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LinStep+ Dual–Axis

Microstepping Indexer/Driver

Installation & Operating Manual

7/01 MN1854

Table of Contents

Table of Contents iMN1854

Section 1

General Information 1-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

CE Compliance 1-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Limited Warranty 1-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Product Notice 1-2. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Safety Notice 1-2. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Section 2

Product Overview 2-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Section 3

Receiving and Installation 3-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Receiving & Inspection 3-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Location Considerations 3-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Power Dissipation 3-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Mechanical Installation 3-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Electrical Installation 3-2. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

System Grounding 3-2. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Power Disconnect 3-3. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Protection Devices 3-3. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Power Connections 3-4. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

RS232/Keypad Installation 3-6. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

RS–232 PC Connections 3-7. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Programmable I/O Connections 3-9. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Optional Opto I/O Connections 3-9. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Encoder Connections 3-10. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Motor Connections 3-11. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Start-Up Procedure 3-12. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Power Off Checks 3-12. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Switch and Potentiometer Settings 3-12. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Power On Checks 3-13. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

ii Table of Contents MN1854

Section 4

Keypad Operation 4-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Overview 4-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Run Menu 4-3. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

PROG 4-3. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

JOG 4-3. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Test 4-4. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Edit Menu 4-5. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

PROG 4-5. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Setup 4-9. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

POS 4-10. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

List 4-10. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

HELP Menu 4-11. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

COPY Menu 4-11. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

PROG 4-11. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

TO PAD 4-11. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

FROM 4-12. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

DEL Menu 4-12. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Section 5

Setup 5-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Overview 5-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Configure Motor 5-2. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Configure Encoder 5-3. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Configure Your Application 5-5. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Configure the I/O 5-7. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Optional Opto I/O 5-11. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Configure the Output States 5-11. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Configure End of Travel Switch Polarity 5-12. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Configure JOG Parameters 5-12. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Configure HOME Parameters 5-13. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Configure Power–up Program 5-15. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Configure Serial Communications 5-16. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Configure Miscellaneous Setup Parameters 5-17. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Section 6

Keypad Programming 6-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Commands 6-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Helpful Hints 6-24. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Variables 6-25. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Arithmetic Operands and Equations 6-29. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Boolean Operators 6-29. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Logical Operators 6-30. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Increment/Decrement Variables 6-30. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Expressions 6-30. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Other Programming Samples 6-30. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Table of Contents iiiMN1854

Section 7

Troubleshooting 7-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Serial Communications Problems 7-3. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Section 8

Specifications & Product Data 8-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Identification 8-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

General Specifications 8-2. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Dimensions 8-3. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Section 9

CE Guidelines 9-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

CE Declaration of Conformity 9-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

EMC – Conformity and CE – Marking 9-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

EMC Installation Instructions 9-3. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Appendix A A-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Programming Template A-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Remote Keypad Mounting Template A-4. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

iv Table of Contents MN1854

Section 1

General Information

General Information 1-1MN1854

Copyright Baldor  2001. All rights reserved.

This manual is copyrighted and all rights are reserved. This document may not, in

whole or in part, be copied or reproduced in any form without the prior written

consent of Baldor.

Baldor makes no representations or warranties with respect to the contents hereof

and specifically disclaims any implied warranties of fitness for any particular

purpose. The information in this document is subject to change without notice.

Baldor assumes no responsibility for any errors that may appear in this document.

Microsoft and MS–DOS are registered trademarks, and Windows is a trademark of

Microsoft Corporation.

UL and cUL are registered trademarks of Underwriters Laboratories.

CE Compliance A custom unit may be required, contact Baldor. Compliance to Directive

89/336/EEC is the responsibility of the system integrator. A control, motor and all

system components must have proper shielding, grounding, and filtering as

described in MN1383. Please refer to MN1383 for installation techniques for CE

compliance. For additional information, refer to Sections 3 and 9 of this manual.

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 MN1854

Product Notice Intended use:

These drives are intended for use in stationary ground based applications in

industrial power installations according to the standards EN60204 and VDE0160.

They are designed for machine applications that require 2 phase stepper motors.

These drives are not intended for use in applications such as:

–Home appliances

–Mobile vehicles

–Ships

–Airplanes

Unless otherwise specified, this drive is intended for installation in a suitable

enclosure. The enclosure must protect the control from exposure to excessive or

corrosive moisture, dust and dirt or abnormal ambient temperatures. The exact

operating specifications are found in Section 8 of this manual.

The installation, connection and control of drives is a skilled operation,

disassembly or repair must not be attempted.

In the event that a control fails to operate correctly, contact the place of purchase

for return instructions.

Safety Notice:This equipment contains high voltages. Electrical shock can cause serious or fatal

injury. Only qualified personnel should attempt the start–up procedure or

troubleshoot this equipment.

This equipment may be connected to other machines that have rotating parts or

parts that are driven by this equipment. Improper use can cause serious or fatal

injury. Only qualified personnel should attempt the start–up procedure or

troubleshoot this equipment.

–System documentation must be available at all times.

–Keep non-qualified personnel at a safe distance from this equipment.

–Only qualified personnel familiar with the safe installation, operation and

maintenance of this device should attempt start-up or operating

procedures.

–Always remove power before making or removing any connections to

this control.

PRECAUTIONS: Classifications of cautionary statements.

WARNING: Indicates a potentially hazardous situation which, if not avoided,

could result in injury or death.

Caution: Indicates a potentially hazardous situation which, if not avoided,

could result in damage to property.

Continued on next page.

General Information 1-3MN1854

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.

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.

WARNING: Be sure all wiring complies with the National Electrical Code and

all regional and local codes or CE Compliance. Improper wiring

may cause a hazardous condition.

WARNING: Be sure the system is properly grounded before applying power.

Do not apply AC power before you ensure that grounds are

connected. 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. Electrical

shock can cause serious or fatal injury.

WARNING: Improper operation may cause violent motion of the motor and

driven equipment. Be certain that unexpected movement will not

cause injury to personnel or damage to equipment.

WARNING: Motor circuit may have high voltage present whenever AC power

is applied, even when motor is not moving. Electrical shock can

cause serious or fatal injury.

WARNING: If a motor is driven mechanically, it may generate hazardous

voltages that are conducted to its power input terminals. The

enclosure must be grounded to prevent a possible shock hazard.

WARNING: A DB Resistor may generate enough heat to ignite combustible

materials. To avoid fire hazard, keep all combustible materials

and flammable vapors away from brake resistors.

WARNING: The user must provide an external hard-wired emergency stop

circuit to disable the control in the event of an emergency.

Caution: To prevent equipment damage, be certain that the input power has

correctly sized protective devices installed as well as a power disconnect.

Caution: Avoid locating the control immediately above or beside heat generating

equipment, or directly below water or steam pipes.

Caution: Suitable for use on a circuit capable of delivering not more than the RMS

symmetrical short circuit amperes listed here at rated voltage.

Horsepower RMS Symmetrical Amperes

1–50 5,000

Continued on next page.

1-4 General Information MN1854

Caution: To prevent keypad damage, be sure keypad mounting screws do not

extend more than 0.2 (5) into keypad assembly.

Caution: Avoid locating the control in the vicinity of corrosive substances or

vapors, metal particles and dust.

Caution: Baldor recommends not using “Grounded Leg Delta” transformer power

leads that may create ground loops and degrade system performance.

Instead, we recommend using a four wire Wye.

Caution: Logic signals are interruptible signals; these signals are removed when

power is removed from the drive.

Caution: The safe integration of the driver into a machine system is the

responsibility of the machine designer. Be sure to comply with the local

safety requirements at the place where the machine is to be used. In

Europe this is the Machinery Directive, the ElectroMagnetic Compatibility

Directive and the Low Voltage Directive. In the United States this is the

National Electrical code and local codes.

Caution: Drivers must be installed inside an electrical cabinet that provides

environmental control and protection. Installation information for the drive

is provided in this manual. Motors and controlling devices that connect to

the driver should have specifications compatible to the drive.

Caution: Do not tin (solder) exposed wires. Solder contracts over time and may

cause loose connections.

Caution: Electrical components can be damaged by static electricity. Use ESD

(electro-static discharge) procedures when handling this control.

Caution: Do not connect or disconnect motor wires from the control while power is

on. If motor leads are disconnected while the control is powered up,

damage to the control may result.

Section 2

Product Overview

Product Overview 2-1MN1854

Overview The design of LinStep and LinStep+ microstepping motor drivers (also called a

driver or control) and the internal cooling tunnel are revolutionary. These drivers

consume less panel space than other controls and keep internal electronics cool

and clean for years of reliable performance and operation. LinStep+ single and

dual–axis drivers are used with Baldor motion controls and other popular stepper

controllers that provide step and direction (or CW/CCW step pulses) . They are

ideally suited to control Baldor single and dual–axis linear stepping motors. Figure

2-1 shows how the LinStep+ driver is placed in a linear stepper motor system.

The open loop linear stepper motor provides the most economical linear motor

positioning solution. There are two types of linear stepper motors: a single–axis

linear stepper motor and the compact dual–axis linear stepper motor. Linear

stepper motors include the motor, positioning system and bearings in two

components: a moving forcer and a stationary platen.

Figure 2-1 Motion Control with LinStep+

LinStep+

Dual Axis

Indexer/

Driver

Linear

Step Motor Axis 1

Dual Axis

Stepping Motor

Linear

Step Motor Axis 2

Linear stepper motors move in discrete incremental moves called steps. The size

of each step is determined by the spacing of the teeth in the platen and how the

coils are energized. Baldor 2–phase motors travel 0.010 inches (0.254mm) in a

single full step yielding 100 steps per inch. Baldor 4–phase motors travel 0.005

inches (0.127mm) in a step. When the coils are energized in a predetermined

pattern, the forcer will move down the platen. Reversing the pattern will reverse

the direction of travel. The microstep frequency determines the velocity of the

forcer. Linear stepper motors produce their maximum force at zero speed. As

speed increases the ability to switch winding current decreases due to motor

inductance. This results in lower forces at higher speeds.

Contact your local Baldor distributor or sales representative for assistance with

sizing and compatibility. Custom motors or motors not manufactured by Baldor

may be used. Please contact your local Baldor distributor or sales representative

for assistance.

Motors Baldor LinStep+ Drivers are compatible with many Linear Stepper motors from

Baldor and other manufacturers. Compatible Baldor motors include: (refer to

BR1800 for additional motor information).

SLMSS Series Single Axis

SLMDS Series Dual Axis

2-2 Product Overview MN1854

Section 3

Receiving and Installation

Receiving & Installation 3-1MN1854

Receiving & Inspection

Baldor Drivers are thoroughly tested at the factory and carefully packaged for

shipment. When you receive your driver, there are several things you should do

immediately.

1. Observe the condition of the shipping container and report any damage

immediately to the commercial carrier that delivered your driver.

2. Remove the driver from the shipping container and remove all packing

materials. The container and packing materials may be retained for

future shipment.

3. Verify that the part number you received is the same as the part number

listed on your purchase order.

4. Inspect for external physical damage that may have been sustained

during shipment and report any damage immediately to the commercial

carrier that delivered your driver.

5. If the driver is to be stored for several weeks before use, be sure that it is

stored in a location that conforms to published storage humidity and

temperature specifications stated in this manual.

Location Considerations The location of the driver is important. Installation should be in an area

that is protected from direct sunlight, corrosives, harmful gases or liquids, dust,

metallic particles, and vibration. Exposure to these can reduce the operating life

and degrade performance of the driver.

Several other factors should be carefully evaluated when selecting a location for

installation:

1. For effective cooling and maintenance, the driver should be mounted on

a smooth, non-flammable vertical surface.

2. At least 3 inches (75mm) top and bottom clearance must be provided for

air flow. Between drivers (each side), allow at least 0.1 inch (2.5mm).

3. Altitude derating. Up to 3300 feet (1000 meters) no derating required.

Derate the continuous and peak output current by 1.1% for each 330

(100) above 3300 feet. Maximum altitude is 8300 (2540m).

4. Temperature derating. From 0°C to 40°C ambient no derating

required. Above 40°C, derate the continuous and peak output current by

2.5% per °C above 40°C. Maximum ambient is 50°C.

Power Dissipation

Cooling requirements can be determined if you know the maximum (or

continuous) current output from the microstepping driver, ID. Calculate heat

dissipation, WDiss as follows:

WDiss = 5 + 3.4ID +0.15ID2

Mechanical Installation

Mount the driver to the mounting surface. The driver must be securely fastened to

the mounting surface by the driver mounting holes. The location of the mounting

holes is shown in Section 8 of this manual. Use #8 (M4) cap screws.

3-2 Receiving & Installation MN1854

Electrical InstallationAll interconnection wires between the driver, AC power source, motor, host

driver and any operator interface stations should be in metal conduits. Use listed

closed loop connectors that are of appropriate size for wire gauge being used.

Connectors are to be installed using crimp tool specified by the manufacturer of

the connector. Only class 1 wiring should be used.

System Grounding Baldor drivers are designed to be powered from standard single phase lines

that are electrically symmetrical with respect to ground. System grounding is an

important step in the overall installation to prevent problems. The recommended

grounding method is shown in Figure 3-1 for UL compliant systems (Figure 3-2 for

CE compliant systems).

Figure 3-1 Recommended System Grounding for UL

L

AC Main

Supply

Safety

Ground

Driven Earth

Ground Rod

(Plant Ground)

L

N

Earth

N

Route all 3 wires L, N, and Earth

(Ground) together in conduit or

cable.

Note:

Wiring shown for clarity of grounding

method only. Not representative of

actual terminal block location.

Microstepper Driver

Ground per NEC and Local codes.

Note: Use shielded cable for driver signal wires. Route driver signal wires in

conduit. These wires must be kept separate from power and motor wires.

Linear

Motor

GND B+A–B–A+

Figure 3-2 Recommended System Grounding (1 phase) for CE

Note:

Wiring shown for clarity of

grounding method only. Not

representative of actual

terminal block location.

B+A–B–

Route all power

wires together in

conduit or cable.

Note: Use shielded cable for driver signal wires. Route driver signal wires in

conduit. These wires must be kept separate from power and motor wires.

Enclosure Backplane (see Section 8)

Motor

GND

All shields

LN

Linear

Motor

Microstepper Driver

AC Main

Supply

Safety

Ground

Driven Earth

Ground Rod

(Plant Ground)

N

Earth

A+

L

GND

Receiving & Installation 3-3MN1854

System Grounding Continued

Ungrounded Distribution System

With an ungrounded power distribution system it is possible to have a continuous

current path to ground through the MOV devices. To avoid equipment damage, an

isolation transformer with a grounded secondary is recommended.

Input Power Conditioning

Certain power line conditions must be avoided. An AC line reactor or an isolation

transformer may be required for some power conditions.

•If the feeder or branch circuit that provides power to the driver has

permanently connected power factor correction capacitors, an input AC

line reactor or an isolation transformer must be connected between the

power factor correction capacitors and the driver.

•If the feeder or branch circuit that provides power to the driver has power

factor correction capacitors that are switched on line and off line, the

capacitors must not be switched while the driver is connected to the AC

power line. If the capacitors are switched on line while the driver is still

connected to the AC power line, additional protection is required. TVSS

(Transient Voltage Surge Suppressor) of the proper rating must be

installed between the AC line reactor or an isolation transformer and the

AC input to the driver.

Power Disconnect A power disconnect should be installed between the input power service

and the driver for a fail–safe method to disconnect power. The driver will remain in

a powered-up condition until all input power is removed from the driver and the

internal bus voltage is depleted.

Protection Devices The driver must have a suitable input power protection device installed.

Input and output wire size is based on the use of copper conductor wire rated at

75 °C. Table 3-1 describes the wire size to be used for power connections and the

ratings of the protection devices. Use the recommended circuit breaker or fuse

types as follows:

Circuit Breaker: 1 phase, thermal magnetic.

Equal to GE type THQ or TEB for 115 VAC

Time Delay Fuses: Buss LPN on 115 VAC or equivalent.

Recommended fuse sizes are based on the following:

UL 508C suggests a fuse size of four times the continuous output

current of the driver.

Dual element, time delay fuses should be used to avoid nuisance trips

due to inrush current when power is first applied.

3-4 Receiving & Installation MN1854

Table 3-1 Wire Size and Protection Devices

Incoming Power

Continuous Input Input Fuse Wire Gauge

Catalog Number Nominal Input

Voltage

Continuous

Output

Amps (RMS)

Input

Breaker

(A) Time

Delay (A) AWG

(USA) mm2

(Europe)

LX2P1A06 115V (1f)6.0A 20 20 14 2.5

Note: All wire sizes are based on 75°C copper wire. Higher temperature smaller gauge wire may

be used per NEC and local codes. Recommended fuses/breakers are based on 25°C

ambient, maximum continuous driver output current and no harmonic current.

Power Connections Power connections are shown in Figure 3-3.

Figure 3-3 115VAC Single Phase AC Power Connections

Notes:

1. See “Protection Devices” described in this section.

2. Metal conduit or shielded cable should be used. Connect

conduits so the use of a Reactor or RC Device does not

interrupt EMI/RFI shielding.

3. Use same gauge wire for Earth ground as is used for L and N.

(VDE (Germany) requires 10mm2 minimum, 6AWG). For CE

Compliance, connect Earth to the backplane of the enclosure.

4. Reference EMC wiring in Section 8.

5. GND is located on the motor terminal strip.

L1

Alternate *

Fuse

Connection Note 1

L1 Neutral

Line Neutral

* Circuit

Breaker

Earth

Note 2

Note 1

Baldor

LinStep+

Note 3 & 4

* Components not provided with driver.

