Baldor Computer Hardware Device Net Expansion Board 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 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .  
1-1  
1-1  
1-2  
1-3  
1-3  
Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .  
Limited Warranty . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .  
Safety Notice . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .  
Precautions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .  
Section 2  
Expansion Board Description . . . . . . . . . . . . . . . . . . . . . . . . . .  
Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .  
2-1  
2-1  
Section 3  
Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .  
3-1  
3-1  
3-2  
3-2  
3-4  
Board Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .  
AC Controls . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .  
Single Expansion Board Installation . . . . . . . . . . . . . . . . . .  
Dual Expansion Board Installation . . . . . . . . . . . . . . . . . . .  
Section 4  
Hardware Setup . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .  
4-1  
4-1  
4-1  
4-1  
4-4  
4-5  
DIP Switch Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .  
Cable Connection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .  
Powerup . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .  
LED Indicators . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .  
Control Terminal Strip Connections . . . . . . . . . . . . . . . . . . . . .  
Section 5  
Software Setup . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .  
5-1  
5-1  
5-4  
5-4  
Configure Control Software for Device Net Mode . . . . . . . . .  
Device Net Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .  
EXB I/O Instances . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .  
Section 6  
Command Language . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .  
6-1  
6-1  
6-1  
EXB I/O Instances . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .  
Transaction Specification . . . . . . . . . . . . . . . . . . . . . . . . . . . . .  
Transaction Specification Table . . . . . . . . . . . . . . . . . . . . . . . .  
5 - Command Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .  
31- Terminal Strip . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .  
36 or 37 - Optionald# . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .  
41 - Watchdog Time . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .  
Parameter Details . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .  
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  
Catalog No.  
EXB003A0X  
EXB005A0X  
Manual No.  
MN1314  
MN1312  
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  
EXB006A0X  
EXB008A0X  
EXB009A0X  
MN1311  
MN1317  
MN1313  
EXB001A0X  
EXB002A0X  
EXB012A0X  
EXB004A0X  
MN1310  
MN1310  
MN1310  
MN1315  
High Resolution Analog I/O  
2 Isolated Analog Output/ 3 Relay  
Output  
EXB007A0X  
EXB010A0X  
MN1316  
MN1319  
Device Net  
Profibus  
Modbus Plus  
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. Remove the expansion board from the shipping container.  
2. 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  
Installationprocedure. 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.  
1
4. Remove the four (4) Phillips head screws ( / turn) that secure the  
4
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  
1
head screws ( / turn). (For A & B size, install four screws that  
4
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.  
1
4. Remove the four (4) Phillips head screws ( / turn) that secure the  
4
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  
1
head screws ( / turn). (For A & B size, install four screws that  
4
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  
Male Connector  
Standoff  
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 (CANand 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 LEDs 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  
Reset switch  
All switches shown in OFF position.  
O N  
1 2 3 4 5 6 7 8  
Side  
View  
Module Status LED  
Network Status LED  
1
2
3
4 5  
4-2 Hardware Setup  
 
Table 4-1 Switch Settings  
Switch Number  
Description  
1
2
3
4
5
6
7
8
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  
. . .  
