Baja Marine H2X Boat User Manual

Device Net
Expansion Board
(Baldor Binary Protocol)
Catalog No. EXB013A01
Installation and Operating Manual
8/03
MN1320
Table of Contents
Section 1
General Information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Limited Warranty . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Safety Notice . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Precautions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Section 2
Expansion Board Description . . . . . . . . . . . . . . . . . . . . . . . . . .
Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Section 3
Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Board Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
AC Controls . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Single Expansion Board Installation . . . . . . . . . . . . . . . . . .
Dual Expansion Board Installation . . . . . . . . . . . . . . . . . . .
Section 4
Hardware Setup . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
DIP Switch Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Cable Connection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Powerup . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
LED Indicators . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Control Terminal Strip Connections . . . . . . . . . . . . . . . . . . . . .
Section 5
Software Setup . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Configure Control Software for Device Net Mode . . . . . . . . .
Device Net Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
EXB I/O Instances . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Section 6
Command Language . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
EXB I/O Instances . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Transaction Specification . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Transaction Specification Table . . . . . . . . . . . . . . . . . . . . . . . .
5 - Command Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
31- Terminal Strip . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
36 or 37 - Optionald# . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
41 - Watchdog Time . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Parameter Details . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1-1
1-1
1-2
1-3
1-3
2-1
2-1
3-1
3-1
3-2
3-2
3-4
4-1
4-1
4-1
4-1
4-4
4-5
5-1
5-1
5-4
5-4
6-1
6-1
6-1
6-5
6-17
6-19
6-20
6-21
6-21
Table of Contents i
ii Table of Contents
Section 1
General Information
Introduction
The Baldor controls represent the latest technology in microprocessor
based motor controls. In addition to the user programmable parameters
available in every control, many different expansion boards are available
from Baldor to further customize the control to most any application.
Expansion boards are categorized by compatibility into two groups:
Group 1 and Group 2, see Table 1-1. A board from either group may be
used alone in a control. If two boards are to be used, one board must
be from Group 1 and the other from Group 2.
Note: Using two Group 1 or two Group 2 boards in the same control is
not allowed.
Table 1-1 Group 1 and Group 2 Board Categories
Group 1 Board Name
Isolated Input
Master Pulse Reference/
Isolated Pulse Follower
DC Tachometer Interface
Isolated Encoder
Resolver to Digital Interface
Group 2 Board Name
RS-232 Serial
RS-422/RS-485 Serial
RS-232/485 Serial
Four Output Relays/3-15 PSI
Pneumatic
High Resolution Analog I/O
2 Isolated Analog Output/ 3 Relay
Output
Device Net
Profibus
Modbus Plus
Catalog No.
EXB003A0X
EXB005A0X
Manual No.
MN1314
MN1312
EXB006A0X
EXB008A0X
EXB009A0X
MN1311
MN1317
MN1313
EXB001A0X
EXB002A0X
EXB012A0X
EXB004A0X
MN1310
MN1310
MN1310
MN1315
EXB007A0X
EXB010A0X
MN1316
MN1319
EXB013A0X
EXB014A0X
EXB015A0X
MN1320
MN1323
MN1322
General Information 1-1
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. This warranty is in lieu of any
other warranty or guarantee expressed or implied. BALDOR shall
not be held responsible for any expense (including installation and
removal), inconvenience, or consequential damage, including
injury to any person or property caused by items of our manufacture
or sale. (Some states do not allow exclusion or limitation of
incidental or consequential damages, so the above exclusion may
not apply.) In any event, BALDOR’s total liability, under all
circumstances, shall not exceed the full purchase price of the
control.
Claims for purchase price refunds, repairs, or
replacements must be referred to BALDOR with all pertinent data
as to the defect, the date purchased, the task performed by the
control, and the problem encountered. No liability is assumed for
expendable items such as fuses.
Goods may be returned only with written notification including a
BALDOR Return Authorization Number and any return shipments
must be prepaid.
1-2 General Information
Safety Notice
This equipment contains voltages that may be as great as 1000 volts!
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. Improper use can
cause serious or fatal injury. Only qualified personnel should attempt
the start-up procedure or troubleshoot this equipment.
PRECAUTIONS
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. Only qualified personnel should attempt the start-up
procedure or troubleshoot this equipment.
WARNING: Be sure that you are completely familiar with the
safe operation of this equipment. This equipment may be
connected to other machines that have rotating parts or
parts that are controlled by this equipment. Improper use
can cause serious or fatal injury. Only qualified personnel
should attempt the start-up procedure or troubleshoot this
equipment.
General Information 1-3
WARNING: Be sure the system is properly grounded before
applying power. Do not apply AC power before you ensure
that all grounding instructions have been followed.
Electrical shock can cause serious or fatal injury.
WARNING: Do not remove cover for at least five (5) minutes
after AC power is disconnected to allow capacitors to
discharge. Dangerous voltages are present inside the
equipment. Electrical shock can cause serious or fatal
injury.
WARNING: Improper operation of control may cause violent
motion of the motor shaft and driven equipment. Be certain
that unexpected motor shaft movement will not cause injury
to personnel or damage to equipment. Peak torque of
several times the rated motor torque can occur during
control failure.
WARNING: Motor circuit may have high voltage present
whenever AC power is applied, even when motor is not
rotating. Electrical shock can cause serious or fatal injury.
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 in the
appropriate control manual, 230 VAC, 460 VAC or 575 VAC
maximum per control rating.
1-4 General Information
Section 2
Expansion Board Description
Introduction
The Device Net expansion board is a Device Net Group 2 Only Slave
device using the predefined master/slave connection set, as defined by
the ODVA. It is capable of explicit messaging, as well as polled and/or
COS/Cyclic I/O. The interface is based on the Baldor Binary Protocol
(BBP) command set.
Group 2 board
Device Net Communications Expansion Board
Catalog No. EXB013A01
Description 2-1
2-2 Description
Section 3
Installation
Board Installation
This section describes the Expansion Board installation procedure.
Caution: Before you proceed, be sure to read and become
familiar with the safety precautions at the beginning of this
manual. Do not proceed if you are unsure of the safety
precautions described. If you have any questions, contact
BALDOR before you proceed.
1.
2.
Remove the expansion board from the shipping container.
Remove all packing material from the board.
Caution: Be sure all packing materials are removed from the
board. Conductive foam may be present on the connectors
to prevent static build up during shipping. This can prevent
proper circuit operation.
If you are installing only one board, refer to the “Single Expansion Board
Installation” procedure. If you are installing two expansion boards (or a
second board) refer to the “Dual Expansion Board Installation”
procedure.