Earth

Note 5

RPack

Line

RPack

Neutral

Earth

Power 110VAC

Connector location is shown in Figure 3-4.

Receiving & Installation 3-5MN1854

Figure 3-4 Connection Locations (115VAC, 2 Axis)

Side Connections

Bottom Connections

3-6 Receiving & Installation MN1854

RS232/Keypad Installation Procedure: (optional keypad – LXKP)

Optional Remote Keypad Installation

The keypad may be remotely mounted and sealed to NEMA 4 specification by

using the gasket and 6 ft (1.8m) cable included. The keypad assembly is

complete with the screws and gasket required to mount it to an enclosure. The

gasket has adhesive on one side that must be placed toward the enclosure.

Tools Required:•Center punch.

•3/16" drill bit (for clearance mounting holes).

•1/2" (12.7) and 1-1/2" (38.1) standard knockout punch.

•(4) 6-32 nuts and washers (or M3.5 hardware).

•Remote keypad mounting template. A tear out copy is

provided at the end of this manual for your convenience.

Mounting Instructions: (see remote keypad mounting template)

1. Locate a flat mounting surface. Material should be sufficient thickness (14

gauge minimum).

2. Place the template on the mounting surface or mark the holes as shown.

3. Accurately center punch the 4 mounting holes (labeled E for SAE or M for

metric) and the three large Cut–Out holes.

4. Drill four 3/16" holes (at E or M).

5. Make the three large Cut–Out holes using the punch manufacturers instructions.

6. Debur knockout and mounting holes making sure the panel stays clean and flat.

7. Apply the adhesive backed gasket to the enclosure.

8. Assemble the keypad to the panel. Non–conductive screws and washers

should be used to electrically isolate the keypad from the enclosure.

Caution: To prevent keypad damage, be sure keypad mounting screws

do not extend more than 0.2 (5) into keypad assembly.

9. Connect the keypad cable to the “Remote Cable” connector, Figure 3-4.

Figure 3-5 Keypad (Nullmodem) Connections

Keypad

LinStep+

RS232 / Keypad

Connector

+5VDC

Rx

Tx

GND

Shld

Note: A 6ft (1.8m) cable is provided with the keypad. If a longer cable is

to be used, an external +5VDC @ 500mA power supply is required.

GND

N/C

Keypad

LinStep+

RS232 / Keypad

Connector

+5VDC

Rx

Tx

GND

Shld

+5VDC

Tx

Rx

Standard Connections External +5VDC

Connections

+5VDC

GND

GND

N/C

+5VDC

Tx

Rx

External

P.S.

Receiving & Installation 3-7MN1854

RS–232 PC Connections

A null modem connection must be made between the LinStep+ and the computer

COM port. This will ensure that the transmit and receive lines are properly

connected. Either a 9 pin or a 25 pin connector can be used at the computer,

Figure 3-6. Maximum recommended length for RS232 cable is 6 ft. (1.8 meter).

Figure 3-6 9 & 25 Pin RS-232 Cable Connections for UL Installations

25 Pin Connector

9 Pin Connector

Pin Signal

2 RXD

3 TXD

7 GND

Pin Signal

2 RXD

3 TXD

5 GND

LinStep+

(DCE)

Computer

COM

Port

(DTE)

RXD– 4

TXD – 5

Com – 6

RXD

TXD

GND

RS232 Connector

Chassis

If required, RTS, CTS, DSR and DTR may also

be connected for a full null modem connection.

Jumper 9 Pin 25 Pin

RTS to CTS

DSR to DTR 7 to 8

4 to 6 4 to 5

6 to 20

Tx

Com

N/A

Rx

N/A

N/A

Connector location is

shown in Figure 3-4.

Figure 3-7 9 & 25 Pin RS-232 Cable Connections for CE Installations

Control

(DCE)

Computer

COM

Port

(DTE)

RXD

TXD

GND

RXD

TXD

GND

PE PE

RS232 Connector

Note: For CE installations, connect the overall shield at each end of the cable to

PE. The voltage potential between the PE points at each end of the cable

must be Zero Volts.

3-8 Receiving & Installation MN1854

Daisy Chain Connections

LinStep+ can support daisy chaining. The unit address (range 1–99) can be set

with the keypad, through Application Developer, or with a terminal program using

the Unit Number (UN) command, or the entire chain may be addressed at once

using the Auto–Address (AA) command. Connect as shown in Figure 3-8.

Rules for Daisy Chain Operation

1. All LinStep’s in a daisy chain must have their device address assigned in

ascending order away from the host device. This allows the Load All (LA

– EX) commands to work properly. Addresses do not have to be

sequential, but must be in ascending order.

Example: 1, 2, 4, 6, 8 is valid addressing. 6, 3, 10, 8, 2 is not valid.

2. Do not duplicate unit addresses.

3. RS–232C “Echo” should be turned on for each unit in the daisy chain.

Disabling RS–232C Echo will prevent daisy chain operation.

4. All RS–232C connections must be correctly made.

5. “Device Addressing” RS–232C commands (for a specific LinStep+

device) must have the correct address specified in the command.

6. Status commands require the correct address.

Figure 3-8 Daisy Chain Connection

PC / Host

Device

RXD

TXD

GND

LinStep+

Unit 1

RXD TXD GND

LinStep+

Unit 2

RXD TXD GND

LinStep+

Unit 3

RXD TXD GND

Receiving & Installation 3-9MN1854

Programmable I/O Connections

These input connections are made at terminals 6–40 (Figure 3-4).

Note: Factory installed jumpers are at locations 9–10, 13–14, 18–19, 19–20 and

21–22.

Figure 3-9 Programmable Input Connections

EOT1 & 2, Home1 & 2

and Inputs 1–8 (33–40)

(Programmable) Opto Isolator

Common (Isolated)

1kÙ

Factory

Installed

Jumper

12V

P–Up

21

22

Maximum current = 35mA each input,

250mA maximum total from 12VDC

internal source.

Com 32

Figure 3-10 Programmable Output Connections

Outputs 1–8

(23–30)

(Programmable)

10kÙ

Opto

Isolator

12V

Factory installed jumper for 12VDC pull–up operation.

Maximum current sink capability is 100mA per output

and 350mA maximum from internal 12VDC supply.

P–Up

21

22

Maximum sink current = 100mA each

output, 250mA maximum total from

12VDC internal source.

Common

(Isolated)

Com 31

Factory

Installed

Jumper

Outputs 1–8

(Programmable) Com

10kÙ

Opto

Isolator

(Remove Jumper) 12V

P–Up

External

+24VDC

Supply

+24V

Com

Optional 24V Output Connections

Remove factory installed jumper from terminal P–Up.

Connect an external 24VDC supply to terminals P–Up

and Com. (Terminal P–Up must be positive).

Optional Opto I/O Connections

8 Optically isolated I/O connections are located at terminals 9–16 of Figure 3-4.

Connections to these terminals are shown in Figure 3-11 (if the optional Opto

Modules are used).

Figure 3-11 Opto Isolated I/O Connections

User Output

Circuit AC or +DC voltage source

Typical connection (each input)

User Load

Circuit AC or +DC

voltage source

Typical connection (each output)

3-10 Receiving & Installation MN1854

Encoder Connections (Refer to MN1800 for wire color and lead information.)

The location for each encoder connector (Side Panel) is shown in Figure 3-4.

Twisted pair shielded wire with an overall shield should be used. Figures 3-12 and

3-13 show the connections between the encoder and the encoder connector.

Figure 3-12 Differential Encoder Connections for UL Installations

A+

A–

B+

B–

+5V

Com

Encoder C+ (Index)

C– (Index)

Shell (Chassis)

A+

A–

B+

B–

+5V

Com

Z+

Z–

Drain

Figure 3-13 Differential Encoder Connections for CE Installations

Encoder

PE

Connection of shields to digital ground is optional.

A+

A–

B+

B–

+5V

Com

C+ (Index)

C– (Index)

Shell (Chassis)

A+

A–

B+

B–

+5V

Com

Z+

Z–

Drain

Table 3-2 Encoder Color Code

Encoder

Signal PVS100 Danaher (9–Pin D)

A+ White Green 6

A–Gray Yellow 1

B+ Orange Blue 8

B–Red Violet 3

Z+ (Index) N/A Red 9

Z– (Index) N/A Orange 5

+5VDC Black Brown 7

GND Brown Black 2

Inner shield Blue –4

Outer shield Violet –Shell

Receiving & Installation 3-11MN1854

Motor Connections The A+, A–, B+ and B– phase outputs of each axis provides power to the

motor windings. The location for each motor connector (Bottom Panel) is shown

in Figure 3-4. The motor windings can be connected in series or parallel as shown

in Figure 3-14. For Baldor motors, refer to MN1800 for lead information.

Interlock (INTLK)

The two INTLK pins for each motor connector must be jumpered for the drive to

apply power to the motor. If an interlock wire breaks, or the connector is removed,

motor current is immediately stopped, the drive faults (latched) and flashes the

dual function LED labeled Over Volt./INTLK. Interlock wires longer than 5 inches

can create shutdowns due to noise.

Ground (GND)

GND is internally connected to the Earth pin on the Power connector. This provides

a convenient terminal for grounding the motor frame and a motor cable shield.

Figure 3-14 Stepper Motor Connections

B–

B+

A–

A+

INTLK

INTLK

Series Motor Connections

B–

Parallel Motor Connections

B+

A–

A+

INTLK

INTLK

Motor

Color Phase

White

Red

Green

Orange

Black

A+

A–

B+

B–

GND

(Refer to MN1800 for wire

color and lead information.)

Motor

Connector

INTLK

INTLK

A+

A-

GND

B+

B-

Motor X

INTLK jumper must be installed.

LD9068A00 Leadwire Connection (9 pin to flying leads)

1

2

3

4

5

6

7

8

9

Female (D Sub)

Color Pin# Description

Red 1 A+

Green 2 A–

Yellow 3 B+

Orange 4 B–

Black 5 Ground

Blue 6 A+

Green 7 A–

White 8 B+

Black 9 B–

When a D Sub connector is used, use the pin

numbers to connect the forcer.

When flying leads are used, use the color codes

to connect the forcer.

Use twisted pairs, shield open at backshell.

Section 1

General Information

3-12 Receiving & Installation MN1854

Start-Up Procedure

Power Off Checks

Before you apply power, it is very important to verify the following:

1. Verify the AC line voltage at the source matches the control rated

voltage.

2. Inspect all power connections for accuracy, workmanship and tightness.

3. Verify that all wiring conforms to applicable codes.

4. Verify that the control and motor are properly grounded to earth ground.

5. Check all signal wiring for accuracy.

6. Set Keypad DIP switches as desired, Figure 3-15. (Power must be

cycled after a DIP switch position change).

Figure 3-15 Keypad Adjustments

1234

ON

5

N/C

4213

GND Rx Tx +5VDC

DIP Switch Keypad Operation

12

Off Off Full Keypad Operation

Off On No access to Run, ESC, Edit, Copy, Del

On Off No access to Run, Edit, Copy, Del

On On No access to Edit, Copy, Del Switches 3 and 4 are reserved.

Switch and Potentiometer Settings

The motor current, inductance, and resolution settings must be made before

power is applied. The other settings (waveform, standby current, anti–resonance,

and phase offset adjustments can be made while the drive is powered and the

motor is moving.

Motor Current (can be changed at any time)

Set these switches for the correct values for the motors connected to each

axis. The Motor Current range is 0.0–6.0 Amps (peak) per motor phase per axis.

Each axis has two, 10–position rotary switches (labeled Amps and Tenths of Amps

in Figure 3-4). These switches set the current for each motor. The top switch sets

the integer current value, and the bottom switch sets the tenths of amps value.

Motor Resolution (only read at power up, cycle power if changed)

Eight selectable motor resolutions (200, 400, 1,000, 5,000, 10,000, 18,000, 25,000

and 25,400 steps) are available. Rotary switches (“Res” shown in Figure 3-4) set

the resolution for each axis motor. Motor Resolution may be selected using these

switches or configured with the keypad (or by serial commands). This resolution

setting assumes you are using a step motor with 1.8 degree per full step.

Motor Inductance (can be changed at any time)

Motor Inductance is set by a 16–position rotary range switch (Side Panel of Figure

3-4). The inductance switch has settings from 0 to 60 mH, in multiples of 4 mH.

For the proper setting, round motor inductance to the nearest multiple of 4 mH.

If the exact inductance of the motor is not known, initially set the inductance to

8mH. The inductance switch is more of an adjustment than a setting. If the setting

is too low, the motor will stall. If the setting is too high an audible hum will be heard

from the motor, and increase motor heating. Between these two extremes is

generally 2 or 3 correct inductance settings.

Receiving & Installation 3-13MN1854

Standby Current (can be changed at any time)

Setting the Standby current DIP switch to ON reduces motor current by 30% when

the drive has not received a step pulse for 250 msec. Full current is restored when

the next step pulse is received. Each drive can also be set to standby with the EA2

software command.

A 30% reduction in motor current during Standby correlates with an approximate

30% reduction in motor holding torque. Do not use Standby mode in applications

where you need more than 70% of the motor’s torque to hold a load stationary.

Standby should not be used in applications where an encoder is used to perform

end–of–move position maintenance.

Waveform (can be changed at any time)

On Sinusoid, Off for 4% 3rd harmonic.

Step Type (can be changed at any time)

Not Used.

Anti–Res (can be changed at any time)

Not Used.

Power On Checks

When power is first applied, the “ON” LED will be green. With the keypad

connected, the LCD display will briefly display the initialization screens.

Note: The LCD display may require contrast adjustment for better viewing. If the

display cannot be seen, adjust the potentiometer in Figure 3-15 for best

viewing.

Action Display Comments

Apply Power. +0.0000

00000000 00000000

Power–up diagnostic display. No errors.

The motor should now be producing torque.

Action Display Comments

Select “RUN, JOG (F2)”.JOG AXIS +0.0000

<LO> HIGH

Select either Low or High to Jog the

motor position. Confirm proper motor

operation.

3-14 Receiving & Installation MN1854

Section 4

Keypad Operation

Keypad Operation 4-1MN1854

Overview (Firmware versions LinStep+ Dual B3.1; Keypad V2.90; FPGA#1 7.1 #2 7.1))

The Keypad layout with the LCD display is shown in Figure 4-1.

Figure 4-1 Keypad and LCD Display

F1 F2 F3

RUN EDIT HELP COPY DEL

1

ABC

2

DEF

3

GHI

4

JKL

5

MNO

6

PQR

7

STU

8

VWX

9

YZ

ESC 0

÷ * = ±ALPHA ENTER

,

.

←

↓

→

↑

VE

AC

DE

VE

AC

DE

GO

GH

GI

TD

OT

WT

LP

EB

IF

GT

GS

EN

MS

FK

IV

MC

ON

SP

CL

CT

ST

RG

( )

[ ]

F1, F2, F3

Selector keys. Used with numeric keys to select commands in the editor.

Programmable as operator menu selections. (See the FK command for

information on using the function keys within a program.)

Most operations are menu–driven. A menu consists of a title bar (top display line)

and as many as three options or sub–menus (bottom display line). Each option is

displayed above one of the function keys, F1, F2, or F3. Press a function key to

select the corresponding option. Table explains which menus are available.

4-2 Keypad Operation MN1854

Note: If a menu has more than three options, arrows on both sides of the display

indicate that more options are available. Press the appropriate arrow key to

display one option at a time. To exit a menu without making a selection, or

to back up one menu level, press ESC.

Table 4-1

Menu Key

RUN EDIT HELP COPY DEL

PROG (F1)

Run programs by

name or number.

PROG (F1)

Edit or write

programs.

In Main Menu:

Provides help on

the function of

RUN, EDIT, or

COPY.

PROGRAM (F1)

To copy programs

within a control

(source file>

destination file)

Deletes an entire

program or in

editor deletes

characters

Menu

JOG (F2)

Jog either axis at

low or high

speeds.

Press F1 or F2,

and

any arrow key

(←↑↓→).

SETUP (F2)

Configure system

components and

operating limits.

In Menus:

Provides help on

menus.

TO PAD (F2)

To upload data

from control’s

memory to the

keypad.

Menu

Options TEST (F3)

Run programs in

trace mode, do

amplifier

shutdown and

reset, and test

outputs or moves.

POS (F3)

Reset axis

position to zero?

YES NO

(F1) (F3)

In Sub–Menus:

Explains setup

choices.

FROM (F3)

To download data

from keypad

memory to a

control.

LIST (↓) (F1)

Directory of

stored programs,

memory usage

and available

space

In Editor:

Provides

command

descriptions.

RUN

Press RUN to start a program, Jog an axis, or access Test/Debug functions.

EDIT

Press Edit to change setup parameters and programs, list programs, & reset

position counter.

HELP

Provides help information for keys, menus, and command syntax.

COPY

Copies one program to another within the LinStep+.

DEL

Deletes characters in the editor, or deletes entire programs from memory.

0–9

Enters numbers. Used with ALPHA key to enter characters. Used with F1, F2, F3

keys to select commands in the program editor.

ESC

Press ESC to stop a program or to move back one menu level. In program editor,

it saves the program and exits the editor.

Keypad Operation 4-3MN1854

+

Selects the motion direction in program editor. May also be used in math

programs or equations.

u=O"

Cursor control keys that are used to scroll through menu choices in the editor.

Moves an axis in JOG mode.