OFF  
OFF  
ON  
OFF  
ON  
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  
OFF  
ON  
OFF  
OFF  
OFF  
OFF  
OFF  
OFF  
OFF  
OFF  
OFF  
OFF  
OFF  
OFF  
OFF  
OFF  
OFF  
OFF  
ON  
OFF  
OFF  
OFF  
OFF  
OFF  
OFF  
OFF  
OFF  
ON  
OFF  
OFF  
OFF  
OFF  
ON  
OFF  
OFF  
ON  
OFF  
ON  
OFF  
ON  
ON  
OFF  
OFF  
ON  
OFF  
ON  
ON  
ON  
OFF  
ON  
ON  
ON  
OFF  
OFF  
OFF  
OFF  
ON  
OFF  
OFF  
ON  
OFF  
ON  
ON  
ON  
OFF  
ON  
ON  
ON  
ON  
OFF  
OFF  
ON  
OFF  
ON  
ON  
ON  
ON  
ON  
OFF  
ON  
ON  
ON  
ON  
OFF  
OFF  
OFF  
OFF  
OFF  
OFF  
OFF  
OFF  
ON  
OFF  
OFF  
OFF  
OFF  
ON  
OFF  
OFF  
ON  
OFF  
ON  
ON  
ON  
OFF  
ON  
ON  
ON  
ON  
OFF  
OFF  
ON  
OFF  
ON  
ON  
ON  
ON  
ON  
OFF  
ON  
ON  
ON  
ON  
ON  
OFF  
OFF  
OFF  
OFF  
ON  
OFF  
OFF  
ON  
OFF  
ON  
ON  
ON  
ON  
ON  
OFF  
ON  
ON  
ON  
ON  
ON  
ON  
OFF  
OFF  
ON  
OFF  
ON  
ON  
ON  
ON  
ON  
ON  
ON  
OFF  
ON  
ON  
ON  
ON  
ON  
OFF  
. . .  
OFF  
. . .  
OFF  
. . .  
OFF  
. . .  
OFF  
. . .  
. . .  
. . .  
. . .  
MAC ID 63  
ON  
ON  
ON  
ON  
ON  
ON  
Hardware Setup 4-3  
 
LED Indicators  
Two LEDs 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 Status Description  
OFF  
No power is applied to the EXB.  
Green  
The EXB is operating in a normal condition.  
Flashing  
Green  
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.  
Red  
The EXB has an unrecoverable fault and may need to be  
replaced.  
Flashing  
Red  
The EXB has had a recoverable fault. This may be an invalid  
DIP switch setting or the lost Bus Power (Device Net cable  
disconnected).  
Flashing  
Red-Green  
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 Status Description  
OFF  
The EXB is not Online or has lost power.  
Green  
The EXB is Online and operating. Link OK, Online, Connected.  
Flashing  
Green  
EXB is Online but no connection is established. EXB passed  
the DUP_MAC_ID test, Online, but has no connections to other  
nodes.  
Red  
Failed communications tests. EXB detected errors that prevent  
it from communicating on the network. Duplicate MAC ID,  
Bus-Off.  
Flashing  
Red  
One or more I/O connections have timed out. Connection timed  
out.  
Flashing  
Red-Green  
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*  
J4**  
8
Enable  
8
Enable  
Forward  
Enable  
Reverse  
Enable  
9
Forward  
Enable  
Reverse  
Enable  
9
10  
10  
External  
Trip  
16  
17  
16  
17  
External  
Trip  
Common  
Common  
*
**  
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 controls 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  
Description  
Display illuminates  
Display  
BALDOR  
MOTORS & DRIVES  
Comments  
Logo is  
displayed for 5  
seconds.  
STP MOTOR SPEED  
If no fault is found and  
control is programmed for  
local mode,OR,  
Display mode.  
LOCAL  
0RPM  
STP MOTOR SPEED  
REMOTE 0RPM  
If no fault is found and  
control is programmed for  
remote mode  
Display mode.  
PRESS ENTER FOR  
PRESET SPEEDS  
Press  
PROG key  
Access programming mode.  
First screen in  
programming  
mode  
PRESS ENTER FOR  
INPUT  
Press Y  
or B key  
Scroll to Level 1 Input block  
First selection choice  
Input Block.  
OPERATING MODE  
Press  
Enter key  
Now in keypad  
KEYPAD  
mode.  
P:  
OPERATING MODE  
KEYPAD  
Press  
Flashing cursor indicates  
Enter key mode can be changed  
OPERATING MODE  
SERIAL  
Press Y  
or B key  
Scroll to Serial mode  
Change to  
Serial mode.  
OPERATING MODE  
Press  
Enter key  
Saves mode change value  
P:  
SERIAL  
COMMAND SELECT  
Press Y  
key  
Scroll to Command Select  
parameter  
Now in ±10 Volt  
input mode.  