Installation 3-1
AC Controls
(For all 15H Inverter, 21H Line Regen Inverter, 18H Vector, 22H Line
Regen Vector and 23H Servo).
Single Expansion Board Installation
Procedure:
1. Be sure drive operation is terminated and secured.
2. Remove all power sources from the control.
3. Wait at least 5 minutes for internal capacitors to discharge.
4. Remove the four (4) Phillips head screws (1/4 turn) that secure the
control cover. (For A & B size, remove four screws that secure the
cover. On floor mounted G size enclosures, open the enclosure
door).
5. Remove the control cover.
6. Slide the expansion board male connector into the female
connector of the control board. See Figure 3-1.
7. Securely mount the expansion board to the sheet metal mounting
plate using the #6 screws provided in the installation hardware.
See Figure 3-2.
8. The mechanical installation of the expansion board is now
complete. Refer to Section 4 of this manual and configure the
jumpers as desired. Also complete the wiring before you proceed
to step 9.
9. When complete, install the control cover using the four (4) Phillips
head screws (1/4 turn). (For A & B size, install four screws that
secure the cover. On floor mounted G size enclosures, close the
enclosure door).
10. Restore all power sources to the control.
11. Restore drive operation.
3-2 Installation
AC Controls
Single Expansion Board Installation (Continued)
Figure 3-1 Single Expansion Board Installation
Expansion Board
Motor Control Board
Terminal tightening torque is 7 lb-in (0.8 Nm) maximum.
Figure 3-2 Single Expansion Board Installation
#6 Screw
Group 1 or 2 Expansion Board
Sheet Metal Mounting Plate
Installation 3-3
AC Controls (Continued)
Dual Expansion Board Installation
Procedure:
1. Be sure drive operation is terminated and secured.
2. Remove all power sources from the control.
3. Wait at least 5 minutes for internal capacitors to discharge.
4. Remove the four (4) Phillips head screws (1/4 turn) that secure the
control cover. (For A & B size, remove four screws that secure the
cover. On floor mounted G size enclosures, open the enclosure
door).
5. Remove the control cover.
6. Slide the Group 1 expansion board male connector into the female
connector of the control board. See Figure 3-1.
7. Securely mount the Group 1 expansion board to the sheet metal
mounting plate using the short standoffs provided in the installation
hardware. See Figure 3-3.
8. The mechanical installation of the expansion board is now
complete. Refer to the manual for the Group 1 board and configure
the jumpers as desired. Also complete the wiring before you
proceed to step 9.
9. Install the Group 2 board on top of the previously installed Group 1
board by plugging the female connector onto the male connector of
the Group 1 board as shown in Figure 3-3.
10. Secure this Group 2 board to the Group 1 board using the #6
screws provided. See Figure 3-3.
11. The mechanical installation of the expansion board is now
complete. Refer to the manual for the Group 2 board and configure
any jumpers and switches as desired. Also complete the wiring for
this board before you install or close the cover.
3-4 Installation
AC Controls
Dual Expansion Board Installation (Continued)
12. When complete, install the control cover using the four (4) Phillips
head screws (1/4 turn). (For A & B size, install four screws that
secure the cover. On floor mounted G size enclosures, close the
enclosure door).
13. Restore all power sources to the control.
14. Restore drive operation.
Figure 3-3 Dual Expansion Board Installation
#6 Screw
Group 2 Expansion Board
Female Connector
Short
Aluminum
Standoff
Male Connector
Group 1 Expansion Board
Control Board Mounting Plate
Installation 3-5
3-6 Installation
Section 4
Hardware Setup
DIP Switch Settings
This procedure will configure the Device Net Expansion Board for
communication with a computer or terminal. Reference Figure 4-1 and
Table 4-1 for the following procedure.
1. Set DIP switches 1 and 2 for the desired baud rate.
2. Set switches 3 through 8 for the ID number desired.
3. Install the Device Net expansion board in the Series H control as
instructed in Section 3 of this manual.
Note: The switch settings can be changed after the board is powered
up. However, switch changes will not take effect until the board
is reset (by pushing PB1 or by turning power off then on).
Cable Connection
1.
Connect the Device Net wires to the 5 pin connector provided with
the expansion board as shown in Figure 4-1.
Note: The Device Net bus must provide 24VDC power to the
expansion board.
2. If a terminator is required, connect a 120 ohm terminating resistor
across pins 2 and 4 of the modular connector (CAN– and CAN+).
Powerup
When the Device Net expansion board is powered up it will perform the
following:
1. Perform a self test.
2. Check the switch settings for configuration information.
3. Verify communications with the Series H control board.
4. Check for power on the Device Net bus.
5. Perform a Duplicate MAC ID check to determine if any other
devices on the network have the same MAC ID number.
6. Go online.
After powerup, both LED’s should be GREEN.
Refer to the LED Indicators description in this section of the manual.
Hardware Setup 4-1
Figure 4-1 Board Configuration
Device Net Expansion Board Catalog No. EXB013A01
PB1
Reset switch
All switches shown in OFF position.
ON
ON
MS NS
1 2 3 4 5 6 7 8
1 2 3 4 5 6 7 8
V–
CAN_–
Shield
CAN_+
V+
S1
P3
V–
(Black)
(Blue) CAN_–
(Bare) Shield
(White) CAN_+
(Red)
V+
1 2 3 4 5
4-2 Hardware Setup
Module Status LED
Network Status LED
Side
View
Table 4-1 Switch Settings
Description
125kBPS
250kBPS
500kBPS
MAC ID 0
MAC ID 1
MAC ID 2
MAC ID 3
MAC ID 4
MAC ID 5
MAC ID 6
MAC ID 7
MAC ID 8
MAC ID 9
MAC ID 10
MAC ID 11
MAC ID 12
MAC ID 13
MAC ID 14
MAC ID 15
MAC ID 16
MAC ID 17
MAC ID 18
MAC ID 19
MAC ID 20
MAC ID 21
MAC ID 22
MAC ID 23
MAC ID 24
MAC ID 25
MAC ID 26
MAC ID 27
MAC ID 28
MAC ID 29
MAC ID 30
MAC ID 31
MAC ID 32
...
MAC ID 63
1
OFF
OFF
ON
...
2
OFF
ON
OFF
...
3
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
ON
...
ON
Switch Number
4
5
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
ON
ON
ON
ON
ON
ON
ON
ON
ON
ON
ON
ON
ON
ON
ON
ON
OFF
...
ON
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
ON
ON
ON
ON
ON
ON
ON
ON
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
ON
ON
ON
ON
ON
ON
ON
ON
OFF
...