Decimal Point

Used when entering fixed–point numbers.

Comma

Used in multi–axis programs to separate axis command parameters. Part of the

syntax in message and variable “prompt” commands.

Alpha

In the editor, allows entering alpha characters for the keypad.

ENTER

In the program editor, press ENTER to save parameters that have been typed.

Enters a space in the program editor mode.

Run Menu Pressing the RUN key displays a set of sub–menus.

PROG Access the sub–menus by pressing F1 (PROG), F2 (JOG), or F3 (TEST).

Action Display Comments

Press RUN key RUN

PROG JOG TEST

Select a sub–menu, press F1 (PROG),

F2 (JOG), or F3 (TEST).

Press F1 (PROG) to run (or

execute) an existing program

number.

OR

↑RUN PROGRAM↓

>5

Use the numeric keys to enter a

program number to run (example, 5 and

press ENTER).

Press F1 (PROG) select an

existing program to run. ↑RUN PROGRAM↓

>12 GRIND

Use the keys to scroll through the list

of programs. Press ENTER to select

the program.

JOG Pressing the RUN key displays a set of sub–menus. Press F2 (JOG).

Action Display Comments

Press RUN key RUN

PROG JOG TEST

Press F2 (JOG) to JOG the

motor.

OR

JOG AXIS 1 +0.0000

<LO> HIGH

Use the ←↑↓→ keys to JOG the motor.

Press F1 <LO> or F2 HIGH speed.

Use the 0–9 keys to enter the

desired JOG distance. JOG AXIS 1 +0.0000

Dist: .012

Press and release an arrow key to

make the motor move this distance.

The arrow pressed determines the

direction of the move. Press and

release an arrow key to move the motor

again. Press ESC to terminate JOG.

Note: Jog speed and acceleration are changed in the “EDIT, SETUP, JOG” menu.

4-4 Keypad Operation MN1854

Test The RUN > TEST > RS232 feature has now been implemented which allows for

testing and debugging of daisy chain terminal communications through the keypad

thus eliminating the need for a PC terminal connection.

Action Display Comments

Press RUN key RUN

PROG JOG TEST

Select a sub–menu, press F1 (Prog),

F2 (Jog), or F3 (Test).

Press TEST for sub menu

selections. ↑RUN TEST↓

TRACE OUTPUT MOVE

Select a sub–menu, press F1 (Trace),

F2 (Output), or F3 (Move).

Press ↑ or ↓key for more sub

menu selections. ↑RUN TEST↓

SHUTDN RS232 ENCODER

Select a sub–menu, press F1

(Shutdown), F2 (RS232), or F3

(Encoder).

STrace – Allows program execution in trace mode (debug or

troubleshoot).

SOutput – Test outputs 1–16 or 17–32.

SMove – Allows motion for axis 1 or 2 or both.

SShutdown – Allows Amp 1 or 2 to be Enabled, Disabled or Reset.

SRS232 – Allows transmit (”ABC123”) and receive testing. This allows

test and debug of daisy chain communications using the keypad instead

of a PC.

SEncoder – Allows encoder 1 or 2 testing (Disable, OneRMov or Find Z).

Keypad Operation 4-5MN1854

Edit Menu Pressing the EDIT key displays a set of sub–menus.

Action Display Comments

Press EDIT key –↑EDIT↓–

PROG SETUP POS

Select a sub–menu, press F1 (PROG),

F2 (SETUP), or F3 (POS).

Press ↑ or ↓key for more sub

menu selections. –↑EDIT↓–

LIST

Select a sub–menu, press F1 (LIST).

Edit, PROG Submenu Create A New Program

1. Press “EDIT, F1 (PROG)” and you will see a display with a blinking

cursor as shown in Figure 4-2.

Figure 4-2 New Program

–↑EDIT PROGRAM↓–

>_

2. Enter an unused identifying number for the program (between 1–400).

(If several programs are stored, you may need to scroll the list to

determine a number that has not been used. )

Note: You may assign a name, rather than a number, to your program if you wish.

See “Naming Your Programs” later in this section.

3. Press ENTER. You will see a blank screen with a blinking cursor in the

upper left corner. The program editor is now ready to accept a program.

4. Once inside the program editor, enter commands by pressing a function

key and then a numeric key. Examples of creating, saving, naming, and

editing programs follow.

Example of entering programming commands found on the #2 key, Figure 4-3.

STo enter the VE command (the upper command on the number 2 key),

press F1 (blue) then press the number 2 key.

STo enter the AC command (the middle command on the number 2 key),

press F2 (yellow) then press the number 2 key.

STo enter the DE command (the lower command on the number 2 key),

press F3 (green) then press the number 2 key.

Figure 4-3

2

DEF VE

AC

DE

4-6 Keypad Operation MN1854

Example of entering a program using the 0–9 keys. To create a program with the

commands “AC.3 VE2 DI1 GO”, do the following steps: (you must be in the

program editor, this example is writing to program #2).

1. Press EDIT→F1→2→ENTER to get to the first line of program 2.

2. Press F2, then press the #2 key. This will enter the AC command.

3. Press the decimal key.

4. Press the #3 key.

5. Press ENTER. This will insert a space after the 3 to separate the

commands.

6. Press F1, then press the #2 key. This will enter the VE command.

7. Press the #2 key.

8. Press ENTER. This will insert a space after the 2 to separate the

commands.

9. Press F2, then press the #1 key. This will enter the DI command.

10. Press the #1 key.

11. Press ENTER. This will insert a space after the 1 to separate the

commands.

12. Press F1.

13. Press the #3 key. This will enter the GO command.

14. Press ENTER.

15. The display should now show the program “AC.3 VE2 DI1 GO”.

Save the program

When you have completed the program, and the display shows the program

“AC.3 VE2 DI1 GO”, do the following:

1. Press ESC, the menu of Figure 4-4 is then displayed.

2. Press F1 (YES) or F3 (NO).

Figure 4-4

Save Program?

Yes No

Edit an existing program

1. Press “EDIT, F1 (PROG)” and you will see a display with a blinking

cursor as shown in Figure 4-5. Enter the name of the program you wish

to edit or scroll the list to locate the program.

Remember, ENTER inserts a space (delimiter). DEL deletes a character.

Use the cursor keys to scroll through the program one line at a time.

Figure 4-5

–↑EDIT PROGRAM↓–

>_

Keypad Operation 4-7MN1854

Naming a program

A program can be given a descriptive name in addition to the program number that

the LinStep+ assigns it. Program names must be put inside of square brackets,

[program name], at the start of a program. The name can be up to 14 characters,

but the first 10 must be unique. Like variables, the name can be any combination

of characters.

Programs or subroutines are often named to help “self document” a program. It is

usually easier to remember and understand a name than a number. You may call

or branch to a program by name.

Suppose your program has 20 different parts and each part has a different

program name. Simply name each program so an operator will easily recognize

them. When the keypad RUN key is pressed, instead of entering a number, simply

scroll through the list of program names until the desired program is displayed.

Then press ENTER to run the program.

Example of Naming a Program

Add a name [MINE] to the program.

To insert [MINE]:

1. Press F3.

2. Press 0 (zero) key. Insert brackets.

3. Press ALPHA. Move to next character.

4. Press #5 key. Insert M.

5. Press ALPHA. Move to next character.

6. Press #3 key three times. Insert I.

7. Press ALPHA. Move to next character.

8. Press # 5 key two times. Insert N.

9. Press ALPHA. Move to next character.

10. Press #2 key two times. Insert E.

11. Press the → key to move cursor to the right of the bracket. The program

name will be as shown in Figure 4-6.

Figure 4-6

[MINE] AC.3 VE2 DI1 GO

12. Press ESC. You will be prompted as shown in Figure 4-7.

Figure 4-7

Save Program_?

YES NO

4-8 Keypad Operation MN1854

Entering Characters with the Alpha Key (In edit mode)

The ALPHA key allows you to enter almost any character into a program from the

keypad. This is useful to name your programs or subroutines, call subroutines by

name, make variable names descriptive, use operator messages or prompts, send

messages over RS–232 port or use commands not on the keypad, such as EA

or “ ”.

The letters are found on the 0–9 keys. To insert A, B or C on the #1 key:

1. Press ALPHA.

2. Press the numeric key with the character you want. (In this example,

press the #1 key once to select A, press it twice to select B, and press it

three times if you want the C).

General Rules for Using The Alpha Key

S Any number, letter or character on the 0–9 keys can be placed in a program.

S Press a numeric key 4, 5 , and 6 times to access the lower case letters.

S Press ALPHA prior to each character you wish to enter.

S Press the

← or → key to move the cursor to the next space.

S Press ALPHA to move the cursor more than one space.

Use the =O keys for additional alpha characters.

The 19 special characters shown to the right are available by pressing ALPHA and

scrolling through the list using the arrow keys.

1. Press ALPHA.

2. Press ↑ or ↓ to scroll through the list of characters.

3. When the desired character is displayed, press ALPHA or ENTER to

enter the character. The character will be displayed and the cursor will

move one space to the right.

4. Press ESC to leave the editor. The list of characters is shown in Figure

4-8.

Figure 4-8 Alpha Characters

< > ? ! @ # % & _ :

; \ ′ ″ |↑ ↓ ← →

Keypad Operation 4-9MN1854

Edit, Setup Submenu Table 4-2 shows the structure within the “EDIT, SETUP” submenu.

Table 4-2 Edit, Setup Submenu

Submenu Setup Parameter Description of Setup Parameter

TYPE Motor parameters

MOTOR D–RES Drive resolution

MOTOR DIR Direction of travel

MODE Select open/closed loop mode

E–RES Encoder resolution

FOL–ERR Following error

ENC IN–RANGE Position maintenance window

PMGAIN Position maintenance gain

PMMAX Position maintenance maximum velocity

DIST Distance Units

PITCH Motor pitch 40mil or 20mil (40mil is factory setting)

VEL Speed units

MECH VMAX Critical speed limit

ACCEL Acceleration units

AMAX Maximum rate of acceleration

INPUTS Input functions

OUTPUTS Output functions

I/O OPTOS OPTO module configuration

I/O OUTSTS Configure output states during Powerup, Fault, and Stop/Kill command.

LIMITS Configure EOT polarity (N.O. or N.C.)

ACCEL Jog acceleration

JOG LO–VEL Low jog velocity

JOG

HI–VEL High jog velocity

ENABLE Enable/disable jog in RUN menu

MODE Homing method

EDGE Edge of home switch

HOME SWITCH Type of home switch

HOME OFFSET Position counter offset

DIR Final homing direction (positive or negative)

PWR–UP Program to run on power up, if any

PROG SCAN How to scan program select inputs

PROG DELAY Program Select de–bounce time

RS–232C ECHO Echo characters

RS–232C

UNIT# Serial address

DISP Display mode (not currently implemented)

MISC STOP–RATE Decel rate when stop input activated

MISC

TEST Enable Test Menu (not currently implemented)

PASWRD Password setup for operator/administrator access

4-10 Keypad Operation MN1854

Edit, POS Submenu Select “Edit, POS” to Reset the Current Position to Zero.

POS is a quick way to reset the motor’s present position to (absolute) zero – a

very useful setup and debugging tool.

Action Display Comments

Press “EDIT, POS” (F3) Reset Position?

YES NO

Press YES (F1) or NO (F3)

Edit, List Submenu Select “EDIT, ↓, LIST” to view memory usage.

LIST provides a way to view your program memory usage. Standard program

storage is 60K bytes, and the maximum size of a single program is 1,024 bytes.

LinStep+ will store up to 400 programs, with a maximum single program size of

1,024 bytes.

Action Display Comments

Press “EDIT, ↓, LIST” to

display the number of

programs stored.

DIRECTORY ↑MORE↓

PROGRAMS: 18

Press ↓to display the total

memory used for program

storage.

DIRECTORY ↑MORE↓

BYTES USED: 1186

Press ↓to display the total

free memory available. DIRECTORY ↑MORE↓

BYTES FREE: 4958

Press ↓continuously to scroll

through the list of programs,

displaying the number of bytes

used by each program.

DIRECTORY ↑MORE↓

5<untitled>: 56 bytes

Keypad Operation 4-11MN1854

HELP Menu Press HELP to display a help message related to the menu. Help messages are

often several lines, which you can scroll through using the ↓ and ↑ keys. When

you are finished reading a help message, press ESC to return to the menu.

Pressing HELP in the Main Menu

HELP explains the functions available when you press any of the non–numeric

keys.

Pressing HELP in Menus and Sub–Menus

HELP explains the selections available from your current menu location.

Pressing HELP In the Program Edit function

HELP provides a brief, alphabetical list of commands.

Note: A program must be selected to view the COMMAND SUMMARY.

COPY Menu Pressing the “COPY” key displays three submenu choices.

Action Display Comments

Press the “COPY” key – – – COPY – – –

PROG TO PAD FROM

Select a sub–menu, press F1 (PROG),

F2 (TO PAD), or F3 (FROM).

COPY, PROG Submenu Copy one program to another program.

Action Display Comments

Press F1 (PROG) to copy from

a program. ↑SOURCE PROGRAM↓

>5

Enter the source program number.

Or, if you wish, you can scroll

through your list of program names.

Press ENTER when finished.

Enter the new program

number. ↑TARGET PROGRAM↓

>6

If the target program exists, you

must first delete it (see DEL).

Press ENTER when finished.

Note: Remember to change the name of the copied programs to avoid subroutine

call conflicts.

COPY, TO PAD Submenu Copy a program to the keypad from LinStep+ or a PC.

Action Display Comments

Press F2 (TO PAD). Two

messages are displayed

sequentially.

Receiving From Drive Copies a program from LinStep+ to

the keypad. When the “Saving To

EEPROM” message disappears,

sequentially.

Saving To EEPROM

may take 40 seconds

EEPROM” message disappears,

the program has been stored in

keypad memory.

4-12 Keypad Operation MN1854

COPY, TO PAD Submenu Continued

To copy a program from a PC to the keypad, connect the keypad to the RS232

port of the PC (COM1 or COM2). Start the Application Developer software and

from the Communications menu, click on “Send All”. The keypad will display the

message “Receiving From PC” and a few more messages will quickly appear, then

disappear from the screen. When the keypad display is blank, the transfer is

complete.

COPY, FROM Submenu Copy a program from the keypad to the LinStep+ or to a PC.

Action Display Comments

Press F3 (FROM). Four

messages are displayed

sequentially.

Receiving From EEPROM Copies a program from the keypad to

LinStep+. When the “Saving To

Memory” message disappears, the

Sending To Drive

transfer is complete.

Waiting For Processing

Saving To Memory

To copy a program from the keypad to a PC, connect the keypad to the RS232

port of the PC (COM1 or COM2). Start the Application Developer software and

from the Communications menu, click on “Retrieve All” and choose “From

Keypad”. The keypad will display the message “Sending to PC” and a few more

messages will quickly appear, then disappear from the screen. When the keypad

display is blank, the transfer is complete.

DEL Menu The DEL (Delete) key allows you to delete any motion program.

Action Display Comments

Press the DEL key. ↑DELETE PROGRAM↓

>6

Enter the program number. Or, if

you wish, you can scroll the list of

program names.

Press ENTER when finished.

DELETE PROGRAM #6

YES NO

Press F1 to delete program or F3 to not

delete the program.

DEL is also used to delete text or numeric characters in the editor. Use the cursor

control keys to move over the character you wish to delete, then press DEL.

Section 5

Setup

Setup 5-1MN1854

Overview There are two ways to setup the parameters: use the keypad or use Intelliware

serial communications software. The procedures presented in this section allow

LinStep+ to be configured using the keypad (LXKP). If you are not familiar with

the operation of the keypad, please refer to Section 4 of this manual. To ensure

that LinStep+ is correctly configured, follow all the procedures so that important

parameters are not overlooked.

Intelliware software (serial communications) users can refer to this section for

definition of the configuration parameters. The Windows dialog boxes follow the

keypad menu structure very closely. Details of Intelliware software are provided in

MN1855.

Procedure Format Definition

The 2–character ASCII command appears in brackets next to the keypad

command. This is the Intelliware software command. Configuring LinStep+ to a

specific application requires customizing a number of software parameters to

match the mechanics of the system. These parameters include motor, encoder,

distance, acceleration and velocity scaling, I/O, jog, home, and serial

communication.

Sample format of a procedure description:

Parameter being Configured

Definition [ ID ]

ASCII Command (Intelliware)

EDIT > SETUP > I/O > INPUTS

Keypad

Steps Value:

Range:

Factory Setting

and range of adjustment

IN1: unassigned:

BBBBKREJ

Keypad Display

Pressing the EDIT key displays a set of sub–menus.

Action Display Comments

Press EDIT key –↑EDIT↓–

PROG SETUP POS

Select a sub–menu, press F1 (PROG),

F2 (SETUP), or F3 (POS).

Press F2 (SETUP) key for more

sub menu selections. –↑SETUP↓–

PROG RS232 MISC

Select a sub–menu, press F1 (PROG),

F2 (RS232), or F3 (MISC).

Press ↓key for more sub menu

selections. –↑SETUP↓–

MOTOR ENC MECH

Select a sub–menu, press F1

(MOTOR), F2 (ENC), or F3 (MECH).

Press ↓key for more sub menu

selections. –↑SETUP↓–

I/O JOG HOME

Select a sub–menu, press F1 (I/O), F2

(JOG), or F3 (HOME).

5-2 Setup MN1854

Configure Motor Adjustments for resolution and movement direction can be made while the motor

is energized and moving or at rest.