P:  
+/–10VOLTS  
Press  
Flashing cursor indicates  
COMMAND SELECT  
+/–10VOLTS  
Enter key mode can be changed  
COMMAND SELECT  
SERIAL  
Press Y  
or B key  
Scroll to Serial mode  
Change to  
Serial mode.  
COMMAND SELECT  
P:  
Press  
Saves change to serial  
Control is now  
SERIAL  
in Serial mode.  
Enter key command select  
Note: The 15H control does not have a Command Select Serial,  
this is not needed for this control.  
5-2 Software Setup  
 
Action  
Description  
Display  
Comments  
PRESS ENTER FOR  
LEVEL 2 BLOCKS  
Press Y  
or B key  
Scroll to Level 2 blocks  
PRESS ENTER FOR  
OUTPUT LIMITS  
Press  
ENTER  
key  
Select Level 2 blocks.  
First screen in  
Level 2 block  
PRESS ENTER FOR  
COMMUNICATIONS  
Press Y  
or B key  
Scroll to Communications  
block  
PROTOCOL  
p: RS232 ASCII  
Press  
ENTER  
key  
Select Level 2  
Communications block.  
PROTOCOL  
RS232ASCII  
Press  
Flashing cursor indicates  
Enter key mode can be changed  
PROTOCOL  
RS485BBP  
Press Y  
or B key  
Scroll to RS 485 BBP  
(Baldor Binary Protocol)  
PROTOCOL  
Press  
ENTER  
key  
Select RS 485 BBP mode.  
p:  
RS485BBP  
PRESS ENTER FOR  
MENU EXIT  
Press Y  
or B key  
Scroll to Exit Menu  
STP MOTOR SPEED  
Press  
DISP key  
Returns to Display mode.  
Display mode.  
LOCAL  
0RPM  
STP MOTOR SPEED  
SERIAL 0RPM  
Press  
LOCAL  
key  
Changes to Serial  
Operation.  
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 Managersoftware 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  
Instance Byte Format  
#
Byte  
Bit7  
Bit6  
Bit5  
Bit4  
Bit3  
Bit2  
Bit1  
Bit0  
ControlState  
Warning  
Output1  
Output2  
Output3  
Output4  
0
T#4  
T#27  
TerminalStrip T#31  
CommandMode  
network  
remote  
rev  
fwd  
1
T#5  
CtrlSourceT#3  
RunCMDT#1  
151  
SpeedActual T#18 (Low Byte)  
SpeedActual T#18 (High Byte)  
CurrentActual T#17 (Low Byte)  
CurrentActual T#17 (High Byte)  
SpeedActual T#18 (Low Byte)  
SpeedActual T#18 (High Byte)  
CurrentActual T#17 (Low Byte)  
CurrentActual T#17 (High Byte)  
2
3
4
5
0
1
2
3
ZeroSpd  
AtSpeed  
Input 4  
Input 5  
Input 6  
Input 7  
Input 8  
Input 9  
4
5
6
152  
T#25  
T#26  
TerminalStrip T#31  
FaultStatus T#45  
MotorDir  
ControlState  
Output1  
Output2  
Output3  
Output4  
fwd  
T#24  
T#4  
TerminalStrip T#31  
remote rev  
CommandMode  
network  
7
T#5  
CtrlSourceT#3  
RunCMDT#1  
Software Setup 5-5  
 
Table 5-1 Format of Input Assembly Instances Continued  
Instance Byte Format  
#
Byte  
Bit7  
Bit6  
Bit5  
Bit4  
Warning  
Bit3  
Bit2  
Bit1  
Bit0  
ControlState  
Output1 Output2 Output3 Output4  
0
1
T#4  
T#27  
TerminalStrip T#31  
CommandMode  
network remote  
rev  
fwd  
T#5  
CtrlSourceT#3  
RunCMDT#1  
153  
FreqActual T#19 (Low Byte)  
2
3
4
5
CurrentActual T#17 (Low Byte)  
CurrentActual T#17 (High Byte)  
Input6  
Input7  
Input8  
Input9 Output1 Output2 Output3 Output4  
TerminalStrip T#31  
0
CommandMode  
network remote  
rev  
fwd  
1
2
T#5  
CtrlSourceT#3  
RunCMDT#1  
SpeedActual T#18 (Low Byte)  