ON
6
7
8
OFF
OFF
OFF
OFF
ON
ON
ON
ON
OFF
OFF
OFF
OFF
ON
ON
ON
ON
OFF
OFF
OFF
OFF
ON
ON
ON
ON
OFF
OFF
OFF
OFF
ON
ON
ON
ON
OFF
...
ON
OFF
OFF
ON
ON
OFF
OFF
ON
ON
OFF
OFF
ON
ON
OFF
OFF
ON
ON
OFF
OFF
ON
ON
OFF
OFF
ON
ON
OFF
OFF
ON
ON
OFF
OFF
ON
ON
OFF
...
ON
OFF
ON
OFF
ON
OFF
ON
OFF
ON
OFF
ON
OFF
ON
OFF
ON
OFF
ON
OFF
ON
OFF
ON
OFF
ON
OFF
ON
OFF
ON
OFF
ON
OFF
ON
OFF
ON
OFF
...
ON
Hardware Setup 4-3
LED Indicators
Two LED’s are located on the Device net expansion board.
MS - Module Status LED
Displays the operational status of the Device Net Interface expansion
board (EXB). Status is summarized in Table 4-2.
Table 4-2
LED State
OFF
Green
Flashing
Green
Red
Flashing
Red
Flashing
Red-Green
Status Description
No power is applied to the EXB.
The EXB is operating in a normal condition.
The EXB is in standby mode. The EXB may be attempting to
communicate with the Series H control. Be sure the Series H
control is in RS485BBP mode.
The EXB has an unrecoverable fault and may need to be
replaced.
The EXB has had a recoverable fault. This may be an invalid
DIP switch setting or the lost Bus Power (Device Net cable
disconnected).
The EXB is in a self test mode.
NS - Network Status LED
Displays the status of the connection to the Device Net network. Status
is summarized in Table 4-3.
Table 4-3
LED State
OFF
Green
Flashing
Green
Red
Flashing
Red
Flashing
Red-Green
Status Description
The EXB is not Online or has lost power.
The EXB is Online and operating. Link OK, Online, Connected.
EXB is Online but no connection is established. EXB passed
the DUP_MAC_ID test, Online, but has no connections to other
nodes.
Failed communications tests. EXB detected errors that prevent
it from communicating on the network. Duplicate MAC ID,
Bus-Off.
One or more I/O connections have timed out. Connection timed
out.
The EXB is in a self test mode.
4-4 Hardware Setup
Control Terminal Strip Connections
For Serial Mode operation, the Input/Output terminal strip of the control
(J1 of the Vector and DC controls and J4 of the Inverters) is wired as
shown in Figure 4-2. Connect the Enable, Forward Enable Switch,
Reverse Enable Switch, External Trip and Opto Common connections
as shown.
Note: All opto-isolated outputs and analog outputs remain active while
operating in the Serial Mode.
When these connections are complete, refer to Section 5 of this manual
and set the software for Serial Mode.
Figure 4-2 Serial Opto Input Connections
J1*
Enable
8
Enable
8
Forward
Enable
Reverse
Enable
9
Forward
Enable
Reverse
Enable
9
10
External
Trip
16
Common
*
**
J4**
17
10
16
External
Trip
Common
17
Series 18H, 22H and 23H controls.
Series 15H and 21H controls.
Hardware Setup 4-5
4-6 Hardware Setup
Section 5
Software Setup
Configure Control Software for Device Net Mode
The Series H control operating mode must be set to Serial to use the
Device Net expansion board. There is no selection for Device Net on
the Level 1 Input block Operating mode parameter list. However,
selecting Serial with the Device Net expansion board installed will allow
operation of the Device Net board.
Many commands in the Command Language can be used regardless of
the setting of the control’s Operating Mode parameter (such as
changing and viewing parameters). However, commands intended to
control the motor shaft require the control be in the Serial (Device Net)
Mode.
Note: The firmware version of the Series H control must support the
Baldor Binary Protocol (BBP). To confirm that BBP is supported,
perform the following:
Scroll to the Level 2 Communications block, and view the
selections. If RS485BBP is available, the software version is
compatible with the Device Net expansion board. Otherwise,
contact Baldor to obtain a software update.
During power up, the control checks if the communication board
is installed. If an RS485 board is installed, the RS485BBP
protocol is automatically selected during power up.
Software Setup 5-1
Action
Apply
Power
Press
PROG key
Press Y
or B key
Press
Enter key
Press
Enter key
Press Y
or B key
Press
Enter key
Press Y
key
Press
Enter key
Press Y
or B key
Press
Enter key
Description
Display illuminates
If no fault is found and
control is programmed for
local mode,OR,
If no fault is found and
control is programmed for
remote mode
Access programming mode.
Scroll to Level 1 Input block
Display
Comments
Logo is
displayed for 5
seconds.
STP MOTOR SPEED Display mode.
BALDOR
MOTORS & DRIVES
LOCAL
0RPM
STP MOTOR SPEED
REMOTE
0RPM
Display mode.
First screen in
programming
mode
PRESS ENTER FOR Input Block.
PRESS ENTER FOR
PRESET SPEEDS
INPUT
First selection choice
Flashing cursor indicates
mode can be changed
Scroll to Serial mode
OPERATING MODE
P:
KEYPAD
OPERATING MODE
KEYPAD
OPERATING MODE
SERIAL
Saves mode change value
OPERATING MODE
P:
SERIAL
Scroll to Command Select
parameter
Flashing cursor indicates
mode can be changed
Scroll to Serial mode
COMMAND SELECT
P:
+/–10VOLTS
Saves change to serial
command select
Now in keypad
mode.
Change to
Serial mode.
Now in ±10 Volt
input mode.
COMMAND SELECT
+/–10VOLTS
COMMAND SELECT
SERIAL
Change to
Serial mode.
COMMAND SELECT Control is now
P:
SERIAL in Serial mode.
Note: The 15H control does not have a Command Select “Serial”,
this is not needed for this control.
5-2 Software Setup
Action
Press Y
or B key
Press
ENTER
key
Press Y
or B key
Press
ENTER
key
Press
Enter key
Press Y
or B key
Press
ENTER
key
Press Y
or B key
Press
DISP key
Press
LOCAL
key
Description
Scroll to Level 2 blocks
Display
Comments
PRESS ENTER FOR
LEVEL 2 BLOCKS
Select Level 2 blocks.
PRESS ENTER FOR
OUTPUT LIMITS
Scroll to Communications
block
Select Level 2
Communications block.