Configuring Motor Type [ MT11 ]

EDIT > SETUP > MOTOR > TYPE > STEPER Axis One Motor Type

Steper

Note: Motor type is fixed, L–Step (Linear Steper) for both axes. Press ← or → to select next axis.

Configuring Motor Current [ MR10 ]

EDIT > SETUP > MOTOR > D–RES

Value: 25000

Range: 200, 400, 1000, 2000, 5000, 8000, 10000,

18000, 25000, 25400, 36000, 50000,

5120, 7120, 10240, 14240, 51200, 71168,

102400, 142400

– Axis One Drive Res –

25000

If you want moves in 0.1 degree increments, a D–RES of 18,000 will

allow 50 motor steps per degree and prevent any resolution–induced

rounding errors. Setting the drive resolution automatically adjusts the

pulse–width.

↑ or ↓to select value, press ENTER

Press ← or → to select next axis.

Configuring Motor Direction [ MDi ]

EDIT > SETUP > MOTOR > DIR

Value: Positive

Range: Positive or Negative

– Axis One Motor Dir –

POSITIVE

Provides a convenient way to change the motor direction for a positive distance

command. When POSITIVE is selected as the motor direction, the EOT+ limit

switch should be wired so that moves in the plus direction will activate the switch.

When NEGATIVE is selected, the EOT+ limit switch should be wired so that

moves in the negative direction will activate the switch.

↑ or ↓to select value, press ENTER

Press ← or → to select next axis.

Setup 5-3MN1854

Configure Encoder If you are not using an encoder, set encoder mode to OPEN LOOP and skip to MECH.

Configuring Encoder Mode [ EMi ]

EDIT > SETUP > ENC > MODE

Value: Open Loop

Range: Open Loop, Open–Stall,

Closed Loop, Closed Loop–PM

– Axis One ENC Mode –

–↑OPEN LOOP ↓–

↑ or ↓to select value, press ENTER

Press ← or → to select next axis.

Open Loop The OPEN LOOP position will be displayed on the keypad.

Open–stall The OPEN LOOP position will be displayed on the keypad, and the

encoder will be used for stall detection. (See Following Error)

Closed Loop The actual encoder position is displayed on the screen. All subsequent

moves are calculated from this actual position. All moves are based on

encoder pulses. Stall detection is enabled. Positioning resolution will

equal the resolution of your encoder.

Closed Loop–PM Same as closed loop except for the post move position maintenance of

the last commanded position. Provides a “pseudo–servo” operation for

a stepper system. Closed Loop–PM will not correct position while

navigating menus with the keypad.

Use PM GAIN, PM VMAX, and IN–RANGE WINDOW parameters to specify position

maintenance tuning parameters.

Application Notes:

Following–error is still active while in CLOSED LOOP–PM mode. A following–error will occur

when the number of correction steps exceeds the following error value. This allows the unit

to signal a fault when the displacement cannot be corrected, i.e. an obstruction. Ensure

proper operation in Open Loop mode before attempting Closed Loop–PM mode.

Configuring Encoder Resolution [ ERi ]

EDIT > SETUP > ENC > E–RES

Value: 5000 cnts/in

Range: 1–9,999,999

– Axis One ENCODER RES–

–↑5000 cnts/in ↓–

Select value, press ENTER

Press ← or → to select next axis.

This option sets the encoder resolution. The resolution is specified

in encoder pulses per in of travel, post–quadrature. To prevent

end–of–move dither, an encoder resolution of 8000 or less is recommended.

5-4 Setup MN1854

Configuring Following Error Limit [ FEi ]

EDIT > SETUP > ENC > FOL–ERR

Value: 750 Steps

Range: 0–99,999 motor steps (0 = Off)

– Axis One Fol Error –

–↑750 Steps ↓–

Select value, press ENTER

Press ← or → to select next axis.

If a Following Error occurs, the control will enter a fault state where:

SAny motion or program being executed is immediately terminated.

S The LCD Display will indicate “Following Error”, along with an

explanation.

S A fault output will be generated if defined as a “Stall” or Fault

output.

S The fault must be cleared before motion can occur. A Stop or Kill,

by programmable inputs or serial command, the ESC key or a

RESET will clear a Following Error fault

S Bit 9 of SS response is set to 1

S Bit 1 of SD response is set to 1

Configuring Position Maintenance In–Range Deadband [ IRi ]

EDIT > SETUP > ENC > IN–RNGE

Value: 25 Steps

Range: 0–32,767 steps

– IN–RANGE SETUP –

WINDOW

Select WINDOW (press F1)

In–Range Window specifies the position maintenance deadband or

region surrounding the set–point position. The “window” is specified in

post–quadrature (4 x # of lines) encoder steps. The window is the

region surrounding the commanded position in which the load reside

and not be considered “out of position.” The control will try to correct

the position if it is outside this window.

– IN–RANGE WINDOW –

←25 steps →

Enter encoder steps, Press ENTER

(must be a positive number)

Configuring Position Maintenance Gain [ PGi ]

EDIT > SETUP > ENC > PMGAIN

Value: 10

Range: 1–32,767

– Axis One PM GAIN –

←10 →

Select value, press ENTER

Press ← or → to select next axis.

PM Gain specifies a gain value used to determine correction velocity. The

correction velocity is calculated as “displacement* correction gain” in units

of steps/in. Therefore, the larger the displacement, the faster position

maintenance will attempt to correct position. For example, if the correction

gain is set to 3 and an active displacement of 3200 steps occurs, the

correction velocity will be (3 * 3200) = 9600 steps/sec.

Setup 5-5MN1854

Configuring Position Maintenance Max Velocity [ PVi ]

EDIT > SETUP > ENC > PMMAX

Value: 1.0 in/s

Range: 0.005–9,999,999.0

– Axis One PM MaxVel –

←1.0 in/s →

Limits the velocity of a position maintenance correction. Regardless

of the magnitude of displacement of correction gain, the correction

velocity will never exceed this maximum velocity setting.

Select value, press ENTER

Press ← or → to select next axis.

Configure Your Application (Mechanics)

The MECH SETUP menu allows you to preset distance, velocity, and acceleration

units convenient for your application. These units are used for all display and

position reporting modes. This menu also allows you to compensate for a known

amount of backlash in your mechanical system, and to set a maximum allowable

speed for each axis.

Action Display Comments

Press EDIT key –↑EDIT↓–

PROG SETUP POS

Select a sub–menu, press F1 (PROG),

F2 (SETUP), or F3 (POS).

Press F2 (SETUP) key for more

sub menu selections. Press ↓key

for more sub menu selections.

–↑SETUP↓–

PROG RS232 MISC

Select a sub–menu, press F1 (PROG),

F2 (RS232), or F3 (MISC).

Press F3 (MECH) key –↑SETUP↓–

MOTOR ENC MECH

Select a sub–menu, press F1

(MOTOR), F2 (ENC), or F3 (MECH).

Press ↓key for more sub menu

selections. ←↑ MECH SETUP ↓→

DIST Pitch Vel

Select a sub–menu, press F1

(Distance), F2 (Pitch), or

F3 (Velocity).

Press ↓key for more sub menu

selections. ←↑ MECH SETUP ↓→

VMAX ACCEL AMAX

Select a sub–menu, press F1 (VMAX),

or F2 (Accel), or F3 (AMAX).

Configuring the Distance Unit [ DUi ]

EDIT > SETUP > MECH > DIST

Value: inch

Range: inch or mm

– Axis One Dist Units –

←↑ inch ↓→

This sets the distance units and unit label. All distance values are

expressed in the units selected here.

↑ or ↓to select value, press ENTER

Press ← or → to select next axis.

5-6 Setup MN1854

Configuring Units of Velocity [ VUi ]

EDIT > SETUP > MECH > VEL

Value: in/s

Range: in/s or in/min

– Axis One Vel Units –

←↑ in/s ↓→

Sets the velocity units. All velocity values will be expressed in these units.

↑ or ↓to select value, press ENTER

Press ← or → to select next axis.

Configuring Maximum Velocity [ MVr ]

EDIT > SETUP > MECH > VMAX

Value: 500.0 in/s

Range: 0–9999999.0

– Axis One MAX Vel –

←↑ 500.0 in/s ↓→

Sets the top speed of your motor. (Limits the speed from LinStep+ to

prevent accidental damage to your mechanics.)

Select value, press ENTER

Press ← or → to select next axis.

Configuring Acceleration Units [ AUi ]

EDIT > SETUP > MECH > ACCEL

Value: in/s2

Range: seconds or in/s2

– Axis One Accel Units –

←↑ in/s2↓→

Sets the acceleration (and deceleration) units. All acceleration and

deceleration values will be expressed in these units. You can specify

acceleration as a rate, or in time–to–accelerate to full speed.

↑ or ↓to select value, press ENTER

Press ← or → to select next axis.

Setup 5-7MN1854

Configuring Acceleration Maximum [ AMr ]

EDIT > SETUP > MECH > AMAX

Value: 80.0 in/s2

Range: 0.002–9999999.0

– Axis One MAX Accel –

←↑ 80.0 in/s2↓→

Sets the maximum acceleration and deceleration limit for programmed

move profiles. Programmed accelerations and decelerations for moves

will be limited by this parameter (like VMAX for velocity).

Select value, press ENTER

Press ← or → to select next axis.

Configure the I/O

Each of the 8 opto inputs and 8 opto outputs are easily defined with the I/O

SETUP menus. When the I/O’s are defined, it is a good idea to write down the

configuration for later reference.

Configuring Input Definition [ IDaaaaaaaa ]

EDIT > SETUP > I/O > INPUTS

Value: IUUUUUUU

Range: N/A

IN1:Unassigned

IUUUUUUU ←↑↓→

Each input is easily configured using the keypad as described in

Table 5-1. The function of each input channel is indicated by a

letter at the bottom of the display.

Note: Use the ← and → keys to select an Input. Then use ↑↓ to

select the definition for each input (described in Table 5-1).

Select value, press ENTER

Table 5-1

Char Keypad Display Input Character Description

BBin Program Binary Program Select – allows remote program selection and execution from

a PLC, switches, or outputs from a PC. Up to 255 programs may be selected

using 8 binary inputs. The lowest numbered input becomes the least

significant selection bit (i.e., input #1 is less significant than input #2). The act

of configuring an input as a program select input also enables binary program

select mode.

CBCD Program BCD Program Select – allows remote program selection and execution using

a PLC, switches, or outputs from a computer. Up to 99 programs may be

selected using BCD inputs. The lowest numbered input becomes the least

significant selection bit (i.e., input #1 is less significant than input #2).

cClear Command Buffer Clear Command Buffer – Clears the terminal input buffer and buffered

command buffer.

DDisable Keypad Lock (Disable) Keypad – When activated, the keypad is disabled allowing NO

user access. The keypad resumes normal operation, subject to the DIP

switch pattern, when the input is released.

5-8 Setup MN1854

Table 5-1 Continued

Char Keypad Display Input Character Description

E

eExtend Jog 1

Extend Jog 2 Extend Jog – When activated, the motor will Jog in the Extend (+) direction.

When the input is released, motion stops at the Jog Accel rate. If an End of

Travel limit is hit while jogging, the motor will stop at the Stop Rate (see

Edit–Setup–Misc.). Before the motor can be removed from the limit, a Stop or

Kill input must be activated to clear the fault generated by the End of Limit

switch. Serial commands S or K will also clear the fault.

The velocity is determined by the Jog Speed Input and the Jog Low and High

setup parameters. When the input is off, the speed is low. If no input is

configured for Jog Speed, the motor will jog at the Jog Low setting.

G Registration Registration – Input #1 must be configured as a Registration input for axis #1

and Input #2 must be configured as a Registration input for axis #2 – no other

inputs will work. See the RG command for more details.

IInterrupt (Run98) Interrupt (Run 98) – When activated, motion on all axes stop at the stop–rate

(see Edit–Setup–Misc–Stop–Rate). The current program is stopped, and

processing continues with the first command in program 98. If no program is

running when the input is activated, program 98 will run. This input is ignored

while the keypad is in Edit mode. This is a positive edge triggered input,

rather than a level sensitive input. If multiple inputs are configured as

Interrupts, only the first edge of the first activated input will be seen. If

subsequent Interrupt inputs go active while the first Interrupt input is active,

no additional interrupts will be seen.

Advanced Interrupt handling can be achieved using the INT98CTRL and

ARM INT98 variables. The INT98CTRL variable determines whether

Interrupts can be disabled or not. The ARM INT98 variable allows you to arm

and disarm the Interrupt as desired.

After power–up, INT98CTRL is initialized to 0. In this mode, every interrupt

results in an immediate jump to program 98, even if you just entered program

98. The value of (ARM INT98) is ignored.

When INT98CTRL=1, Interrupts can be disabled with the ARM INT98

variable. INT98CTRL=1 also initializes ARM INT98 to 1. This means the

control is watching for interrupts. When INT98CTRL is set to 1 an interrupt

causes the program to jump to program 98 and sets ARM INT98=0, disabling

any further interrupts until you re–enable them by setting ARM INT98=1. This

allows you to control when you want to re–enable Interrupts in your interrupt

service routine (program 98).

To summarize, when (INT98CTRL)=1:

If (ARM INT98)=0, Interrupts are ignored. (ARM INT98) is internally set to 0

on the first edge if the previous (ARM INT98) value was 1.

Interrupt processing will be suspended until (ARM INT98) is

reset to 1. This allows for input debounce and controlling

the ability of program 98 to interrupt itself.

If (ARM INT98)=1, The system is awaiting the first INT98 input assert edge.

Once the interrupt is seen the control will go to program 98.

Subsequent interrupts are ignored until (ARM INT98) is set

to 1.

INT98CTRL and ARM INT98 are reset to factory values on power–up.

Note: There is a space in ARM INT98.

When activated, any executing program or functional operation is terminated

and program I98 (interrupt program) is immediately executed. If a move is

executing when the interrupt is activated, the move is terminated (decelerated

at a rate determined by the Stop Deceleration rate setup parameter). The unit

will go into Run mode once program I98 is completed.

Setup 5-9MN1854

Table 5-1 Continued

Char Keypad Display Input Character Description

J

jJog Speed 1

Jog Speed 2 Jog Speed – When a jog input is activated, the control checks the state of this

input to determine the jog speed. If the input is OFF, the system will jog at the

Jog Low speed. If the input is ON it will jog at the Jog High speed. If the input

is not configured the jog inputs will jog at the Jog Low speed.

This input works along with the Extend Jog and Retract Jog.

K Kill Kill Motion – Causes the control to abruptly stop commanding further motion

and terminates program execution. No deceleration ramp is used.

Caution: instantaneous deceleration could cause damage to mechanics. The

Stop input provides a more controlled halt.

M

mShutdown 1

Shutdown 2 Motor Shutdown – May be activated when the control is not running a

program and the motor is idle. Selecting shutdown (M, m) will disconnect

power to the motor, which removes current (torque) and allows the motor to

spin freely.

P Pause/Continue Pause/Continue – When this input is grounded, program execution is

stopped. Moves are not interrupted when the Pause input goes active.

Command execution will pause at the end of the move, and continue when

the input goes high. See the ST and RG commands for interrupting moves in

progress.

R

rRetract Jog 1

Retract Jog 2 Retract Jog – When activated, the motor will Jog in the Retract (–) direction.

When the input is released, motion stops at the Jog Accel rate. If an End of

Travel limit is hit while jogging, the motor will stop at the Stop Rate. (see

Edit–Setup–Misc.) Before the motor can be removed from the limit, a Stop or

Kill input must be activated to clear the fault generated by the End of Limit

switch. Serial commands S or K will also clear the fault.

The velocity is determined by the Jog Speed (J) input and the Jog Low and

Jog High setup parameters. When the input is off, the speed is low. If no input

is configured for Jog Speed, the motor will jog at the Jog Low setting.

S Stop Stop – When activated, any program execution or functional operation is

immediately stopped. This includes any motion, time delays, loops, and

faults. Moves will decelerate at the stop deceleration rate. New programs will

not execute until the stop input goes inactive.

See the SCAN setup parameter for more information on stopping program

execution. See the ST command for more information on stopping moves

without halting command execution.

U Unassigned Unassigned – An Unassigned input acts like a programmable input, and can

be used in IF and WT statements just like any of the dedicated function

inputs.

VData Valid Data Valid – When configured, it determines if the Binary/BCD program select

inputs are processed or ignored. If the input is active, program select inputs

are processed, otherwise they are ignored. This allows applications to be

wired in a pseudo–bus architecture fashion with each unit sharing the same

program select lines, and the data valid inputs determining which units should

listen. Configuring this output can greatly reduce panel wiring. In the example

shown in Figure 5-1, using the Data Valid input reduced the number of wires

by one–half.

WWarm Boot Warm Boot (System Reset) – Clears the RAM Buffer, and resets the LinStep+

to its power–up state. Programs and setup parameters are not erased. This is

typically used to restart the system when a fault condition occurs. The

power–up program, if defined, will start.

5-10 Setup MN1854

Figure 5-1

4

3

2

1

Data Valid

Unit

Selection

PLC

Program

Selection

LinStep

#1

LinStep

#2

LinStep

#3

LinStep

#4

Configuring Output Definition [ ODaaaaaaaa ]

EDIT > SETUP > I/O > OUTPUTS

Value: PPPPPPPP

Range:

OUT1: PROGRAMMABLE

PPPPPPPP ←↑↓→

Each input is easily configured using the keypad as described in Table 5-2. The function of

each input channel is indicated by a letter at the bottom of the display.