SpeedActual T#18 (High Byte)  
154  
3
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)  
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  
Instance Byte Format  
#
Byte  
Bit7  
FaultRst RunInhibit  
T#46 T#2  
Bit6  
Bit5 Bit4  
TableSelect  
Bit3 Bit0  
Output1 Output2 Output3 Output4  
Bit2  
Bit1  
0
1
T#39  
T#75  
CommandMode  
network  
remote  
rev  
fwd  
T#5  
CtrlSourceT#3  
RunCMDT#1  
101  
2
3
4
5
0
1
2
3
4
5
(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 ꢂ  
TorqueRef T#9 or TorqueRef T#12 Low Word, High Byte ꢂ  
TorqueRef T#9 or TorqueRef T#12 High Word, Low Byte ꢂ  
TorqueRef T#9 or TorqueRef T#12 High Word, High Byte ꢂ  
102  
103  
104  
FaultRst ZeroPos  
T#46 T#12  
AccDecGroup  
Output1 Output2 Output3 Output4  
6
7
0
1
T#40  
T#75  
CommandMode  
network  
remote  
rev  
fwd  
T#5  
CtrlSourceT#3  
Output1 Output2 Output3 Output4  
RunCMDT#1  
FaultRst RunInhibit  
TableSelect ꢀ  
T#46  
T#2  
CommandMode  
T#39  
T#75  
network  
remote  
rev  
fwd  
T#5  
CtrlSourceT#3  
RunCMDT#1  
2
3
4
5
(0.1Hz) HzSpeedRef T#6 (Low Byte)  
(0.1Hz) HzSpeedRef T#6 (High Byte)  
TorqueRef T#9 (Low Byte)  
TorqueRef T#9 (High Byte)  
FaultRst ZeroPos  
TableSelect ꢀ  
Output1 Output2 Output3 Output4  
0
T#46  
T#12  
CommandMode  
T#39  
T#75  
network  
remote  
rev  
fwd  
1
T#5  
CtrlSourceT#3  
RunCMDT#1  
2
3
4
5
6
7
PositionSpeed T#13 (Low Byte)  
PositionSpeed T#13 (High Byte)  
PositionRef T#12 (Low Word/Low Byte) ꢃ  
PositionRef T#12 (Low Word/High Byte) ꢃ  
PositionRef T#12 (High Word/Low Byte) ꢃ  
PositionRef T#12 (High Word/High Byte) ꢃ  
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 Namefield refers to a Cstyle 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
Settransactions are used to change internal values, or  
execute onetime (nonmodal) commands. As a general rule  
most settransactions pass data to the control, but do not  
return any. Most execution setcommands do not pass or  
return data.  
S
S
Gettransactions are used to retrieve internal values or  
control conditions. Most gettransactions return data but do  
not pass data.  
Set/Gettransactions do both functions. Usually these  
transaction always return data, but only accept or pass data  
when a setor change function is occurring. When no data is  
passed, the Set/Getfunctions as a Getor readonly  
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 typedefined 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 Settransaction has only Command  
packet data. A Gethas only Response packet data. And a  
Set/Gethas the same data in the Command and Response  
packet, unless it is being used to Getonly, 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
I
S
V
= Encoderless Vector  
= Inverter  
= Servo  
= 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#  
Name  
Type Data Field Class  
Description  
0
Null  
Set  
None  
All  
No action.  
This can be used to  
reset the watchdog  
timer, or as a  
placeholder in  
conjunction with a  
global Execute  
Buffer transaction.  