PRESS ENTER FOR
COMMUNICATIONS
p:
Flashing cursor indicates
mode can be changed
Scroll to RS 485 BBP
(Baldor Binary Protocol)
Select RS 485 BBP mode.
First screen in
Level 2 block
PROTOCOL
RS232 ASCII
PROTOCOL
RS232ASCII
PROTOCOL
RS485BBP
p:
PROTOCOL
RS485BBP
Scroll to Exit Menu
PRESS ENTER FOR
MENU EXIT
Returns to Display mode.
STP MOTOR SPEED
LOCAL
0RPM
Display mode.
Changes to Serial
Operation.
STP MOTOR SPEED
SERIAL
0RPM
Ready for
device net
operation.
The control is now configured for Device Net mode and the Host
software can now be setup.
Software Setup 5-3
Device Net Configuration
The Device Net expansion board is a Device Net Group 2 Only Slave
device using the predefined master/slave connection set, as defined by
the ODVA. It is capable of explicit messaging, as well as polled and/or
COS/Cyclic I/O. The interface is based on the Baldor Binary Protocol
(BBP) command set.
This EDS file (Electronic Data Sheets) is used by Device Net equipment
to communicate with the BBP of the Baldor Device Net expansion
board. The Baldor EDS file is provided on a diskette that is shipped with
the expansion board. A Device Net configuration tool, such as
Allen-Bradley “Device Net Manager” software should be used to
configure the Device Net expansion board. The EDS file is also
available on the Baldor World Wide WEB page (www.baldor.com).
EXB I/O Instances
The input and output assembly instances are predefined I/O data
formats that can be selected based on your application. If an I/O
connection is being used, the selected I/O assembly instance
determines the size and format of the data. Only one input instance and
one output instance can be selected. The Input and Output instances
should be set using a Device Net configuration tool prior to connection
to a host device.
Note: Instances 105 and 155 are factory preset. These instances must
be properly set for your application.
Elements of an I/O instance can be 1 to 32 bits in length and can
reference any of the Baldor Binary Protocol (BBP) transactions
supported by the Device Net expansion board (see Section 6 of
this manual). Each assembly instance can contain no more than
8 bytes.
Tables 5-1 and 5-2 defines the format of the Input and Output Assembly
Instances.
5-4 Software Setup
Table 5-1 Format of Input Assembly Instances
#
Byte
Bit7
0
152
Bit5
Instance Byte Format
Bit4
Bit3
Bit2
ControlState
Warning
T#4
T#27
CommandMode
1
151
Bit6
Output1
Output2
remote
CtrlSourceT#3
2
SpeedActual T#18 (Low Byte)
3
SpeedActual T#18 (High Byte)
4
CurrentActual T#17 (Low Byte)
5
CurrentActual T#17 (High Byte)
0
SpeedActual T#18 (Low Byte)
1
SpeedActual T#18 (High Byte)
2
CurrentActual T#17 (Low Byte)
3
CurrentActual T#17 (High Byte)
4
ZeroSpd
AtSpeed
T#25
T#26
Input 4
7
Input 6
Input 7
rev
fwd
RunCMDT#1
Input 8
Input 9
Output3
Output4
TerminalStrip T#31
FaultStatus T#45
5
6
Input 5
Bit0
Output4
TerminalStrip T#31
network
T#5
Bit1
Output3
MotorDir
ControlState
T#24
T#4
CommandMode
T#5
Output1
Output2
TerminalStrip T#31
network
remote
CtrlSourceT#3
rev
fwd
RunCMDT#1
Software Setup 5-5
Table 5-1 Format of Input Assembly Instances Continued
#
Byte
Bit7
0
Instance Byte Format
Bit4
Bit3
Bit2
Warning
Output1 Output2
T#4
network
remote
CtrlSourceT#3
T#5
Bit1
Output3
Bit0
Output4
TerminalStrip T#31
T#27
CommandMode
1
153
Bit6
Bit5
ControlState
rev
fwd
RunCMDT#1
FreqActual T#19 (Low Byte)
2
3
4
CurrentActual T#17 (Low Byte)
5
CurrentActual T#17 (High Byte)
0
Input6
1
154
Input7
Input8
CommandMode
T#5
Input9 Output1
TerminalStrip T#31
network
Output2
Output3
Output4
remote
rev
fwd
CtrlSourceT#3
2
SpeedActual T#18 (Low Byte)
3
SpeedActual T#18 (High Byte)
4
5
6
7
Position T#15 (Low Word/Low Byte)
Position T#15 (Low Word/High Byte)
Position T#15 (High Word/Low Byte)
Position T#15 (High Word/High Byte)
RunCMDT#1
Note: For Table 5-2, use instance 103 for 15H and 21H controls (speed
is sent in Hertz). Use other instances for 18H, 22H and 23H
(speed is sent in RPM).
5-6 Software Setup
Table 5-2 Format of Output Assembly Instances
#
Byte
0
Bit7
FaultRst
T#46
1
101
102
2
3
4
5
0
1
2
3
4
5
6
FaultRst
T#46
7
0
FaultRst
T#46
1
103
2
3
4
5
0
1
104
2
3
4
5
6
7
FaultRst
T#46
Instance Byte Format
Bit5
Bit4
Bit3
Bit2
Bit1
Bit0
RunInhibit
TableSelect Output1 Output2 Output3 Output4
T#2
T#39
T#75
CommandMode
network
remote
rev
fwd
T#5
CtrlSourceT#3
RunCMDT#1
(RPM) SpeedRef T#7 (Low Byte)
(RPM) SpeedRef T#7 (High Byte)
TorqueRef T#9 (Low Byte)
TorqueRef T#9 (High Byte)
SpeedRef T#7 or PositionSpeed T#13 Low Byte SpeedRef T#7 or PositionSpeed T#13 High Byte TorqueRef T#9 or TorqueRef T#12 Low Word, Low Byte TorqueRef T#9 or TorqueRef T#12 Low Word, High Byte TorqueRef T#9 or TorqueRef T#12 High Word, Low Byte TorqueRef T#9 or TorqueRef T#12 High Word, High Byte ZeroPos
AccDecGroup
Output1 Output2 Output3 Output4
T#12
T#40
T#75
CommandMode
network
remote
rev
fwd
T#5
CtrlSourceT#3
RunCMDT#1
RunInhibit
TableSelect Output1 Output2 Output3 Output4
T#2
T#39
T#75
CommandMode
network
remote
rev
fwd
T#5
CtrlSourceT#3
RunCMDT#1
(0.1Hz) HzSpeedRef T#6 (Low Byte)
(0.1Hz) HzSpeedRef T#6 (High Byte)
TorqueRef T#9 (Low Byte)
TorqueRef T#9 (High Byte)
ZeroPos
TableSelect Output1 Output2 Output3 Output4
T#12
T#39
T#75
CommandMode
network
remote
rev
fwd
T#5
CtrlSourceT#3
RunCMDT#1
PositionSpeed T#13 (Low Byte)
PositionSpeed T#13 (High Byte)
PositionRef T#12 (Low Word/Low Byte) PositionRef T#12 (Low Word/High Byte) PositionRef T#12 (High Word/Low Byte) PositionRef T#12 (High Word/High Byte) Bit6
See notes on next page.