Note: Use the ← and → keys to select an Input. Then use ↑↓ to select the definition for each

input (described in Table 5-2).

Note: Lower case Input Characters (b, d, h, k and m) appear on the Keypad but are not used.

Select value, press ENTER

Table 5-2

Char Keypad Display Input Character Description

AAMP FAULT Amplifier Fault – Output goes low on any amplifier fault. An amplifier fault may

be due to temperature, motor short–circuits, excessive following error,

over–voltage and excessive regeneration conditions.

Note: This is not an all–inclusive fault output. Use F–Fault for this.

B

bBRAKE 1

BRAKE 2 It is often advisable that applications using a ball screw type actuator with a

vertical load use a brake to prevent the load from falling in the event of a fault.

The Brake output is normally disengaged, which is actually an ON condition.

When a fault occurs, power to the brake is removed and the brake is engaged.

This is a “fail–safe” type of brake, controlled by an OPTO module, and it requires

a customer supplied, 120VAC power supply, or 24 VDC with B Motors.

COVER CURRENT Not Used.

D

dDIRECTION 1

DIRECTION 2 The output remains set until motion is commanded in the reverse direction.

F FAULT The fault output acts as an all–inclusive fail–safe output. Under normal

operation the output is low (ON) and goes high (OFF) when any type of fault

occurs. A fault can occur from any amplifier fault condition (A) as well as for

the following general faults:

S BMA (Board Monitor Alarm) time–out

S Error finding Home – both limits were hit.

The exact cause of the fault can be determined a number of ways:

S Shown on keypad display

S RS–232C using the SS, SD, and SA status commands (see Appendix A)

S Other outputs can be configured to show more specific fault states

H

hAT HOME 1

AT HOME 2 The output goes high as long as the axis is at home.

Setup 5-11MN1854

Table 5-2 Continued

Char Keypad Display Input Character Description

LLIMIT ERROR The output goes low if a limit switch is hit during a normal move, or if both

limits are hit during a Go Home move.

M

mMOVE DONE 1

MOVE DONE 2 The output goes high as soon as an axis move is started and goes low when

a move is completed.

P PROGRAMMABLE Unassigned outputs are set to Programmable and can be used with OT

commands.

S STALL The output goes low if the control detects a motor stall.

Optional Opto I/O LinStep+ Dual Axis also supports up to eight Opto I/O modules (optional).

Configuring Input Definition [ OPaaaaaaaa ]

EDIT > SETUP > I/O > INPUTS

Value: IIIIIIII

Range: I=Input, O=Output

OPTO9: INPUT

IIIIIIII ←↑↓→

Each input is easily configured using the keypad. The function of

each channel is indicated by a letter at the bottom of the display.

Note: Use the ← and → keys to select an Input. Then use ↑↓ to

select the definition for each input (input or output).

Select value, press ENTER

Note: Use the ← and → keys to select

an Input. Then use ↑↓ to select

the definition for each input.

Configure the Output States

Configuring OPTO States at Power–up [ OEa,iiiiiiii ]

EDIT > SETUP > I/O > OUTSTS > PWR–UP

Value: OFF

Range: ON or OFF

On PwrUp Output #1

←↑ OFF ↓→

Each output is easily configured using the keypad. Select if the output should power–up in the ON or

OFF state.

Note: Use the ← and → keys to select an Output (1–8). Then use ↑↓ to select the definition.

Select value, press ENTER

Configuring OPTO States during a Fault [ OEa,iiiiiiii ]

EDIT > SETUP > I/O > OUTSTS > FAULT

Value: NO CHANGE

Range: ON, OFF or NO CHANGE

On Fault Output #1

←↑ No Change ↓→

Each output is easily configured using the keypad. Select if the output should be ON or OFF state or NO

CHANGE when a fault occurs.

Note: Use the ← and → keys to select an Output (1–8). Then use ↑↓ to select the definition.

Select value, press ENTER

5-12 Setup MN1854

Configuring OPTO States for Stop/Kill [ OEa,iiiiiiii ]

EDIT > SETUP > I/O > OUTSTS > ST/K

Value: NO CHANGE

Range: ON, OFF or NO CHANGE

On ST/K Output #1

←↑ No Change ↓→

Each output is easily configured using the keypad. Select if the output should be ON or OFF state or NO

CHANGE when a stop or kill command is received.

Note: Use the ← and → keys to select an Output (1–8). Then use ↑↓ to select the definition.

Select value, press ENTER

Configure End of Travel Switch Polarity

Configuring Motor Type [ ET ]

EDIT > SETUP > I/O > LIMITS

Value: NORM CLOSED

Range: NORM OPEN or NORM CLOSED

– Axis One EOT POL –

←↑ NORM CLOSED ↓→

Allows selection of Normally Open or Normally Closed polarity of the

End of Travel switch (EOT). Use ↑↓ to select the definition.

Select value, press ENTER

Press ← or → to select next axis.

Configure JOG Parameters

The keypad provides a convenient way to jog the motor. The parameters that

control your jog operation are configured using the JOG SETUP menu:

Action Display Comments

Press F2 (JOG) for more sub

menu selections. –↑SETUP↓–

I/O JOG HOME

Select a sub–menu, press F1 (I/O), F2

(JOG), or F3 (HOME).

Press ↓key for more sub menu

selections. –↑JOG SETUP↓–

ACCEL LO–VEL HI–VEL

Select a sub–menu, press F1 (ACCEL),

F2 (LO–VEL), or F3 (HI–VEL).

–↑JOG SETUP↓–

ENABLE

Select a sub–menu, press F1

(ENABLE)

Configuring JOG Acceleration [ JAr ]

EDIT > SETUP > JOG > ACCEL

Value: 50.0 {Accel Units}

Range: 0.0–9,999,999.0

– Axis One JOG Accel –

←50.0 in/s2→

Sets the acceleration and deceleration used during a jog move. Use

the numeric keys to enter a value (units were selected in the SETUP

> MECH > ACCEL menu).

Select value, press ENTER

Press ← or → to select next axis.

Setup 5-13MN1854

Configuring JOG Low Velocity [ JLr ]

EDIT > SETUP > JOG > LO–VEL

Value: 2.0 {Velocity Units}

Range: 0.0–9,999,999.0

– Axis One JOG Lo–Vel –

←2.0 in/s →

Sets the low speed JOG velocity. Use the numeric keys to enter a

value (units were selected in the SETUP > MECH > VEL menu).

Select value, press ENTER

Press ← or → to select next axis.

Configuring JOG Low Velocity [ JHr ]

EDIT > SETUP > JOG > HI–VEL

Value: 5.0 {Velocity Units}

Range: 0.0–9,999,999.0

– Axis One JOG Hi–Vel –

←5.0 in/s →

Sets the high speed JOG velocity. Use the numeric keys to enter a

value (units were selected in the SETUP > MECH > VEL menu).

Select value, press ENTER

Press ← or → to select next axis.

Configuring JOG Enable [ JEi ]

EDIT > SETUP > JOG > ENABLE

Value: Enabled

Range: Disabled or Enabled

– Axis One JOG Enable –

←Enabled →

Enables or disables JOG features. When disabled, an error

message is displayed when the jog buttons are pressed. JOG is

often disabled after installation to prevent access.

Select value, press ENTER

Press ← or → to select next axis.

Configure HOME Parameters

The homing function combines the flexibility of a customized homing routine with

the ease of use of calling a “canned program”. (Also see the GH command).

Action Display Comments

Press F3 (HOME) for more sub

menu selections. –↑SETUP↓–

I/O JOG HOME

Select a sub–menu, press F1 (I/O), F2

(JOG), or F3 (HOME).

Press ↓key for more sub menu

selections. –↑HOME SETUP↓–

MODE EDGE SWITCH

Select a sub–menu, press F1 (MODE),

F2 (EDGE), or F3 (SWITCH).

Press ↓key for more sub menu

selections. –↑HOME SETUP↓–

OFFSET DIR

Select a sub–menu, press F1

(OFFSET) or F2 (DIR).

5-14 Setup MN1854

Configuring Homing Mode [ HMi ]

EDIT > SETUP > HOME > MODE

Value: Switch Only

Range: Switch Only

–Axis One Home Mode–

←↑ Switch Only ↓→

Sets how a Go Home (GH) command will execute. The control will

only search for the appropriate edge of a switch.

Only one selection available.

Press ← or → to select next axis.

Configuring Home Edge [ HEi ]

EDIT > SETUP > HOME > EDGE

Value: NEGATIVE

Range: NEGATIVE, POSITIVE

– Axis One Home Edge –

←NEGATIVE →

Sets the home switch active on the negative edge or positive edge

of the encoder index channel. Use the ← and → keys to select.

Select value, press ENTER

Press ← or → to select next axis.

Configuring Home Switch [ HSi ]

EDIT > SETUP > HOME > SWITCH

Value: Norm Open

Range: Norm Open or Norm Closed

–Axis One Home Switch–

←Norm Open →

Selects the type of switch used for the home input. Use the ← and

→ keys to select.

Select value, press ENTER

Press ← or → to select next axis.

Configuring Home Offset [ HOr ]

EDIT > SETUP > HOME > OFFSET

Value: 0.0 {Distance Units}

Range: 0.0–999,999,999.0

–Axis One Home Offset–

←0.0 in →

Sets the offset from home position for the “real” home position. After

a successful homing move, the home position (the factory set home

position is +0.0000) is set to the offset value. Use the numeric keys

to enter a value.

This allows multiple systems to have identical programs and only

change the home offset value for each machine.

Select value, press ENTER

Press ← or → to select next axis.

Setup 5-15MN1854

Configuring Home Direction [ HFi ]

EDIT > SETUP > HOME > DIR

Value: POSITIVE

Range: NEGATIVE, POSITIVE

–Axis One Final Dir–

←Positive →

Sets the direction for the Go Home (GH) move. This is the direction used to

search for the encoder index mark (Z channel) after the appropriate home

switch edge is found.

Select value, press ENTER

Configure Power–up Program

The Program Setup menu allows selection of (1) a program to be immediately run

when LinStep+ is powered–up and (2) scanning conditions for the BCD or binary

program select inputs.

Action Display Comments

Press F1 (PROG) key for more

sub menu selections. –↑SETUP↓–

PROG RS232 MISC

Select a sub–menu, press F1 (PROG),

F2 (RS232), or F3 (MISC).

Configuring Power–up Program [ PUi ]

EDIT > SETUP > PROG > PWR–UP

Value: 0

Range: 0–400

– Power Up Program –

PROGRAM:0

Sets the program to run at power–up. The selected program is

executed (run) when power is applied or after a reset. If a value of 0

is entered in this menu, or if the specified program does not exist, no

program is run. Use numeric keys to enter program number.

Select value, press ENTER

Configuring Scan Conditions [ SNaaaaaaaa ]

EDIT > SETUP > PROG > SCAN

Value: YYYYYYY

Range: YYYYYYY, NNNNNNN

– Stop After Scan –

←↑ YYYYYYY ESC ↓→

Selects the events that cause the control to stop scanning program–select

configured inputs. The selected event is listed to the right of these 7

characters: ESCape, STOP, LIMIT+, LIMIT–, KILL, FAULT or INTerrupt.

If a stop–scan event is enabled, the system will stop scanning the inputs for

program numbers when that condition occurs. To resume scanning, a reset

(Warm Boot input or cycle power Off then On) must be given. This option

has no effect if the inputs are not configured as program select inputs (either

BCD or Binary).

Select value, press ENTER

5-16 Setup MN1854

Configuring Scan Delay [ DYi ]

EDIT > SETUP > PROG > DELAY

Value: 100

Range: 0–99,999

– Scan Debounce –

DELAY (ms):100

Sets the amount of time required for the program select inputs (BCD or Binary) to

remain stable before they are valid. The minimum time is 2 ms. If program select

inputs are not stable for a time equal to or greater than the specified delay, the

program will not be executed. Use the numeric keys to enter a value in ms.

Note: See Data Valid Input Configuration for an alternate approach.

Select value, press ENTER

Configure Serial Communications

To use the LinStep+ serial port, several things must be done first. Use the keypad

to set the auto–echo and the unit’s daisy chain address. The baud rate and other

parameters have fixed values and may not be changed.

S Baud rate: 9600

S Data bits: 8

S Stop bits: 1

S Parity: none

Action Display Comments

–RS232C SETUP–

ECHO UNIT#

Select a sub–menu, press F1 (ECHO),

F2 (UNIT#).

Configuring Echo Enable [ ECi ]

EDIT > SETUP > RS232 > ECHO

Value: Enabled

Range: Enabled, Disabled

– RS232C ECHO –

↑ENABLED ↓

Enable or disable the RS–232C ECHO feature. If ECHO is disabled,

characters received by the control’s serial port will not be

re–transmitted. ECHO must be enabled in daisy–chain applications.

Select value, press ENTER

Configuring Unit Number [ UNi ]

EDIT > SETUP > RS232 > UNIT#

Value: 1

Range: 1–99

↑ Unit Number ↓

NUMBER:1

Set the unit’s address. Each unit in an RS–232C serial daisy chain

of multiple units must have a unique Unit Number.

Select value, press ENTER

Setup 5-17MN1854

Configure Miscellaneous Setup Parameters

The miscellaneous set–up (MISC SETUP) parameters include the keypad display,

and setting the deceleration rate used with a stop input (or with the ESC key while

an axis is moving).

Action Display Comments

Press EDIT key –↑EDIT↓–

PROG SETUP POS

Select a sub–menu, press F1 (PROG),

F2 (SETUP), or F3 (POS).

Press F2 (SETUP) key for more

sub menu selections. –↑SETUP↓–

PROG RS232 MISC

Select a sub–menu, press F1 (PROG),

F2 (RS232), or F3 (MISC).

Press F1 (DISP) key for more sub

menu selections. ↑MISC SETUP↓

DISP Stop–Rate Test

Select a sub–menu, press F1 (DISP),

F2 (Stop–Rate), or F3 (Test).

Configuring Display Format [ DF ]

EDIT > SETUP > MISC > DISP

Value: 1=POS1, 2=POS2, 3=Inputs, 4=Outputs

Range: See Table 5-3.

←↑ QUAD#1 DISPLAY ↓→

↑POS1 ↓

The “Run Time” screen of the data display can be customized. The

run time screen has four 10 character segments called quadrants.

Each quadrant can display one of the data types defined in Table 5-3.

Select one quadrant, then assign a data type to that quadrant, press

ESC to save the data type. Repeat this process for each quadrant.

Note: To define the text for the “text” data type, scroll to the text data

type selection and press the “ALPHA” or a number key. A

cursor is then displayed, enter up to 10 characters then press

ENTER followed by the ESC key to save and exit.

Use the ←↑↓→keys to select a

Quadrant (1–4), press ENTER.

Use the ↑ and ↓ keys to select a

data type.

<QUAD#1> QUAD#2

QUAD#3 QUAD#4

Table 5-3

Data Type Description of Display Data Type

Blank No Display

POS1 (POS2) Axis Position (axis 1 or 2)

POS1+Unit (POS2+Unit) Axis Position with axis units (axis 1 or 2)

VEL1 (VEL2) Commanded Axis Velocity (axis 1 or 2)

Inputs Discrete input status (0=Off, 1=On)

Outputs Discrete output status (0=Off, 1=On)

OPTOS Opto I/O status (0=off, 1=on) as configured)

SA_Status1 (SA_Status2) SA (Tell Axis Status) serial command response (axis 1 or 2)

SS_Status SS (Tell System Status) serial command response

Text User defined text

5-18 Setup MN1854

Configuring Stop Decel Rate [ SRi ]

EDIT > SETUP > MISC > Stop–Rate

Value: 80 in/s2

Range: 0.0–99999.0

– Axis One Stop Decel –

←80 in/s2→

Set the deceleration rate used whenever a configurable stop input is

activated, or when the ESC key is pressed during a move. Normally

set to the fastest controllable deceleration rate possible with

mechanics in your application.

Enter a value, press ENTER

Configuring Passwords [ PWaaaa,aaaa ]

EDIT > SETUP > MISC > PASWRD

Value: None

Range: N/A

– Password Setup –

OPRATR ADMIN CLEAR

Passwords allow you to restrict access to the RUN, EDIT, COPY, DEL

and keypad DIP switches. Select Operator or Administrator (see

Table 5-4 for description).

Enter a password, use ←→ and DEL keys to edit the password.

General Password Rules:

S Passwords are 4 characters maximum. 0–9, upper and lower

case letters, in any combination.

S If no password is entered, there is no restriction.

S Entering the wrong password or pressing ESC at the password

prompt will return the keypad to the standard run–time display.

S Select EDIT > SETUP > MISC > PASWRD > CLEAR to delete all

passwords.

Note: Subsequent attempts to RUN or EDIT a program do not

require a password. You are prompted to: Use Last (F1) or

Reset (F3). Select Use Last to run or edit another program.

Select Reset to require the next user to enter a password.

Select a value, press ENTER

Table 5-4

Password Type Description Gives access to these menus

OPRATR Operator only RUN, EDIT, COPY, DEL

ADMIN Administrator only RUN, EDIT, COPY, DEL

CLEAR Clears Passwords

Section 6

Keypad Programming

Keypad Programming 6-1MN1854

Commands The programming commands that can be entered from the keypad are listed in

Table 6-1.