1
RunCmd  
Set/  
Get  
USINT  
All  
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)  
2
RunInhibit  
Set/  
Get  
BOOL  
All  
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#  
Name  
Type Data Field Class  
Description  
3
CtrlSource  
Set  
USINT  
All  
0 = Keypad (local)  
1 = Terminal strip  
(remote)  
2 = Control from  
network  
4
5
ControlState  
Get  
USINT  
E,V,S 0 = Not Ready (no  
main power)  
1 = Ready (disabled)  
2 = Enabled  
3 = Stopping  
4 = Fault exists  
CommandMode Set/  
Get  
USINT  
All  
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#  
Name  
Type Data Field Class  
Description  
6
HzSpeedRef  
Set/  
Get  
INT  
INT  
I,  
All  
Hertz Speed  
Reference.  
Set Units: 0.1 Hz  
(one decimal place)  
7
8
SpeedRef  
Set/  
Get  
INT  
INT  
E,V,S, Speed reference  
All  
Units: RPM  
(Standard Get  
Resolution)  
SpeedRefHigh  
Set/  
Get  
DINT  
E,S,V Speed reference  
(High Resolution)  
Units: 1/256 RPM .  
The middle 16 bits  
mirror SpeedRef.  
Not supported by all  
product classes.  
9
TorqueRef  
Set/  
Get  
INT  
S,V  
Torque reference  
(Current)  
Scaling: ±15bit  
(32767) =  
programmed current  
limit.  
12 PositionRef  
Set/  
Get  
DINT  
INT  
S, V* Position Reference  
Scaling = quadrature  
counts (4 x  
feedback counts per  
rev.)  
13 PositionSpeed  
Set/  
Get  
S, V* Positioning Speed  
Reference  
Max speed used for  
positioning  
commands. Also  
referred to as feed  
rate or target  
velocity.  
Units: RPM  
15 Position  
Set/  
Get  
DINT  
S, V* Position counter  
Scaling = quadrature  
V*  
= Vector with custom software for positioning  
Command Language 6-7  
 
Table 6-1 Transaction Specification Table Continued  
T#  
Name  
Type Data Field Class  
Description  
17 CurrentActual  
Get  
INT  
INT  
INT  
E,I,S, Actual motor phase  
V
current  
Units: 100mA RMS  
Note: calculated on  
inverter.  
18 SpeedActual  
Get  
All  
Actual motor speed  
(absolute value.)  
(Approximated in  
some products.)  
Units: RPM  
19 FrequencyActual Get  
E,I,S, Actual motor  
frequency Units: 0.1  
V
Hz (one decimal  
place)  
20 PowerActual  
21 InputVoltage  
22 OutputVoltage  
Get  
Get  
Get  
INT  
INT  
INT  
E,V,S Actual output power  
Units: Watts  
E,V,S Input line voltage  
Units: Volts RMS  
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  
26 AtSpeed  
Get  
Get  
BOOL  
BOOL  
E,S,V 1 = At zero  
0 = Not at zero  
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  
 
Table 6-1 Transaction Specification Table Continued  
T#  
Name  
Type Data Field Class  
Description  
28 AtPosition  
29 AtSetpoint  
30 AtSetSpeed  
31 TerminalStrip  
Get  
Get  
Get  
Get  
BOOL  
BOOL  
BOOL  
WORD  
S,V  
1 = At position  
0 = Not at position  
E,V,S 1 = At setpoint  
0 = Not at setpoint  
E,V,S 1 = At set speed  
0 = Not at set speed  
All  
Digital I/O status  
word. Refer to Table  
6-3 for description.  
32 SoftwareVersion  
Get  
STRING  
UINT  
E,V,S Control software  
version (16  
characters  
maximum.)  
33 SoftwareRevision Get  
All  
Control software  
revision number. For  
example S154.03 is  
returned as 403.  
Note: for custom  
software revisions,  
only the core  
(standard) revision is  
returned.  
34 ProductSeries  
35 ProductClass  
Get  
Get  
UINT  
All  
All  
Product series for  
example a Series  
15H returns: 15.  
USINT  
0 = D  
1 = DP  
2 = E  
3 = I  
4 = S  
5 = V  
36 Optionld1  
37 Optionld2  
Get  
Get  
USINT  
USINT  
E,V,S Option ID1 (see  
table 6-4)  
0 = Not installed  
E,V,S Option ID2 (see  
table 6-4)  
0 = Not installed  
* Indicates initial powerup value.  