Software Setup 5-7
Notes:
Used with CommandMode (T#5). These bytes represent the variables
SpeedRef (T#7), or Position SpeedRef (T#13).
Used with CommandMode (T#5). These bytes represent the variables
TorqueRef or PositionRef. PositionRef requires 4 bytes. TorqueRef
requires 2 bytes (Low Word).
TableSelect is not implemented at this time.
When a PLC updates memory in the middle of a double integer write of
PositionRef, a problem may occur. If the first integer is written and the
PLC updates the memory of a networked device, the position information
is wrong (second integer is missing). To avoid this problem, be sure the
CommandMode (T#5) is not set to PositionCmd until after both integers
are written.
Torque and Position commands are not implemented for the Series 15H
Control.
5-8 Software Setup
Section 6
Command Language
Transaction Specification
This section contains a detailed list of the transactions currently
supported by the protocol. The list includes the transaction
number, name, type description, and a detailed specification of
the required and returned data.
Note: Some transactions are not supported by all control types.
Also some controls require variations in commanded data.
Where these exceptions exist, they will be identified in the
text.
How To Read The Transaction Specification
The transaction table provides quick access to relevant
information about each transaction. When necessary a
transaction will be explained in more detail in the sections that
follow.
Transaction Number (T#)
The transaction number is the identification of the command. As
mentioned in Section 3, the maximum number of transactions is
256 (250 – 255 are reserved for future use.)
Command Language 6-1
Name
The ‘Name’ field refers to a ‘C’ style variable for function names
associated with the transaction. Use of these names is not
necessary to interface with the transaction. These names may
be used in present and future software drivers and libraries
provided by Baldor. When used in conjunction with Baldor
software tools, the transaction name is case sensitive.
Type
There are three basic transaction types: Set, Get, and those
which do both: Set/Get.
S
‘Set’ transactions are used to change internal values, or
execute one–time (nonmodal) commands. As a general rule
most ‘set’ transactions pass data to the control, but do not
return any. Most execution ‘set’ commands do not pass or
return data.
S
‘Get’ transactions are used to retrieve internal values or
control conditions. Most ‘get’ transactions return data but do
not pass data.
S
‘Set/Get’ transactions do both functions. Usually these
transaction always return data, but only accept or pass data
when a ‘set’ or change function is occurring. When no data is
passed, the ‘Set/Get’ functions as a ‘Get’ or read–only
transaction.
When a transaction does not fit these general rules, both passed
and returned data fields will be clearly specified.
6-2 Command Language
Data Field
The Data Field defines the data transfer requirements of the
application layer message. This field describes the data using
the ‘data type’ defined in Section 2.l. Commas separate
individual elements of data.
As previously discussed in Section 3, there are two types of
application layer packets–. Command and Response.
Command packets ALWAYS contain a transaction number
(USINT). Response packets ALWAYS contain a transaction
number (USINT) and a status (USINT). The transaction
specification is only concerned with the data field portion of these
messages. The transaction number and status are assumed to
be present, and are not shown in the specification.
In transactions that fit the basic Set, Get, and Set/Get definitions,
only a single data field is described in the specification. In these
cases it is assumed that a ‘Set’ transaction has only Command
packet data. A ‘Get’ has only Response packet data. And a
‘Set/Get’ has the same data in the Command and Response
packet, unless it is being used to ‘Get’ only, in which case there
is no Command data.
Transactions are not required to conform to these basic rules.
When such exceptions exist, both their Command and Response
data fields will be described in detail. The command data field is
preceded by a C:, the response data field is preceded by a R: for
identification purposes only.
In some cases variable names are given in the data field
specification. These names are used to describe multiple
elements of a common data type. These names are not required
for use, but may be included in present and future software
drivers and libraries provided by Baldor. (When used with tools
provided by Baldor, variable names are case sensitive.)
Command Language 6-3
Class
The class field indicates the product classes that support the
transaction. The product codes are as follows:
E = Encoderless Vector
I
= Inverter
S = Servo
V = Vector
V* = Vector with custom software for positioning
Description
The description field gives information regarding the use of the
transaction. When possible the data range, scale, units, etc. are
also given. When it is not possible to fully describe the
transaction in the table, or when other information such as a
state diagram or event matrix must be given, further information
will be included in sections following the transaction table. An
asterisk is used to indicate default power up values where
applicable.
6-4 Command Language
Transaction Specification Table
Table 6-1 Transaction Specification Table
T#
0
Name
Null
Type
Set
Data Field
None
Class
All
1
RunCmd
Set/
Get
USINT
All
2
RunInhibit
Set/
Get
BOOL
All
Description
No action.
This can be used to
reset the watchdog
timer, or as a
placeholder in
conjunction with a
global Execute
Buffer transaction.
Network run / stop
command. Get 0 =
Stop (refer to stop
mode parameter)
1 = Fwd
2 = Rev
3 = Bipolar Run *
Actual motor
direction is returned
in Motor Direction. In
fwd or rev, only the
absolute value of the
command
references (speed,
torque) are used. In
bipolar run, the
signed reference
values control the
direction. These
commands are only
valid when
CtrlSource = 2
(control from
network)
Commands a stop
regardless of the
command source
(Local Keypad,
Remote terminal
strip, control from
network.)
1 = Stop, 0 = No
action*
* Indicates initial powerup value.
Command Language 6-5
Table 6-1 Transaction Specification Table Continued
T#
3
Name
CtrlSource
Type
Set
Data Field
USINT
Class
All
4
ControlState
Get
USINT
E,V,S
5
CommandMode
Set/
Get
USINT
All
Description
0 = Keypad (local)
1 = Terminal strip
(remote)
2 = Control from
network
0 = Not Ready (no
main power)
1 = Ready (disabled)
2 = Enabled
3 = Stopping
4 = Fault exists
Command Mode
0 = None (Disabled) *
1 = Torque CMD
selected
source
2 = Torque CMD
network
3 = Speed CMD
selected
source
4 = Speed CMD
network
5 = Orient
6 = Position CMD ABS
7 = Position CMD INC
9 = Position CMD
external
10 = Home
11 = Process Torque
12 = Process Speed
13 = Auto Tune
Refer to the command
mode section for
complete operational
description.