Table 6-1 Keypad Program Command List

AC Acceleration GH Start Home OT Outputs On/Off

CL Not Implemented FK Function Key MS Message to Display

CT Not Implemented GI Go Immediate ON On Condition

DA Distance Absolute GO Go (Start a Move) “__” “Message to Serial Port”

DC Distance to a Change GS Gosub RG Registration Move

DE Deceleration GT Go To Program SP Set Position

DI Distance Incremental IF If (conditional) ST Stop Move on Input

EB End of Block IV Input Variable TD Time Delay

EN End of Program LP Loop VE Velocity

MC Move Continuous WT Wait

Value: N/A

Units: seconds, in/sec2 or units/sec2 (set in EDIT > SETUP > MECH > ACCEL)

Range: Unit scaling dependent

Sets the acceleration and deceleration ramps on all velocity changes. The deceleration value (DE) is the

same as the acceleration value unless DE is specifically set after the AC command (the value of DE must

then be changed every time AC is changed). Change only AC if you want a symmetrical move profile.

Examples:

AC2 VE12 DA3 GO Sets acceleration and deceleration to 2.

DE.5 VE12 DA6 GO Accel stays at 2, decel changes to 0.5.

VE20 DA0 GO Acceleration and deceleration remain at 2 and 0.5.

AC4 DA2 GO Acceleration and deceleration become 4.

DE3 AC1 DI3 GO DE reset to 1 by AC1 before the move is made.

AC Acceleration syntax – ACr

6-2 Keypad Programming MN1854

Value:

Units:

Range:

CL Not Implemented syntax –

Value:

Units:

Range:

CT Not Implemented syntax –

Value: N/A

Units: set in EDIT > SETUP > MECH > DIST

Range: Unit scaling dependent

Sets the next move position, referenced from absolute zero. The absolute zero position is established after a

Go Home move (GH) and/or with the Set Position (SP) command. Absolute positioning is typically used to

move between a number of known locations, or if the physical work area is restricted.

Incremental (DI) and absolute moves may be mixed; the control keeps track of the absolute position.

Example:

AC2 DE.5 VE12 DA3 GO Moves to absolute position 3 units.

DA3 GO DA3 GO Moves once to absolute position 3 units.

DA Distance Absolute syntax – DA±r

Keypad Programming 6-3MN1854

Value: N/A

Units: set in EDIT > SETUP > MECH > DIST

Range: Unit scaling dependent

Defines complex, multiple velocity move profiles, or to change an Output at a specific point during the move.

It defines the distance at which a change will occur, “on the fly”, while the motor is still moving. At the

specified distance you can change the velocity, acceleration, deceleration or change the state of an

output(s). The DC command must follow the DA or DI command which specifies the total move distance.

The DC distance is interpreted as an absolute position when used with DA and an incremental position

when used with DI. When used with DI, the value of DC should be specified as a positive number. When

multiple DC’s are specified within an incremental move (DI), the incremental distance specified by the DC

command is taken from the last DC command, not from the beginning of the move. A maximum of 20 DC

commands within a move profile are supported.

Examples:

AC.05 DE.05 VE10 DA4 DC1 OT100 DC2 OT010 DC3 OT001 GO

While moving to an absolute position of 4 units turn on output 1 at 1 unit, output 2 at 2 units and output 3 at

3 units.

AC.05 DE.09 VE30 DA6 DC3 VE15 GO

Move to absolute position 6 units with a starting speed of 30. At 3 units, reduce speed to 15 (change–on–fly)

and complete move.

AC1 DE.5 VE20 DI–8 DC1 OT10 DC3 OT01 GO

Move an incremental distance of negative 8 units. After 1 unit turn on output 1 and after 3 MORE units of

motion, turn off output 1 and turn on output 2.

AC.05 DE.15 VE50 DI15 DC5 VE10 DC5 VE5 GO

At a starting speed of 50, begin moving an incremental distance of 15 units. After 5 units, ramp down to 10

speed. After 5 MORE distance units ramp down to 5 speed and continue until the final position is reached.

DC Distance to Change syntax – DC±r

6-4 Keypad Programming MN1854

Example: (Distance to Change)

The DC command can only be used when the motor is moving at constant speed (no

acceleration of deceleration). Issuing a DC command before a previous DC command has

finished executing is invalid and can cause unpredictable results. (For example, “AC1 VE

DA20 DC1.75 VE7.5 GO” is incorrect use of the DC command). The initial acceleration

ramp requires 2.5 units to reach velocity S= 0.5Vt, the DC1.75 is an invalid trigger position

and is ignored. The following formula ensures the use of valid DC trigger positions:

DCn*DCn*1*(|Vn*1*Vn|)t

2w0

Where:

n is the commanded DC distance (n=19 in this example)

n–1 is the previous commanded DC distance (for example 10)

V is the velocity

t is the acceleration time

(The first commanded DC move in a profile, n–1 is the beginning

of the move).

Examples of DC move profiles:, AC = seconds, VE=ips.

AC1.6 DE0.8 VE5 DA20 DC10 AC2.5 VE3 DC? VE2.5 GO

510

?19

20 Units

To calculate DCn (or DC? in the example)

DCn+(|5*3|) (2.5)

2)10 +12.5

“?” must be ≥ 12.5 distance units. Also, the DC trigger position and the DC? VE2.5

segment must be verified or determined before the beginning of the move declaration. If “?”

is chosen to be 13.35 (a valid trigger position), use the beginning of the decel ramp as DCn

in the DC formula. A decel ramp from 2.5 to 0 requires 1 distance unit in 0.8 seconds (S=

0.5Vt).

19 *13.35 *(|0*2.5|) (0.8)

2+5.65

Since the result is positive, the DC13.35 VE2.5 is a valid segment.

AC.05 DE.05 VE10 DA4 DC1 OT100 DC2 OT010 DC3 OT001 GO

{While moving to an absolute position of 4 units, turn on output 1 at 1 unit, output 2

at 2 units and output 3 at 3 units}

AC.05 DE.09 VE30 DA6 DC3 VE15 GO

{Move to absolute position 6 units with a starting speed of 30. At 3 units, reduce

speed to 15 (change–on–fly) and complete move}

AC1 DE.5 VE20 DI–8 DC1 OT10 DC3 OT01 GO

{Move an incremental distance of negative 8 units. After 1 unit, turn on output 1,

and after 3 additional units of motion, turn off output 1 and turn on output 2}

AC.05 DE.15 VE50 DI15 DC5 VE10 DC5 VE5 GO

{At a starting speed of 50, begin moving an incremental distance of 15 units. After

5 units, ramp down to 10 speed. After an additional 5 distance units, ramp down to

5 speed and continue until the final position is reached}

Keypad Programming 6-5MN1854

Value: N/A

Units: seconds, in/sec2 or units/sec2 (set in EDIT > SETUP > MECH > ACCEL)

Range: Unit scaling dependent

Sets the deceleration ramp for all negative velocity changes. This value is the same as the acceleration

value unless a deceleration is specified. The value is used on subsequent moves unless it is re–specified by

an acceleration (AC) or deceleration (DE) command.

Examples:

AC2 VE12 DA3 GO Sets acceleration and deceleration to 2.

DE.5 VE12 DA6 GO Accel stays at 2 and decel changes to 0.5.

VE20 DA0 GO Acceleration and deceleration remain at 2 and 0.5.

AC4 DA2 GO Both acceleration and deceleration become 4.

DE3 AC1 DI3 GO AC1 sets both the accel and decel to 1.

DE Deceleration syntax – DE±r

Value: N/A

Units: set in EDIT > SETUP > MECH > DIST

Range: Unit scaling dependent

Specifies a move distance relative to the current position. Such moves are called incremental moves, as

opposed to the absolute move (DA). Use incremental moves when there is no concern for origin, such as

feed–to–length applications. DI is also often used inside a loop to shorten a program. Incremental and

absolute moves may be mixed; the control keeps track of the absolute position.

Example:

AC.1 VE60 DI2 GO DI1 GO DI–4 GO

Move 2 units in the + direction. Move 1 more unit in the positive direction. Move 4 units in the negative

direction. The final absolute position is –1.0000.

DI Distance Incremental syntax – DI±r

6-6 Keypad Programming MN1854

Value: N/A

Units: N/A

Range: N/A

The EB command designates the End of a Block of loop or IF commands. Every LP, LW, LU, and IF

statement must have an EB associated with it.

Examples:

LP2 DI3 GO EB Performs the move twice

IF1,1 DI5 GO DI10 GO EB GH3 If input 1 is On, make 2 moves before homing. If input 1 is Off,

jump to the GH command.

EB End of Block syntax – EB

Value: N/A

Units: N/A

Range: N/A

EN marks the end of a program or subroutine. It is optional at the end of a program. If EN marks the end of

a subroutine, command execution continues from the command following the gosub (GS) command that

called the subroutine. If the routine was not called from another program, the EN command simply stops

execution. The control continues to monitor the program select inputs (if defined). The EN command can be

used anywhere in a program to stop command execution.

Example:

IF2,1 EN EB DI2 GO If input #2 is on, stop the program, or return to the calling program. If not,

move 2 units.

EN End of Program syntax – EN

Keypad Programming 6-7MN1854

Value: N/A

Units: N/A

Range: i=1–28

The FK command allows you to define a function key within your program. The FK command pauses

processing until the buttons you have “armed” are pressed. The number of the button pressed is assigned to

the system variable, (FKEY). You can then manipulate or directly use this variable to branch to other

routines or make other decisions. FK allows the programmer to redefine the keypad’s function keys as

operator menu selection buttons. You can even write your program with menus that look and feel like our

setup menus. The returned values of the FKEY’s are:

Note: 24, the ESC key, cannot be assigned since it stops the program.

FK Function Key syntax – FKi,i,..,i

Example:

FK1,2,3,4

GS(FKEY)

Pauses command execution until F1, F2, F3, or RUN is pressed on the keypad. (FKEY) is assigned a value

of 1–4. Subroutine 1–4 is called with the GS(gosub) command.

Figure 6-1 shows how to use the keypad function keys as an operator interface. A 3–screen menu program

is provided

1. Write a menu message (MS) on the keypad display above the corresponding function keys.

2. Use the FK command to pause command processing until the operator selects a valid function key. Only

keys explicitly defined in the FK statement are considered valid.

3. Gosub to the appropriate program.

F1

=1F2

=2F3

=3

RUN

=4EDIT

=5HELP

=6COPY

=7DEL

=8

1=92=10 3=11

4=14 5=15 6=16

7=19 8=20 9=21

ESC

0=25

±ALPHA ENTER

,

.

u

↓

→

↑

=12 =13

=17 =18

=22 =23

=27 =28=26

=Not

Used

6-8 Keypad Programming MN1854

Figure 6-1 Example 3–Screen Menu Program

Program 20:

[SCREEN 1] Name the main program

MS1,“ “ Clears keypad screen

MS3,“Select a Part” Writes a Message

MS21,”Part A Part B Part C”Writes a message above function keys

FK1,2,3,17,18 Wait for selected key press

GT(FKEY) Jumps to prog# 1, #2, or #3 if F1,F2, or F3 is pressed Jumps to prog #17, or

#18 if the up or down arrow keys are pressed.

EN End of Routine

Program 18:

[SCREEN 2]

MS21,“Part D Part E Part F” Writes a message above F1, F2, F3.

FK1,2,3,17,18 Wait for selected key press

IF(FKEY)=17 GT[SCREEN 1] EB If Up arrow goto screen 1

IF(FKEY)=18 GT[SCREEN 3] EB If Down arrow goto screen 3 (FKEY)=(FKEY)+3 Add offset to FKEY variable to goto

correct part subroutine.

GT(FKEY) Jumps to part D, E, F in program#4, 5, or 6

EN End of Routine

Program 17:

[SCREEN 3]

MS21,“Part G Part H Part J” Writes a message above function keys.

FK1,2,3,17,18 Wait for selected key press

IF(FKEY)=17 GT[SCREEN 2] EB If Up arrow goto screen 2

IF(FKEY)=18 GT[SCREEN 1] EB If Down arrow goto screen 1

(FKEY)=(FKEY)+6 Add offset to FKEY variable to goto correct part subroutine

GT(FKEY) Jumps to part G, H, J in program #7,8 or 9

EN End of Routine

The programs to make Parts A, B, C, D, etc. are in program numbers 1–9. To continuously cycle through put a

GT[SCREEN 1] at the end of each part program.

Keypad Programming 6-9MN1854

Value: N/A

Units: set in EDIT > SETUP > MECH > ACCEL > VEL

Range: Unit scaling dependent

Initiates a homing routine (seeks the home switch) to establish a home reference position. When it reaches

home, the position counter is set to zero or to the Home Offset (HO) value selected in the EDIT > SETUP > HOME

menu. The motor will move at the GH velocity (n) and direction (±) specified until it either finds a home limit switch

or determines that it can not find one between the two end–of–travel limit switches. The Go Home move uses

the last acceleration and deceleration specified.

The exact homing routine used, and the ultimate end position of your system’s home reference, depends on the

values of your EDIT > SETUP > HOME parameters (edge, level, final approach direction, and offset) and if you

have specified open or closed loop moves in the EDIT > SETUP > ENCODER menu. The control will reverse

direction when the first End of Travel limit switch is encountered while searching for a Home switch. If the second

End of Travel switch is encountered, the unit will abort the Go Home move and generate a fault. Assuming the

presence of an operational home switch, the control will seek a home position according to the parameters you

specified (edge, level, final approach direction, and offset).

Closed loop systems will normally home with more accuracy than open loop systems because encoders have

a Z marker pulse. In a typical Go Home routine, the control will first sense the edge of the switch defined in the

Go Home SETUP menu. It will then decelerate the motor to a stop at the last defined deceleration rate. The final

homing motion is determined by the Go Home options selected in the SETUP menu. The final homing direction

dictates the direction from which the final approach to the switch is made. The edge selected will determine

which side of the home switch this final approach will be based from.

In a “closed loop” mode Go Home routine, the control will additionally slow to a creep speed and stop when it

sees the encoder’s “Z” Marker Pulse after seeing the reference edge of the switch. If a marker pulse is not seen

within one motor revolution after the reference edge of the switch is seen, the final homing routine will be aborted.

Note: Homing Mode directly affects or reconfigures the function of the GH command.

Examples:

AC.5 DE.5 GH–20 Go Home in the negative direction at a speed of 20

AC.5 DE.5 GH20 Axis one Go Home in the positive direction at a speed of 20.

GH Start Home syntax – GH±r

6-10 Keypad Programming MN1854

Value: N/A

Units: N/A

Range: N/A

The GI command begins a defined move profile in the same manner as the GO command. Unlike the GO

command, where program execution waits until all defined moves have terminated, GI allows program

execution to continue when the move has begun. This allows for other program defined processes to take

place while an axis is moving, such as independent multi–axis moves, OT commands, and conditional IF

blocks.

Examples:

VE1 DI20 GI MS1, “Axis #1 is moving” TD2

In this example, when the DI20 move begins, program execution immediately displays the “Axis #1 is

moving” message for 2 seconds. When the TD2 command has executed, the program will terminate;

however, axis #1 will continue to move until the DI20 distance is reached. A Stop, Kill, or press of the

ESC key will halt a GI based move either inside or outside program execution.

The GI command can cause program execution and moves to be asynchronous. To re–synchronize the

end of a GI move with program execution, use the Wait (WT) command, i.e. WT#1 will wait for only axis

#1. If a program error occurs during a GI move, the move will stop at the Stop Decel Rate.

VE1 DA100 GI OT1,1 DA0 GI IF1,1 MS1, “All moves done” EB

If a GI move is in progress and an additional move is commanded on the same axis, the additional move

will not begin until the GI move has completed.

In this program, one may expect to see the message “All moves done” immediately after the DA100

move begins. In reality, the program will wait at the DA0 GI until the DA100 move has completed before

continuing. More simply stated, a move cannot be commanded to begin on an axis that is already

moving.

Since GI allows program execution to continue, there can be programming issues when using GI. For

example, in the program fragment “LP VE2 DI10 GI OT1 TD1 OT0 EB” shown in Figure 6-2, after the

first pass through, the loop command (LP) will wait at the GI command since subsequent GI moves must

wait for the present move to finish.

GI Go Immediate syntax – GI or GIi

Figure 6-2

V

T

V

T

Axis 1

Output 1

1 Second 1 Second The program will operate as shown here.

V

T

V

T

Axis 1

Output 1

The program will not operate as shown here.

Keypad Programming 6-11MN1854

Value: N/A

Units: N/A

Range: i=1–16

GO executes a move profile defined by some combination of AC, VE, DE, DI, DA, DC, or MC commands.

Actual motion of a new profile will occur after a short calculation of the motion trajectory. GOn pre–calculates

the move and waits for Input number “n” to activate before executing. This variation is sometimes useful for

applications needing very short, repeatable move calculation delays. It is more often used simply to shorten

code, since it functions like the combination of Wait on Input and Go (WTn GO) yet it pre–calculates the

move. Like other commands using I/O, GOn does not restrict you from using an input even if it has been

configured for some predefined function.

Examples:

AC.05 DE.05 VE50 DI5 GO GO initiates calculation of a move profile using buffered parameters (.05 unit

Accel and Decel Ramp, speed 50, 5 unit incremental move) and executes it.

AC.05 DE.05 VE50 DI5 GO2 When input 2 is activated, immediate execution of the motion calculation

already in the buffer is performed.

GO Go (Start a Move) syntax – GO or GOi

Value: N/A

Units: N/A

Range: N/A

GP Go Point(Start a Move) syntax – GP or GPn

The GP command allows a LinStep+ two axis to execute a linear interpolated move. An example of the GP

move is shown. The path velocity, acceleration and deceleration are specified by the parameters

traditionally defined for one axis move. These parameters are defined once and each GP move there after

will use these values until new values are entered. The end point of the move is specified by a two axis DA

or DI command to the appropriate X and Y coordinates.