Command Language 6-9  
 
Table 6-1 Transaction Specification Table Continued  
T#  
Name  
Type Data Field Class  
Description  
38 RunTime  
Get  
UDINT  
E,V,S Total time power has  
been applied. Units:  
seconds.  
39 TableSelect  
Get/  
Set  
USINT  
E,S,V Parameter table  
select  
Range 0 3  
Note: DDC only  
supports 2 tables.  
Can only be  
changed when under  
network control  
40 AccDecGroup  
41 WatchdogTime  
Get/  
Set  
USINT  
UINT  
E,V,S Accel / decel group  
select  
Range 1 2 Can  
only be changed  
when under network  
control.  
Get/  
Set  
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  
1xx = 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#  
Name  
Type Data Field Class  
Description  
46 FaultRst  
Set  
BOOL  
All  
1 = Execute fault  
reset  
0 = No action  
Clears any active  
fault condition.  
Operation resumes  
at previous  
command.  
47 FaultLog  
Get  
C: USINT  
FaultLogInde  
x
R: UINT  
FaultCode,  
UDINT  
All  
Requests the  
FaultCode and  
TimeStamp for the  
given index. The  
fault log holds the  
last 31 fault  
TimeStamp  
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.  
48 FaultCodeText  
Get  
C: USINT  
FaultCode  
R: STRING  
FaultText  
All  
Returns the text  
string associated  
with the FaultCode.  
16 characters  
maximum.  
49 ForceFault  
Set  
Get  
BOOL  
USINT  
All  
All  
0->1 =Force Network  
Fault  
0 = No action  
50 SecurityStatus  
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#  
Name  
Type Data Field Class  
Description  
51 SecurityLock  
Set  
INT or  
NONE  
All  
Unlocks or locks  
network parameter  
security. Passing the  
valid SecurityCode  
unlocks parameter  
access. Any other  
value (including  
NONE) locks  
parameter access.  
52 CalcPresets  
Set  
BOOL  
E,S,V 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  
56 BlockStructure  
57 BlockDetail  
Get  
Get  
USINT  
All  
All  
Returns the number  
of blocks on each  
programming level.  
Assumes a max of  
three programming  
levels.  
Level1Max,  
Level2Max,  
Level3Max,  
C: USINT  
Level, Block  
R: USINT  
MaxParams,  
STRING  
Returns the number  
of parameters in the  
block and the  
BlockName (16  
characters max.)  
BlockName  
* Indicates initial powerup value.  
6-12 Command Language  
 
Table 6-1 Transaction Specification Table Continued  
T#  
Name  
Type Data Field Class  
Description  
58 BlockParamDetail Get  
C: USINT  
Level, Block,  
Index  
R: INT  
Pnum,  
All  
Returns full  
parameter detail  
information for the  
parameter specified  
at the given Level,  
Block and index.  
Pvalue,  
Pmin, Pmax,  
Pdlft, Pprec,  
Ptype,  
STRING  
Pname,  
Punits  
59 ParameterDetail  
Get  
C: INT  
Pnum,  
R: INT  
Pnum,  
All  
Returns full  
parameter detail  
information for the  
given Pnum.  
Pvalue,  
Pmin, Pmax,  
Pdlft, Pprec,  
Ptype,  
STRING  
Pname,  
Punits  
60 ParameterList  
Get  
C: INT  
Pnum,  
All  
Returns the  
enumerated list  
ListIndex  
R: STRING  
ListText  
string for the given  
parameter number  
and list index. 16  
characters max. If  
ListIndex exceeds  
the number of  
elements an end of  
blockstatus will be  
returned. (Note: Use  
Pmax to determine  
the end of the list.)  
* Indicates initial powerup value.  
Command Language 6-13  
 
Table 6-1 Transaction Specification Table Continued  
T#  
Name  
Type Data Field Class  
Description  
61 ParameterValue  
Set/  
Get  
C: INT  
Pnum,  
Pvalue  
R: INT  
All  
Change / request  
value of specified  
user parameter.  