* Indicates initial powerup value.
6-6 Command Language
Table 6-1 Transaction Specification Table Continued
T#
6
Name
HzSpeedRef
Type
Set/
Get
Data Field
INT
INT
Class
I,
All
7
SpeedRef
Set/
Get
INT
INT
E,V,S,
All
8
SpeedRefHigh
Set/
Get
DINT
E,S,V
9
TorqueRef
Set/
Get
INT
12
PositionRef
Set/
Get
13
PositionSpeed
15
Position
V*
Description
Hertz Speed
Reference.
Set Units: 0.1 Hz
(one decimal place)
Speed reference
Units: RPM
(Standard Get
Resolution)
Speed reference
(High Resolution)
Units: 1/256 RPM .
The middle 16 bits
mirror SpeedRef.
Not supported by all
product classes.
S,V
Torque reference
(Current)
Scaling: ±15bit
(32767) =
programmed current
limit.
DINT
S, V*
Set/
Get
INT
S, V*
Set/
Get
DINT
S, V*
Position Reference
Scaling = quadrature
counts (4 x
feedback counts per
rev.)
Positioning Speed
Reference
Max speed used for
positioning
commands. Also
referred to as feed
rate or target
velocity.
Units: RPM
Position counter
Scaling = quadrature
= Vector with custom software for positioning
Command Language 6-7
Table 6-1 Transaction Specification Table Continued
T#
17
Name
CurrentActual
Type
Get
Data Field
INT
18
SpeedActual
Get
INT
All
19
FrequencyActual
Get
INT
E,I,S,
V
20
PowerActual
Get
INT
E,V,S
21
InputVoltage
Get
INT
E,V,S
Input line voltage
Units: Volts RMS
22
OutputVoltage
Get
INT
E,V,S
Motor phase voltage
(commanded)
Units: Volts RMS
24
MotorDirection
Get
BOOL
E,V,S
0 = Fwd
1 = Rev
Actual in position
feedback products,
commanded in
others.
25
ZeroSpeed
Get
BOOL
E,S,V
1 = At zero
0 = Not at zero
26
AtSpeed
Get
BOOL
E,V,S
1 = At commanded
speed
0 = Not at speed
27
Warning
Get
BOOL
E,V,S
1 = Warning
0 = No warnings
present
* Indicates initial powerup value.
6-8 Command Language
Class
E,I,S,
V
Description
Actual motor phase
current
Units: 100mA RMS
Note: calculated on
inverter.
Actual motor speed
(absolute value.)
(Approximated in
some products.)
Units: RPM
Actual motor
frequency Units: 0.1
Hz (one decimal
place)
Actual output power
Units: Watts
Table 6-1 Transaction Specification Table Continued
T#
28
Name
AtPosition
Type
Get
Data Field
BOOL
Class
S,V
Description
1 = At position
0 = Not at position
29
AtSetpoint
Get
BOOL
E,V,S
1 = At setpoint
0 = Not at setpoint
30
AtSetSpeed
Get
BOOL
E,V,S
1 = At set speed
0 = Not at set speed
31
TerminalStrip
Get
WORD
All
Digital I/O status
word. Refer to Table
6-3 for description.
32
SoftwareVersion
Get
STRING
E,V,S
33
SoftwareRevision
Get
UINT
All
34
ProductSeries
Get
UINT
All
Control software
version (16
characters
maximum.)
Control software
revision number. For
example S15–4.03 is
returned as 403.
Note: for custom
software revisions,
only the core
(standard) revision is
returned.
Product series for
example a Series
15H returns: 15.
35
ProductClass
Get
USINT
All
36
Optionld1
Get
USINT
E,V,S
Option ID1 (see
table 6-4)
0 = Not installed
37
Optionld2
Get
USINT
E,V,S
Option ID2 (see
table 6-4)
0 = Not installed
0=D
1 = DP
2=E
3=I
4=S
5=V
* Indicates initial powerup value.
Command Language 6-9
Table 6-1 Transaction Specification Table Continued
T#
38
Name
RunTime
Type
Get
Data Field
UDINT
Class
E,V,S
Description
Total time power has
been applied. Units:
seconds.
39
TableSelect
Get/
Set
USINT
E,S,V
40
AccDecGroup
Get/
Set
USINT
E,V,S
Parameter table
select
Range 0 – 3
Note: DDC only
supports 2 tables.
Can only be
changed when under
network control
Accel / decel group
select
Range 1 – 2 Can
only be changed
when under network
control.
41
WatchdogTime
Get/
Set
UINT
All
Network watchdog
timer Get Units:
10mS
0 = disable
2= 20mS minimum
6000= 60S
maximum
Note: resolution
varies among
product classes.
45
FaultStatus
Get
USINT
All
Request current fault
condition
0 = No fault
1–xx = Current fault
code (See H Series
– Fault Message
Description table at
the end of this
section for
description.)
* Indicates initial powerup value.
6-10 Command Language
Table 6-1 Transaction Specification Table Continued
T#
46
Name
FaultRst
Type
Set
Data Field
BOOL
Class
All
47
FaultLog
Get
C: USINT
FaultLogInde
x
R: UINT
FaultCode,
UDINT
TimeStamp
All
48
FaultCodeText
Get
C: USINT
FaultCode
R: STRING
FaultText
All
49
ForceFault
Set
BOOL
All
50
SecurityStatus
Get
USINT
All
Description
1 = Execute fault
reset
0 = No action
Clears any active
fault condition.
Operation resumes
at previous
command.
Requests the
FaultCode and
TimeStamp for the
given index. The
fault log holds the
last 31 fault
conditions (1 being
most recent) The log
will return a 0 for the
code and time stamp
if the specified index
is empty. Time
stamp is in seconds.
Returns the text
string associated
with the FaultCode.
16 characters
maximum.
0->1 =Force Network
Fault
0 = No action
Requests network
security status.
0 = Security disabled
1 = Security
unlocked
2 = Security locked
* Indicates initial powerup value.
Command Language 6-11
Table 6-1 Transaction Specification Table Continued
T#
51
Name
SecurityLock
Type
Set
Data Field
INT or
NONE
Class
All
52
CalcPresets
Set
BOOL
E,S,V
56
BlockStructure
Get
USINT
Level1Max,
Level2Max,
Level3Max,
All
Returns the number
of blocks on each
programming level.