In the example, the path velocity is 2 user units/sec, path acceleration is .1 sec and the X,Y position is (4,2).

The GPn command specifies a discrete input must be active before executing the move. Although both

axes move during a GP move, all GP parameters refer to the path movement rather than the individual axis

movements.

Notes:

GP will work with any velocity or acceleration unit.

The largest GP move is restricted to X2+Y2 <= (231–1)2 in units of steps.

For example, the longest simultaneous X,Y point move is:

Steps: DA1518500249,1518500249

If resolution is 8000: DA189 812.5311,189 812.5311

If resolution is 25000: DA60 740.0099,60 740.0099

Commanding moves larger than X2+Y2 <= (231–1)2 will produce unpredictable results.

The DC command does not recognize an interpolated move as a ’single’ move and will treat the axes

independently. Therefore, using a DC during a GP move will cause unpredictable results unless the user

has calculated the necessary values to preserve the vector move.

(4,2)

X

Y

Example:

VE2 AC.1 DA4,2 GP

6-12 Keypad Programming MN1854

Value: N/A

Units: N/A

Range: i=1–400, [name] = any legal program name

Jumps to program number or name and returns to the calling program when command processing reaches

the EN command in the sub–routine. After the return, execution continues at the command immediately

following the GS statement. Subroutines may be nested 16 levels deep. A Goto (GT) clears the subroutine

stack, preventing future Gosubs from overflowing the stack or returning to the wrong location.

Example:

DI10 GS[Part A] GO Run program “Part A”, return and make a 10 unit incremental move.

GS Gosub syntax – GSi and GS[name]

Value: N/A

Units: N/A

Range: i=1–199 (1–400 with 30k memory option), [name] = any legal program name

GT branches to the program number or name specified. All subsequent commands in the calling program

are ignored. Nested loops and subroutine calls are cleared by a GT command.

Examples:

IF10 GT[PART A] EB IF input 1 is on and input 2 is off, jump to program “Part A”

IF01 GT20 GT30 EB EN IF input 1 is off and input 2 is on, run program 20. Program 30 is never run.

Use the GS command if you want to return to this program and goto

program 30.

GT Go to Program syntax – GTi or GT[name]

Keypad Programming 6-13MN1854

Value: N/A

Units: N/A

Range: i=starting input number 1–8

x=0; input high. X=1; input low (grounded). x=anything else; ignore input changes.

expression = any valid expression (see math and variables definitions)

Allows the conditional execution of a block of commands based on the evaluation of an expression or input

state. If the expression or input state is TRUE, the commands between the IF and the EB are executed. If

FALSE, execution continues with the command following the EB. An IF statement should not be confused

with a WT statement. An IF statement evaluates, true or false, based on the conditions at the instant the

command is processed. A WT statement pauses command processing until the condition is true.

Note: An End of Block (EB) command must be used with every IF command.

IF blocks can be nested up to 16 levels deep. To increase flexibility (primarily with programmable logic

controllers) the IF command allows you to use configured inputs with the command. To help prevent this

added flexibility from causing programming confusion, you can specify any character as an input (x). This

allows you to self document your IF statements. For example, assume you configure input #3 as a “JOG

SPEED” input. Programming like “IF01J10” can help remind you that you are already using input #3 as

“JOG SPEED”.

Examples:

IF14,1 GO EB If input 14 equals 1 Go

IF12,010 GO EB If inputs 12–14 equal 010 Go

IF110 GO OT3,1 EB If inputs 1–3 equal 110 Go and turn on Output #3

IF(TEMP) > 50 OT1 EB If temperature variable > 50 turn on Output 1

IF(PARTS)=25 GS20 EB If PARTS variable = 25 Gosub to Program 20

IF If syntax – IF (Mathematical expression)

IFxx (assumes first input is input 1)

IFi,xx ...

6-14 Keypad Programming MN1854

Value: N/A

Units: N/A

Range: i=1–40 display position characters

variable= any legal variable name

min=the minimum range value (optional); max=the maximum range value (optional)

Allows operator input of variable information under program control. It is usually used with the message

command (MS) to prompt for operator input of the variable specified in the IV statement. The cursor is

placed at character position “i”. The program waits until a number is entered before continuing execution.

You are not allowed to type past the end of either display line. Variables store 4 digits to the right of the

decimal place.

When minimum and/or maximum range values are specified, the IV command will not accept inputs outside

this range (one of the following messages is displayed on the keypad):

S Input below minimum, Press ESC to resume

S Input above maximum, Press ESC to resume

Variables can be used in a math equation, conditional expression or to set any command parameters

(Example: DA, DC, VE, AC, LP, IF, TD, etc.). A variable can be used anywhere in a program a real number

or integer is used. Use care when performing math on variables used in LP statements. LP will truncate the

non–integer portion of the variable. For example: (COUNT)=25*.2 LP(COUNT) will only loop 4 times

because (COUNT)=4.9999. A small offset can be added to variables used in LP statements to avoid this

problem. (COUNT)=(COUNT)+.1 will guarantee that (COUNT) will be greater than 5, so the program will

loop 5 times.

Examples:

MS1,“” Clears the Display

MS1,“How many?: ” Writes string beginning at character 1, top line

IV12,(PIECES),1,15 Waits at 12th character for the # of pieces in the range 1–15.

MS1,“” Clears the Display

MS1,“How long?: ” Writes string beginning at character 1, top line

IV12,(LENGTH) Waits at 12th character for the # of pieces.

LP(PIECES) Loops the number of pieces entered

DI(LENGTH) Defines the desired move length/distance.

GO Moves the length commanded

EB Ends the loop.

IV Input Variable syntax – IVi,(variable),min,max

Keypad Programming 6-15MN1854

Value: 0

Units: N/A

Range: N/A

Causes all commands between LP and EB to be repeated “i” times. If LP is entered without a number

following it or a 0, the loop will repeat continuously.

Note: An End of Block (EB) command must be used with every LP command.

Up to 16 nested loops (one inside the other) are allowed. Each LP command must have a corresponding EB

command to end the block (loop). A GT command within a loop will terminate the loop, clear the loop stack

and jump to a new program.

Example:

AC.09 DE.09 LP3 VE30 DI1 GO EB VE7 DI–3 GO EN

The motor will perform an incremental 1 unit move at speed 30 three times and then a 3 unit move at speed

7 in the other direction.

LP Loop syntax – LPi

6-16 Keypad Programming MN1854

Value: N/A

Units: N/A

Range: N/A

Sets move profiles to “continuous move”, using the AC, DE and VE parameters. Move Continuous is

enabled on an axis with the “+” sign. “MC+” enables the mode for axis one. DI, DA and DC commands reset

the mode to distance.

Each MC+ segment must contain a GO command. Accelerations, Velocities, and Decelerations may be

changed in any segment. If no change is specified, the last parameter value will be used. It is not valid to

issue positional commands (DI, DA, DC, GH, SP) to an axis while it is moving in continuous mode. Any

command is valid within an MC segment except Distance Commands (DA, DC, & DI).

The direction of the move is specified by the sign of the VE parameter. If the sign of the VE parameter

changes between two segments, the control will automatically stop the motor (at the programmed

deceleration rate) and change directions to the new speed. This makes changing directions based on

variable inputs very easy to program using a scaled variable as the VE parameter.

When a MC+ segment is started, it will continue to move at the speed specified by VE until another VE is

commanded, the ESC Key is pressed, or an End Of Travel, Kill Motion, Interrupt, or Stop Input is activated.

A commanded velocity of zero (VE0) stops a Mode Continuous move. Motion will also stop if the edit, help,

copy, or delete menus are opened.

After a continuous move segment has started, command processing will continue when constant velocity is

reached. Other commands are then processed sequentially. This allows you to do things like:

SHave asynchronous inputs change the speed of an axis

SMake motion profile changes based on time delays or input states

SManipulate I/O while moving as a function or time, distance, or input states

SChange speed based on analog inputs or variables

SHave an operator update the speed of an axis through the keypad

SServo to an analog input

SMake a one axis joystick using analog inputs

If a motor is making a move when it comes to the end of a program, the motor will continue moving, even

after the program ends. This allows you to:

SPut different MC moves in different programs and select different speeds by running different programs.

SChange speeds based on Binary or BCD program select lines

SCall MC+ moves as subroutines

SRun from “hosted” RS–232C mode, where the computer commands speed changes

SRun another program from the keypad that does not violate MC syntax. So you could run another

program from the keypad to change speeds, manipulate I/O, interface with an operator or calculate

arithmetic.

MC Move Continuous syntax – MC+

Keypad Programming 6-17MN1854

Move Continuous Continued

Examples:

1. Basic Move Continuous syntax. Demonstrates how to change speed and stop MC+ moves based on

time delays and input conditions.

MC+ Enable Move Continuous on axis 1

AC.1 DE.2 Set the acceleration and deceleration rates

VE50 Set top speed to 50

GO Start the Move Continuous move, command processing will continue when axis 1

reaches constant velocity

TD2 Delay for 2 seconds at speed

VE25 GO Decel to 25

WT111 Wait for inputs 1,2, and 3 to go active

VE0 GO Stop the move

2. Demonstrates how to prompt an operator for speed changes on a one axis LinStep+. The move is

started after the initial velocity prompt. The velocity only changes when the operator enters a new value

using the keypad. The move can be stopped by entering a velocity of zero, or when any of the stop

conditions defined above exist.

[One Axis MC]

MS1,“Enter the Velocity” Prompt the operator

IV23,(V) Put the operator input in variable (V)

MC+ AC1

VE(V) Use operator inputted variable (V) as new speed

GO Change velocity of axis 1 to the new speed

GT[One Axis MC] Repeat

3. Demonstrates the use of WT, OT and TD commands in continuous move.

MC+ AC3 VE3 GO Start first segment

WT8,1 AC.1 VE10 GO Wait for input 8 and change speed

TD5 AC.3 VE.2 GO Wait for 5 seconds and change speed

WT3,1 VE–10 GO Wait for input 3 and change speed and direction

OT11 Turn on outputs 1 and 2

TD10 VE0 GO Wait 10 seconds and stop the move

6-18 Keypad Programming MN1854

Value: N/A

Units: N/A

Range: n=1–40 characters

(20 on each line)

MS allows messages to be displayed on the keypad’s display. Messages are usually to prompt for operator

input, display function key prompts, or as a diagnostic tool.

MS,“” can be used to restore the initial axis position and I/O display during program execution. MSn,“” clears

the display from the n th character to the end of message. MSn,“user text” prints user text beginning at the n

th character. MSn,(variable) writes the value of the variable beginning at the n th character. These variations

to MS all disable the initial position and I/O display until program execution stops. MS,“” can be used to

restore the initial axis position and I/O display during program execution.

Examples:

MS1,“” Clears the Display.

MS3,“Part Count” Writes string beginning at character 3, top line.

MS27,(COUNT) Displays the value of the variable (COUNT), beginning at position number

27 (7th character, 2nd row).

This keypad programming template shows the relationship of the each character position to the location of

the function keys. This will help you align messages on the display. A larger version is located in the back

of this manual and can be photo copied for programming use.

MS Message to Display syntax – MS,“” returns to the initial runtime display

MSn,“”

MSn,“user text”

MSn,(variable)

M

1

S

2

2

3

7

4

,

5

(

6

C

7

O

8

U

9

N

10

T

11

)

12 13 14 15 16 17 18 19 20

21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40

Display

Lines

FK1 FK2 FK3

Keypad Programming 6-19MN1854

Value: N/A

Units: N/A

Range: N/A

Allows conditional program execution based on an event. When the programmable event occurs, the

current program and move are interrupted and program execution begins at the predefined interrupt

program. The interrupt program can be defined as a GT or a GS. Defining the interrupt as a GS allows

program execution to return to the exact point in the original program where the interrupt occurred. The ON

command currently supports End–of–Travel (EOT) as an event conditional.

After an ON event is defined, it is active in all user programs and need not be redefined except to change

the interrupt program type, number or name, or clear the event condition.

Example: Using ON to handle an EOT event.

[POWERUP]

ONL,GT[ON EOT] [Goto [ON EOT] {on an End–of–Travel input}

GT[HOME] {Home the machine}

[MAIN]

LP {Loop forever}

VE5 DA20 GO {Define move}

DA0 GO {Define move}

EB

[ON EOT]

IF(SA1)&256 {Check if EOT– switch was hit (bit #9 in SA)}

VEI DA0.5 GO {Move off EOT– switch}

GT[HOME] {Home the machine}

EB

VEI DA–0.5 GO {Move off EOT+ switch}

GT[HOME] {Home the machine}

[HOME]

GH3 {Home}

GT[MAIN] {Jump to main loop}

ON On Condition (On Event) syntax – ONn,GTx

ONn,GSx

ONn,0 Clear the event

n= On EOT Limit

6-20 Keypad Programming MN1854

Value: N/A

Units: N/A

Range: i=1 to 16

Sets both discrete and digital Opto output states. After an output is turned on (low), it remains on until

changed by another output command, a reset input (software warm–boot), or power is cycled. All outputs

are turned off (high) at power up or during a reset.

For flexibility, the OT command allows you to use configured outputs anytime. To help prevent programming

confusion, you can use any character in the “don’t change” section of your output statement. This allows you

to self–document your OT statements. For example, assume you configured output #3 as a “FAULT” output.

Programming like “OT01F10” can help remind you that you are already using output #3.

Example:

OT4,1 Turn on Output 4.

OT2,0D1 Turn Outputs 2 off, leave 3 as is, and turn 4 on.

OT110 Turn Outputs 1 and 2 on, and 3 off.

OT Output (turn outputs On/Off) syntax – OTi,xx ..

OTxx (assumes first input is input 1)

i= starting output number 1–16

x=0; input high. X=1; input low (grounded).

x=anything else; ignore input changes.

Value: N/A

Units: N/A

Range: N/A

The “” command transmits an ASCII string from the serial communications interface. A “” without any string

transmits a carriage return character (ASCII 13).

Example:

“Move Complete” Transmits string only out serial interface.

“” Transmits a carriage return only.

“” Quote syntax – Any ASCII Character

Keypad Programming 6-21MN1854

Value: N/A

Units: N/A

Range: N/A

The Registration command (RG) specifies a distance to be moved from the current position – as

commanded by a specific input trigger. For example, in the following program of 10 user–units on axis #1,

the input trigger is received at user–unit 4, to move 3 user–units from the point where the input trigger was

received.

VE2 AC.1 DA10 RG3 GO

Assume the input is an optical sensor that triggered on a registration mark at a position of 4 user–units. The

commanded move related to the registration move is as follows:

RG Registration syntax – RGr

V

T

Axis 1

4710

T=4 RG Input Trigger

T=7 RG End of Move

T=10 Ends at Commanded Position

RG

Index

Distanc

e

Accompanying the programmable Registration Command is the configurable Registration Input: G (also G in

Serial Setup Commands). To configure a Registration input from the keypad, choose EDIT > SETUP > I/O >

INPUTS. An input configured as a Registration Input is designated by a G on the keypad input status

display. The RG Command will only function if the corresponding input has been configured as a

Registration Input.

Note: Registration Input is only configurable on Input #1 for Axis #1.

Value: 0

Units: set in EDIT > SETUP > MECH > DIST

Range: varies with distance units

Sets the current absolute position to “n”. This command is typically used to adjust or shift a coordinate

system. It is often done after a series of incremental moves to reset the absolute coordinate frame.

Example:

MC+ GO WT1,1 VE0 GO SP10.5 After the move is complete, sets the current position of axis 1 to 10.5.

SP Set Position syntax – SP±r

6-22 Keypad Programming MN1854

Value: N/A

Units: N/A

Range: 0.0001 – 214748.3645

The SQ command calculates the square root of a number and returns the result in a user defined variable.

The n parameter in the syntax can be a number or a variable parameter, however, the second parameter

must be a previously defined variable for which the square root result is stored. If the second parameter is

not a defined variable, you will get a Bad Variable Name error. Following mathematical convention, SQ will

produce an Invalid Parameter error for negative “r” values. The return value is accurate to the 0.01 place.

Example: This program calculates the square root of 27.96 and stores the value in the user defined

variable (SQRESULT).

(SQRESULT)=0 SQ27.96,(SQRESULT) The returned value in (SQRESULT) is 5.28.

SQ Square Root syntax – SQr,(var)

Value: N/A

Units: N/A

Range: 0–8 inputs

ST stops move execution upon activating the input specified by n.

ST0 disables (turns off) the STn command.

ST#1 stops the move on axis #1. (Allows program command conditional program termination). ST#1,#2

stops moves on both axes. After ST is executed, the specified input is monitored during every “move

profile”. If the input is activated, the current “move in progress” is terminated, stopping all motion until the

input is deactivated or an ST0 is processed. LinStep+ will process and calculate commands, but will wait at

the next GO command until the ST input changes.

The motor is stopped at the deceleration rate specified in the Stop Decel Rate parameter. Once issued, Stop

on Input remains active until it is turned off by the ST0 command, a reset is issued, or power is cycled.

Example:

ST1 AC1 DE1 VE25 DA6 GO VE50 DA0 GO EN

Move to absolute position 6 units. If input 1 is activated while moving, Stop Motion. When the input is

deactivated, immediately execute the next move profile which is to move to the absolute zero position. If

input 1 is not activated while moving, the motor would complete its 6 unit move before executing the move

back to absolute zero.