Returned value will  
give actual, after any  
bounds checking.  
Refer to the control  
manual for  
Pvalue  
(excluding  
Pvalue from  
CMD  
indicates  
request only).  
description.  
62 BatchSend  
Get  
C: INT  
GroupNumbe  
r
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  
blockstatus is  
R: INT  
Pnum ,  
N
Pvalue , ...  
N
N=16  
returned. The control  
must be disabled.  
63 BatchRcv  
Set  
INT  
All  
Block transfer that  
accepts raw  
parameter (data  
only) from host to  
control. Up to 16  
parameters may be  
sent at a time.  
Pnum ,  
N
Pvalue , ...  
N=16  
N
Parameters may be  
sent in any order.  
The control must be  
disabled.  
64 FactorySettings  
Set  
BOOL  
All  
1 = Reset all  
parameters to  
factory settings.  
0 = No action  
* Indicates initial powerup value.  
6-14 Command Language  
 
Table 6-1 Transaction Specification Table Continued  
T#  
Name  
Type Data Field Class  
Description  
69 ClearAll  
Set  
Set  
Get  
USINT  
USINT  
UINT  
All  
All  
All  
Reserved for factory  
use.  
70 LogClear  
71 AnalogInput1  
Reserved for factory  
use.  
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 AnalogInput2  
Get  
Set  
UINT  
INT  
All  
All  
73 SetAnalogOut1  
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.)  
74 SetAnalogOut2  
75 SetDigitalOut  
Set  
Set  
INT  
All  
All  
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.  
76 GetDebugVal  
Get  
C: INT  
MemLoc  
R: INT Value  
All  
Reserved for factory  
use.  
* Indicates initial powerup value.  
Command Language 6-15  
 
Table 6-1 Transaction Specification Table Continued  
T#  
Name  
Type Data Field Class  
Description  
250  
Reserved for future  
use.  
251  
252  
253  
254  
255  
Reserved for future  
use.  
Reserved for future  
use.  
Reserved for future  
use.  
Reserved for future  
use.  
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 8bit 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  
Class  
Description  
0
None  
ALL  
No mode selected. Output stage of  
control remains off or disabled (voltage  
and current removed from the motor),  
regardless of RunCmd condition.  
1
Torque CMD  
selected source  
S,V  
Closes the current loop with command  
input from the source selected in the  
COMMAND SELECT parameter.  
2
3
Torque CMD  
Network  
S,V  
All  
Closes the current loop with command  
input from the TorqueRef register.  
Speed CMD  
selected source  
Closes the velocity loop with command  
input from the source selected in the  
COMMAND SELECT parameter.  
4
5
Speed CMD  
Network  
All  
Closes the velocity loop with command  
input from the SpeedRef register.  
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  
S,V  
S,V  
All  
Closes the position loop with an absolute  
position command from the PositionRef  
register.  
7
Position CMD  
INC  
Closes the position loop with an  
incremental position command from the  
PositionRef register.  
9
Position CMD  
External  
Closes the position loop with command  
input from external option source (such  
as pulse follower EXB card.)  
11  
12  
Process Torque  
Process Velocity  
Closes the torque process control loop.  
Commands come from the appropriate  
command input parameters.  
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 bitwise 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  
Name  
Output4  
Typical Single-Axis  
Typical Multi-Axis  
Location  
Location  
0
1
2
3
4
5
6
7
8
9
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  
Not Used  
J1B - 13  
Output3  
Output2  
Output1  
Input9  
Input8  
Input7  
Input6  
Input5  
Input4  
Input3  
Input2  
Input1  
J1B - 12  
J1B - 11  
J1B - 10  
J1B - 9  
J1B - 8  
J1B - 7  
J1B - 6  
J1B - 5  
J1B - 4  
J1B - 3  
J1B - 2  
J1B - 1  
10  
11  
12  
13  
14  
15  
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  
EXB No.  