Assumes a max of
three programming
levels.
57
BlockDetail
Get
C: USINT
Level, Block
R: USINT
MaxParams,
STRING
BlockName
All
Returns the number
of parameters in the
block and the
BlockName (16
characters max.)
* Indicates initial powerup value.
6-12 Command Language
Description
Unlocks or locks
network parameter
security. Passing the
valid SecurityCode
unlocks parameter
access. Any other
value (including
NONE) locks
parameter access.
This transaction is
used during setup to
calculate initial
values for tuning and
performance
parameters based
on motor nameplate
values. Note: this
command is not valid
for all product
classes.
1 = Execute preset
calculation
0 = No action
Table 6-1 Transaction Specification Table Continued
T#
58
Name
BlockParamDetail
Type
Get
Data Field
59
ParameterDetail
Get
C: INT
Pnum,
R: INT
Pnum,
Pvalue,
Pmin, Pmax,
Pdlft, Pprec,
Ptype,
STRING
Pname,
Punits
All
Returns full
parameter detail
information for the
given Pnum.
60
ParameterList
Get
C: INT
Pnum,
ListIndex
R: STRING
ListText
All
Returns the
enumerated list
string for the given
parameter number
and list index. 16
characters max. If
ListIndex exceeds
the number of
elements an ‘end of
block’ status will be
returned. (Note: Use
Pmax to determine
the end of the list.)
C: USINT
Level, Block,
Index
R: INT
Pnum,
Pvalue,
Pmin, Pmax,
Pdlft, Pprec,
Ptype,
STRING
Pname,
Punits
Class
All
Description
Returns full
parameter detail
information for the
parameter specified
at the given Level,
Block and index.
* Indicates initial powerup value.
Command Language 6-13
Table 6-1 Transaction Specification Table Continued
T#
61
Name
ParameterValue
Type
Set/
Get
62
BatchSend
Get
63
BatchRcv
64
FactorySettings
Data Field
Class
All
Description
Change / request
value of specified
user parameter.
Returned value will
give actual, after any
bounds checking.
Refer to the control
manual for
description.
C: INT
GroupNumbe
r
R: INT
PnumN,
PvalueN, ...
N=16
All
Set
INT
PnumN,
PvalueN, ...
N=16
All
Set
BOOL
All
Batch transfer that
returns raw (data
only) from control to
host. Up to 16
parameters are sent
at a time. Last group
will be truncated if
necessary. Group
numbers start at 0. If
the GroupNumber
exceeds the number
of blocks an ‘end of
block’ status is
returned. The control
must be disabled.
Block transfer that
accepts raw
parameter (data
only) from host to
control. Up to 16
parameters may be
sent at a time.
Parameters may be
sent in any order.
The control must be
disabled.
1 = Reset all
parameters to
factory settings.
0 = No action
C: INT
Pnum,
Pvalue
R: INT
Pvalue
(excluding
Pvalue from
CMD
indicates
request only).
* Indicates initial powerup value.
6-14 Command Language
Table 6-1 Transaction Specification Table Continued
T#
69
Name
ClearAll
Type
Set
Data Field
USINT
Class
All
Description
Reserved for factory
use.
70
LogClear
Set
USINT
All
Reserved for factory
use.
71
AnalogInput1
Get
UINT
All
AnalogInput2
Get
UINT
All
Reads the raw value
of the A/D
converters on the
control. Update rate
and resolution vary
per control. Unused
MSBs will be padded
with zero.
72
73
SetAnalogOut1
Set
INT
All
74
SetAnalogOut2
Set
INT
All
75
SetDigitalOut
Set
BYTE
All
76
GetDebugVal
Get
C: INT
MemLoc
R: INT Value
All
Commands the
DACs on the control,
and/or option card.
Analog output
parameter must be
set to Serial to be
valid. (Note 8 bit
DACs will only use
the upper byte.)
Commands the
digital outputs on the
control, and/or option
card. Only lowest
four bits are used.
The LSB
corresponds to opto
out #4. The opto
output parameter
must be set to serial
to be valid.
Reserved for factory
use.
* Indicates initial powerup value.
Command Language 6-15
Table 6-1 Transaction Specification Table Continued
T#
250
Name
Type
Data Field
Class
Description
Reserved for future
use.
251
Reserved for future
use.
252
Reserved for future
use.
253
Reserved for future
use.
254
Reserved for future
use.
255
Reserved for future
use.
6-16 Command Language
5 - Command Mode
Command
5
USINT CommandMode
Response
5
ST USINT CommandMode
Type: Set/Get
This transaction changes the command mode of the Series H
control. The command mode is an 8–bit value. Loading the
appropriate value into the command mode register activates the
appropriate operating mode. Only one mode can be selected at
a time. Table 6-2 provides a description of the possible command
modes.
Initial Condition:
At powerup, the command mode is set to 00H (disabled).
Command Language 6-17
Table 6-2 Command Mode Table
Value
Mode
0
None
Class
ALL
Description
No mode selected. Output stage of
control remains off or disabled (voltage
and current removed from the motor),
regardless of RunCmd condition.
Closes the current loop with command
input from the source selected in the
COMMAND SELECT parameter.
1
Torque CMD
selected source
S,V
2
Torque CMD
Network
S,V
Closes the current loop with command
input from the TorqueRef register.
3
Speed CMD
selected source
All
Closes the velocity loop with command
input from the source selected in the
COMMAND SELECT parameter.
4
Speed CMD
Network
All
Closes the velocity loop with command
input from the SpeedRef register.
5
Orient
S,V
C or Index channel orient. The motor will
be commanded in the Fwd direction at
the predefined homing speed until the
index pulse is detected. The motor will
then be commanded to hold position at
the predefined home offset.
6
Position CMD
ABS
S,V
Closes the position loop with an absolute
position command from the PositionRef
register.
7
Position CMD
INC
S,V
Closes the position loop with an
incremental position command from the
PositionRef register.
9
Position CMD
External
S,V
Closes the position loop with command
input from external option source (such
as pulse follower EXB card.)
11
Process Torque
All
Closes the torque process control loop.
Commands come from the appropriate
command input parameters.
12
Process Velocity
All
Closes the velocity process control loop.
Commands come from the appropriate
command input parameters.
6-18 Command Language
31- TerminalStrip
Command
31
Response
31
ST WORD TerminalStrip
Type: Get
This transaction returns a bit–wise word representing the status
of the control digital inputs and outputs.
Table 6-3 provides a description of the codes.
Note: A bit value of 1=closed or ON, 0=open or OFF.
