts could be applied as shown in Figure 5-2, providing a power disconnect of motor and servo control in the event of an E stop.
Servo Systems Co. • 115 Main Road • P.O. Box 97 • Montville, NJ, 07045-0097 (973) 335-1007 • Toll Free: (800) 922-1103 • Fax: (973) 335-1661 www.servosystems.com Appendix A Condensed Installation Instructions Step 1 Become familiar with the equipment. You should have: 1. Servo Control Cards of the type and quantity you have ordered, mounted to the chassis. 2.
Servo Systems Co. • 115 Main Road • P.O. Box 97 • Montville, NJ, 07045-0097 (973) 335-1007 • Toll Free: (800) 922-1103 • Fax: (973) 335-1661 www.servosystems.com Figure A-1 Series “LD” Installation Drawing 115VAC 1 phase input bus power for LD-2. 115VAC 3 phase input bus power for LD-4.
Appendix B Servo Systems Co. • 115 Main Road • P.O. Box 97 • Montville, NJ, 07045-0097 (973) 335-1007 • Toll Free: (800) 922-1103 • Fax: (973) 335-1661 www.servosystems.com Jumper and Personality Module Settings Personality Module Current Settings Refer to Figure B-1. The personality module allows you to calibrate the servo control.
Servo Systems Co. • 115 Main Road • P.O. Box 97 • Montville, NJ, 07045-0097 (973) 335-1007 • Toll Free: (800) 922-1103 • Fax: (973) 335-1661 www.servosystems.com Record of “Set Up” Configuration It is highly recommended that a record be kept of the set up details for future reference. This will come in quite handy for new units, field replacements, and diagnostic aid. Using recorded values from similar set–ups will reduce installation time, and service can be conducted faster.