EXB001A01  
EXB002A01  
EXB003A01  
EXB004A01  
EXB005A01  
EXB Name  
RS232 Serial Communications  
RS422/485 Serial Communications  
Isolated Input  
Group  
1
2
3
4
5
2
2
1
2
1
4 Output Relays / 3-15 PSI Pneumatic  
Master Pulse Reference/Isolated Pulse  
Follower  
6
7
8
9
EXB006A01  
EXB007A01  
EXB008A01  
EXB009A01  
EXB010A01  
EXB012A00  
DC Tachometer  
1
2
1
1
2
2
High Resolution Analog I/O  
Isolated Encoder  
Resolver to Digital  
10  
11  
2 Isolated Analog Output / 3 Relay  
RS232/485 Serial Communications  
6-20 Command Language  
 
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  
Description  
Parameter minimum allowed value.  
Field Name  
INT Pmin  
INT Pmax  
Parameter maximum allowed value. (Number of list items  
in an enumerated type parameter.)  
INT Pdflt  
Parameter default value (factory) value.  
USINT Pprec  
Indicates the number of decimal places to use for the  
parameter value.  
BYTE Ptype  
Returns bitwise 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  
STRING Pname  
STRING Punits  
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  
Fault Description  
15H 18H  
Line Regen  
1
1
Fault in Line REGEN converter unit -  
Series 21H Line REGEN Inverter control.  
Feedback Fault  
Invalid Base ID  
2
3
Loss of encoder feedback.  
3
Failed to read configuration from the Power  
Base ID value in software.  
Low INIT Bus V  
4
5
4
5
Low bus voltage detected on startup.  
Regen Res  
Power  
Excessive power dissipation required by  
Dynamic Brake Hardware.  
Current SENS  
FLT  
6
7
8
6
7
8
Failure to sense phase current.  
HW  
Desaturation  
High output current condition detected (greater  
than 400% of rated output current).  
HW Ground  
Fault  
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  
12  
11  
12  
Continuous current limit exceeded.  
High DC Bus voltage.  
Bus  
Overvoltage  
Following ERR  
Torque Prove  
13  
14  
15  
Motor speed/position does not follow command.  
Unbalanced current between all 3 phases.  
Low DC Bus voltage condition detected.  
Bus  
Undervoltage  
15  
3 Sec Overload 16  
16  
Peak output current exceeded the 3 second  
rating value.  
Over Speed  
17  
18  
19  
20  
21  
Motor RPM exceeded 110% of MAX Speed.  
Motor over temperature  
Motor Temp  
Heatsink Temp 19  
Control heatsink exceeded temperature limit.  
Connection at J1/J4 pin 16 and 17 is open.  
Parameter checksum error.  
External Trip  
18  
51  
Param  
Checksum  
Command Language 6-23  
 
H Series Fault Message Description Continued  
Fault Code  
Fault Message  
Fault Description  
15H 18H  
µp Reset  
22  
22  
A software watchdog timer has reset the  
processor because a process has timed out.  
ROM Fault  
23  
24  
ROM checksum error.  
1 Min Overload 24  
Peak output current exceeded the 1 minute  
rating value.  
No I Feedback  
25  
26  
Loss of current feedback  
New Base ID  
EXB Selection  
26  
27  
Control board detected a change in the Power  
Base ID value in software.  
27  
Expansion board not installed to support the  
Level 1 Input Block, Command Select  
parameter.  
Power module  
28  
29  
30  
Power module failure.  
Coprocessor  
Coprocessor error (i.e. DSP board).  
Wrong control software version detected.  
Software  
Version  
Feedback  
Module  
31  
Feedback HW module failure.  
Serial watchdog  
32  
33  
Serial port transmit/receive error  
Lost network communications.  
FLT Network  
33  
54  
Hardware  
Protect  
A general hardware fault was detected but  
cannot be isolated.  
Unknown FLT  
Code  
55  
56  
34  
Microprocessor detected a fault that is not  
identified in the fault code table.  
Bus Current  
SENS  
Failure to sense bus current.  
Note These faults may be different for custom software.  
6-24 Command Language  
 

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