Table 6-3 TerminalStrip Table
Bit
0
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
Name
Output4
Output3
Output2
Output1
Input9
Input8
Input7
Input6
Input5
Input4
Input3
Input2
Input1
Typical Single-Axis
Location
J1 (J4) - 22
J1 (J4) - 21
J1 (J4) - 20
J1 (J4) - 19
J1 (J4) - 16
J1 (J4) - 15
J1 (J4) - 14
J1 (J4) - 13
J1 (J4) - 12
J1 (J4) - 11
J1 (J4) - 10
J1 (J4) - 9
J1 (J4) - 8
Typical Multi-Axis
Location
J1B - 13
J1B - 12
J1B - 11
J1B - 10
J1B - 9
J1B - 8
J1B - 7
J1B - 6
J1B - 5
J1B - 4
J1B - 3
J1B - 2
J1B - 1
Not Used
Not Used
Not Used
Note: J1 = for Vector Controls, J4 = for Inverter Controls.
Command Language 6-19
36 or 37 - Optionald#
Command
36
Response
36
ST USINT Optionld
Type: Get
This transaction returns the id number for the option installed in
the specified location.
Table 6-4 provides a description of the possible values.
Table 6-4 Optionald# Table
ID
1
2
3
4
5
EXB No.
EXB001A01
EXB002A01
EXB003A01
EXB004A01
EXB005A01
EXB Name
RS232 Serial Communications
RS422/485 Serial Communications
Isolated Input
4 Output Relays / 3-15 PSI Pneumatic
Master Pulse Reference/Isolated Pulse
Follower
6
7
8
9
10
11
EXB006A01
EXB007A01
EXB008A01
EXB009A01
EXB010A01
EXB012A00
DC Tachometer
High Resolution Analog I/O
Isolated Encoder
Resolver to Digital
2 Isolated Analog Output / 3 Relay
RS232/485 Serial Communications
6-20 Command Language
Group
2
2
1
2
1
1
2
1
1
2
2
41 - WatchdogTime
Command
41
UINT WatchdogTime
Response
41
ST UINT WatchdogTime
Type: Set/Get
This transaction is used to change the value of the network
watchdog timer. The value is entered in milliseconds (mS). The
watchdog timer is used to detect a communications loss. When
the time between network commands exceeds the value stored
in this register, a fault is generated and the control is disabled.
Each time a network command is received, the internal timer is
reset to zero. The host must continuously send commands to
keep the timer reset. If desired a NULL transaction can be used
to reset the timer. Setting the timer to zero disables this function.
The minimum time value (other than zero) is 20mS (2). The
maximum value is 60S (6000). Resolution varies among product
classes.
Scale/ Units: 10mS
ParameterDetails
Table 6-5 describes the data that is returned during a parameter detail
response.
Command Language 6-21
Table 6-5 ParameterDetails Table
Field Name
INT Pmin
INT Pmax
INT Pdflt
USINT Pprec
BYTE Ptype
STRING Pname
STRING Punits
Description
Parameter minimum allowed value.
Parameter maximum allowed value. (Number of list items
in an enumerated type parameter.)
Parameter default value (factory) value.
Indicates the number of decimal places to use for the
parameter value.
Returns bit–wise parameter type.
Bit 0 = Numeric parameter
Bit 1 = Enumerated list parameter
Bit 2 = Can be changed while enabled
Bit 3 = Default from calculation
Bit 4 = Not set during ‘restore to factory’
Bit 5 = Signed parameter
Returns string representing parameter name. For example
“Preset Speed #1”. Max number of characters is 16.
Returns the parameter engineering units string. Max
number of characters is 4.
6-22 Command Language
H Series – Fault Message Description
Fault Code
Fault Message
Line Regen
Fault Description
15H
18H
1
1
Fault in Line REGEN converter unit Series 21H Line REGEN Inverter control.
2
Loss of encoder feedback.
Feedback Fault
Invalid Base ID
3
3
Failed to read configuration from the Power
Base ID value in software.
Low INIT Bus V
4
4
Low bus voltage detected on start–up.
Regen Res
Power
5
5
Excessive power dissipation required by
Dynamic Brake Hardware.
Current SENS
FLT
6
6
Failure to sense phase current.
HW
Desaturation
7
7
High output current condition detected (greater
than 400% of rated output current).
HW Ground
Fault
8
8
Ground Fault detected (output current leakage
to ground).
Resolver Fault
9
Loss of resolver feedback.
HW Power
Supply
10
10
Control Board power supply failure detected.
Overcurrent
11
11
Continuous current limit exceeded.
Bus
Overvoltage
12
12
High DC Bus voltage.
Following ERR
13
Motor speed/position does not follow command.
Torque Prove
14
Unbalanced current between all 3 phases.
Bus
Undervoltage
15
15
Low DC Bus voltage condition detected.
3 Sec Overload
16
16
Peak output current exceeded the 3 second
rating value.
Over Speed
17
Motor RPM exceeded 110% of MAX Speed.
Motor Temp
18
Motor over temperature
Heatsink Temp
19
19
Control heatsink exceeded temperature limit.
External Trip
18
20
Connection at J1/J4 pin 16 and 17 is open.
Param
Checksum
51
21
Parameter checksum error.
Command Language 6-23
H Series – Fault Message Description Continued
Fault Code
Fault Message
µp Reset
18H
22
22
A software watchdog timer has reset the
processor because a process has timed out.
23
ROM checksum error.
24
Peak output current exceeded the 1 minute
rating value.
ROM Fault
1 Min Overload
Fault Description
15H
24
No I Feedback
25
Loss of current feedback
New Base ID
26
26
Control board detected a change in the Power
Base ID value in software.
EXB Selection
27
27
Expansion board not installed to support the
Level 1 Input Block, Command Select
parameter.
Power module
28
Power module failure.
Co–processor
29
Co–processor error (i.e. DSP board).
Software
Version
30
Wrong control software version detected.
Feedback
Module
31
Feedback HW module failure.
Serial watchdog
32
Serial port transmit/receive error
33
Lost network communications.
FLT Network
33
Hardware
Protect
54
Unknown FLT
Code
55
Bus Current
SENS
56
Note
A general hardware fault was detected but
cannot be isolated.
34
Microprocessor detected a fault that is not
identified in the fault code table.
Failure to sense bus current.
These faults may be different for custom software.
6-24 Command Language
BALDOR ELECTRIC COMPANY
P.O. Box 2400
Fort Smith, AR 72902–2400
(479) 646–4711
Fax (479) 648–5792
 Baldor Electric Company
MN1320
Printed in USA
8/03 C&J500