ST Stop Move on Input syntax – STn (or ST#n)

STn,n (or ST#n,#n)

Value: N/A

Units: seconds

Range: r=0.01 – 99999.99

Delay r seconds before executing the next command.

Example:

VE50 DI4 GO OT11 TD.5 OT00

Move 4 units, turn outputs 1 and 2 on, delay .5 seconds, and turn outputs 1 and 2 off.

TD Time Delay syntax – TDr

Keypad Programming 6-23MN1854

Value:

Units: in/sec set in EDIT > SETUP > MECH > VEL

Range: varies with velocity units

Sets the maximum velocity during a move profile. If the acceleration rate is too slow or the move distance is

too short, the motor may make a triangular move (velocity vs. time) and the motor may never reach the

specified speed. When VE is specified, the value is used in all subsequent moves until re–defined.

Example:

AC.1 DE.2 VE50 DA4 GO Move to absolute position 4 units with a top speed of 50 in/sec.

VE Velocity syntax – VEr

Value: N/A

Units: N/A

Range: 1–16

Causes LinStep+ to wait for the specified condition to be true before continuing program execution. Either

digital or analog input conditions may be used. The WT command allows use of configured inputs in the

expression. To help prevent this from causing programming confusion, you can use any character as an

input (x). This allows you to self document WT statements. For example, assume input #3 is set to “JOG

SPEED”. Programming like “WT01J10” can help remind you that you are already using input # 3.

Example:

WT4,1 GO Wait for input 4 to equal 1 before moving.

WT2,010 GO Wait for inputs 2–4 to equal 010 before moving.

WT110 GO Wait for inputs 1–3 to equal 110 before moving.

WT#1 Causes program execution to halt (wait) until GI move is complete.

WT Wait syntax – WTi,xx...

WTxx... (assumes first input is input 1)

WTexpression

WT#1, (synchronized the program after a GI move)

i = starting input number, 1–16

x=0; input high. X=1; input low (grounded).

x=anything else; ignore input changes.

expression = any valid expression (see math and variables definitions)

6-24 Keypad Programming MN1854

Table 6-2 Summary of Expressions, Operators and Functions

[ ] Name Program

( ) Name Variable

&& Logical AND

|| Logical OR

!Logical NOT

!= Not Equal

+ Add

–Subtract

* Multiply

/ Divide

= Equal

>Greater Than

>= Greater Than or equal to

<Less Than

<= Less Than or equal to

&Bitwise Boolean AND

|Bitwise Boolean OR

++ Increment Variable

+= Increment by n

– –Decrement Variable

–=Decrement by n

<< Shift Left

>> Shift Right

Helpful Hints Programming your application

This section provides additional information that may be helpful to begin

programming the LinStep+. Also, several practical examples are given that can be

used or modified. More program examples are available on the Intelliware disk set.

Programming Overview

First, you must decide how the LinStep+ fits into the overall machine control

hierarchy. Generally there are three ways that the LinStep+ may be used:

1. Stand–alone mode – controls all the Inputs/Outputs and motion.

2. With a PLC – the PLC runs the machine and calls on the LinStep+ via

program select lines for motion.

3. In a “hosted” mode – the PC sends serial commands to the LinStep+ for

execution. The LinStep+ uses a sequential, interpretive command

processor. This means that commands in a program are executed one at

a time, and that one command must be completed before the next

command is processed.

Keypad Programming 6-25MN1854

[Move] VE4 DI10 OT01 GO OT10 Example of “Hosted” Mode

Program

In the program [Move], the maximum move velocity is set to 4, the command

incremental distance is set to 10, output 1 and output 2 are turned off and on

simultaneously, axis one then moves 10 units. After axis one stops moving, output

1 is turned on and output 2 is turned off. These changes of outputs 1 and 2 occur

at the same time.

The flow of the program is controlled with WT (wait for an event or condition to

occur), TD (wait for a pre–set amount of time to elapse), and IF (if a certain

condition is true at this instant, then execute a block of commands) statements.

External controllers such as PLC and computers can be coordinated by the digital

outputs and ASCII serial commands. The commands that can be entered from the

keypad and used in a program are listed in Table 6-1.

Variables Memory space allows for up to 100 variables. All variables are stored as fixed

point numbers. All variables are global. All standard variables are volatile, though

non–volatile variables are available as well. Variables can be used in many parts

of the program, such as:

SArithmetic

SConditional Expressions

SLoop Counts

SDistance and velocity commands

SSet values

SSet command values or parameters

SSet analog signals

SRead analog or temperature input

SDisplay information such as position or velocity

SAny place that a number can be used, a variable can be used

Variable Names

Descriptive variable names can be assigned, instead of V1, V2, etc. Variable

names can be up to 14 characters, but the first 10 characters must be unique. A

name can contain other printable ASCII characters, such as numbers,

underscores, exclamation points, even spaces. Upper and lower case characters

are supported within variable names, and these variable names are case

sensitive. ASCII control characters such as LF and CR are not supported. All

variables must be enclosed in parentheses, (variable name). Parentheses are not

legal variable characters.

6-26 Keypad Programming MN1854

Built–in Variables

Some variable names are pre–defined. They can be used in expressions, to set

voltages, to test conditions, or to display information to the keypad display or an

external serial device.

Variable Name Description of Built–in Variable Type

(AI1) to (AI6) Analog Inputs 1 through 6 Read Only

(AROWREL) Current status of any of the four arrow keys Read Only

(CPOS1) (CPOS2) Commanded position of axis 1 or 2 Read Only

(EPOS1) (EPOS2) Encoder position of axis 1 or 2 Read Only

(VEL1) (VEL2) Commanded velocity of axis 1 or 2 Read Only

(POS1) (POS2) Current Position of axis 1 or 2 Read Only

(#F1) thru (#F50) Non–volatile, limited use, user system variables Read/Limited Write

(FKEY) Value of Function Key pressed Read Only

(LASTKEY) Value of last Function key pressed Read Only

(TERM) Sends variable out RS–232 port Write Only

(1TW) Scans inputs 1–4 for BCD Digit Read Only

(2TW) Scans inputs 1–8 for BCD Digit Read Only

(TIME) Elapsed Time (ms) since power up or since reset Read Only

(CRCS) Value of the EEPROM setup checksum Read Only

(CRCP) Value of the EEPROM program checksum Read Only

(SA1) (SA2) Integer value of the status of axis 1 or 2 (SeeRS232 command SA) Read Only

(SD1) (SD2) Integer value of the drive status of axis 1 or 2 (See RS232 com-

mand SD) Read Only

(SS) Integer value of the system status (See RS232 command SS) Read Only

(INT98CTRL) Enables/disables (ARM INT98) trigger option Read and Write

(ARM INT98) Enables/disables INT98 input if (INT98CTRL) is enabled Read and Write

Examples of how to use Built–in Variables

(PIECES)=10 Assigns 10 to variable

(SPEED)=(AI12)*(VEL SCALE) Speed = analog input times a scalar

MS21,“Enter Length” IV32,(LENGTH) Prompts user and gets feed length

VE(SPEED) Sets velocity to value in variable

MS1,(POS2) Displays current position of axis 2 on keypad screen

(TERM)=(POS1) Sends the current position of axis 1 out the RS–232 port of the

Smart Drive

(TEMPERATURE)=(AI9) Reads in temperature from an analog input

(AO15)=4012 Sets the analog output to 4012

(#F1)=(PIECES) Stores the value of Pieces in FLASH memory variable #F1

Keypad Programming 6-27MN1854

Using Built–in Variable (AROWREL)

(AROWREL) is a built–in Boolean read only variable that determines the status of

any of the four arrow keys. When used with (FKEY), the program can detect if an

arrow key is being held down. (AROWREL) will only return the status of the four

arrow keys. If a different key is pressed, (AROWREL) will return the value 0.

(AROWREL) will return one of these values:

(AROWREL)=0 One of the arrow keys is being held down.

(AROWREL)=1 The arrow key has been released.

Example JOG application using (AROWREL) and (FKEY):

[MAIN] {Program #1}

FK12,13 {Wait for a Left or Right arrow key}

GT(FKEY) {Jump to arrow key program #12 or #13}

[LEFT ARROW] {Program #12}

MC+ {Enable MC mode}

AC.1 {Start MC move}

VE1 {Move in positive direction}

GO

LP

IF(AROWREL)=1 {Check status of arrow key}

VE0 {Stop MC move on key release}

GO

GT1 {Return to main program}

EB

EB

[RIGHT ARROW] {Program #13}

MC+ {Enable MC mode}

AC.1 {Start MC move}

VE–1 {Move in negative direction}

GO

LP

IF(AROWREL)=1 {Check status of arrow key}

VE0 {Stop MC move on key release}

GO

GT1 {Return to main program}

EB

EB

6-28 Keypad Programming MN1854

Non–Volatile Variables

(#F1) through (#F50) are fifty user variables stored in non–volatile flash memory

so they retain their values through power cycles, warm boots, and system resets.

Standard user variable are lost at power down or reset. When one of these

variables is changed (i.e. used on the left side of a equal (=) sign, the new value is

written to, and stored in the user non–volatile flash.

Note: Flash memory has a limited read/ write lifetime (100,000 writes before failure), variable values

that change frequently should not be stored as these variables. Examples include loop count

variables, and POS1 and POS 2 variables. LinStep+ will allow only 1,000 FLASH writes between

power cycles. This limit is set to prevent damage to non–volatile memory due to a simple

programming mistake or misunderstanding. When this write limit is exceeded, all programs will

stop running, an error message will be displayed, and the appropriate status bits will be set.

Example: At the start of each part run, a program called [Set–up] is used to

initialize a number of variable part parameters. During production the program

called [PARTS] is run. This program reads from the FLASH variables, but does not

generate any writes to the FLASH, so the lifetime of the FLASH is not

compromised.

[Set–up] {Program #1}

MS1,“Feed length?: ” Writes string beginning at character 1, top line

IV12,(LENGTH),1,15 Loads the part length to variable (LENGTH)

MS1,“Feed Speed?: ” Writes string beginning at character 1, top line

IV12,(SPEED),.05, 5 Loads the speed into volatile variable (SPEED)

(#F1)=(LENGTH) Loads the length into non–volatile variable (#F1)

(#F2)=(SPEED) Loads the speed into non–volatile variable (#F2)

EN

[PARTS] [PARTS] runs on power up, unless new parameters

are entered.

(LENGTH)=(#F1) Load part specific variable from non–volatile #F1.

(SPEED)=(#F2) Load part specific variable from non–volatile #F2.

LP(NUMBER) Loop (NUMBER) of times

DI(LENGTH) Move (LENGTH)

VE(SPEED) at (SPEED) velocity

GO

OT1 TD.1 OT0 Change output to indicate part done

EB End the loop Block

Keypad Programming 6-29MN1854

Arithmetic Operands and Equations

Addition (+), subtraction (–), multiplication (*), and division (/) are easily performed.

Expressions may only contain one operand. Complex equations require multiple

statements. Variables and fixed point numbers may be mixed in arithmetic

equations. All user arithmetic and variable storage uses 32 bit integer and

fractional representation. The + and – symbols have a dedicated button on the

keypad. Pressing the button will change between the two. The *, /, and = are

accessed with the Alpha+0+ ... keystrokes.

Example:

(X)=(Y)*10

(AO15=(VOLTAGE) + (ERROR)

Examples of incorrect use:

(X)=1+2–3 This statement is incorrect because it has more than

one operand.

(Length)=(Total)*0.3125 This statement is incorrect because it has more than

four decimal places.

Instead, you should use:

(X)=1

(X)=(X)+2 or (X)+=2

(X)=(X)–3 or (X)–=3

and

(Length)=(Total)*3.125 Multiply the significant figures

(Length)=(Length)*.01 Then move the decimal place

or

(Length)=(Total)/32 32 bit storage of fractional decimal number

Boolean Operators

Boolean operators & and | perform their respective bitwise Boolean functions on

immediate or variable parameters. As an example, isolate a specific bit from an

SD response to determine if axis #1 drive is enabled. This corresponds to a bit #5

(10000) Binary, (16) Integer in the SD response. The example program segment is

written as follows:

(DRIVE STAT)=(SD1)&16 IF(DRIVE STAT)=16 MS,1“Drive Enabled” EB

The 16 corresponds to an integer weight of bit #5 (10000).

6-30 Keypad Programming MN1854

Logical Operators

Conditional commands (IF,WT, LU, LW) support logical operations of AND (&&)

and OR (||). Two expressions may be logically AND’d or OR’d within one

conditional command. For example:

(A)=5 (B)=2.5 IF(A)>2&&(B)=2.5 MS1, “True Statement” EB

In this program, the message “True Statement” appears since BOTH conditional

statements are true.

Increment/Decrement Variables

Four syntaxes are supported by variables: ++ (Single Increment), += (Value

Increment), –– (Single Decrement), –= (Value Decrement). These operators will

initialize any uninitialized variable to zero before incrementing or decrementing it

for the first time.

(Variable Name)++ Increments a variable value by 1

(Variable Name)+=n Increments a variable value by n

(Variable Name)– – Decrements a variable value by 1

(Variable Name)–=n Decrements a variable value by n

Expressions

Five conditional expressions are supported: less than (<), equal to (=), greater

than (>), less than or equal to (<=), and greater than or equal to (>=). The IF and

WT commands can use these expressions to direct program flow or wait for an

analog input to meet a condition. The > and < symbols are entered into the keypad

editor with the ALPHA+↑+↑...↑

Examples:

IF (X)>10 GS20 EB If X is greater than 10 gosub to program #20.

WT(AI12)<(MAX TEMP) Wait for the temperature to go below the maximum

before continuing command processing.

Other Programming Samples

These sample programs provide an idea of how to solve simple programming

tasks. To aid your program documentation, comments are placed in {brackets}.

These comments are stripped from the program as it is downloaded for execution

to help conserve memory. Files should be saved before downloading save the

comments.

Example:

DI10,2 GO Moves to load position

DI15,15 GO Moves to unload position

Keypad Programming 6-31MN1854

Create a Message and Read an Input Variable

[GET PARTS] Name the subroutine

MS1,“” Clears the Display

MS1,“How many?: ” Writes string beginning at character 1, top line

IV12,(PIECES) Waits at 12th character for the # of pieces.

MS1,“” Clears the Display

MS1,“How long?:: ” Writes string beginning at character 1, top line

IV12,(LENGTH) Waits at 12th character for the length.

LP(PIECES) Loops the number of pieces entered

DI(LENGTH) Moves the length entered.

GO EB

Create a Menu (menu display on keypad display for operator)

MS1,“” Clears keypad screen

MS21,“PART1 PART2 PART3”Writes a message above function keys.

FK1,2,3 Waits for a Function Key to be pressed

(FKEY)=(FKEY)+50 Add an offset to FKEY

GT(FKEY) Goto program #51, 52, or 53. (50 + 1, 2, or 3)

Fast In, Slow Feed Move (Using the Distance to Change (DC) command)

AC.05 Set acceleration

DE.09 Set deceleration

VE50 Set first velocity

DA6 Set total move distance

DC5.5 Set point where you want to change speed

VE5 Set second speed

GO Start the move profile

50

0

5.0

5.5 6.0

Setting an Output=On (on–the–fly)

AC.05 Set acceleration

VE10 Set velocity

DA4 Set total move distance

DC1 Set point to turn on...

OT1 Output 1

DC2 Set point to turn on...

OT2,1 Output 2

DC3 Set point to turn on...

OT3,1 Output 3

GO OT1,1

1

OT2,1

2

OT3,1

34

6-32 Keypad Programming MN1854

Read a 4 Digit BCD number, 2 Digits at a time

[GET 4 BCDS] Returns value of 4 digit BCD number

OT01 Connect ground of first two BCD digits

(4 DIGIT BCD)=(2TW)*100 Make value of first two digits the MSB

OT10 Connect ground of 2nd two BCD digits

(4 DIGIT BCD)=(4 DIGIT BCD)+(2TW) Add value of 2nd two to 1st two * 100

Reading an Analog Input Value

The value of the analog system variables (Al I –AI6) are scaled from 14,400 to 72,000 Hz.

This value is actually a scaled frequency read from the OPTO module representing the

analog signal. These input values are updated every 16 milliseconds. If your program

needs to display this value in units such as VOLTS, you will need to scale the value to

VOLTS in your program. The scaling factor depends upon the type of OPTO module used.

For example: a ”J ” thermocouple uses a different factor than a ”K” thermocouple. Due to

slight variances in the output frequency from module to module, it is recommended that the

OPTO be calibrated by querying the corresponding AIx value with no input signal connected

to the OPTO. This value should be used as the zero input reference frequency.

Example: Use a 0–10VDC analog input. 0V=14,400; 10V=72,000 or 5.760 Hz/volt.

(VOLT)=(AI2) Read the value of analog input #2 into variable volts

(VOLT)=(VOLT)–14400 Remove frequency offset

(VOLT)=(VOLT)*1.736 Scaling factor multiplied. by 10,000

(VOLT=(VOLT)*.0001 Scaling back to volts

The variable (VOLT) is now in units of volts. If you are waiting for a condition to occur or

doing a comparison, (see below) there is no need to go through the conversion process.

(TEMP)=(AI9) Read in temperature from analog input

WT(AI12)<45000 GO Wait for analog input 12 <45000 (<5.3 VDC using the

previous example) before moving

IF(AI12)<45000 GO EB Go if analog input 12 < 45000

Min

Value Max

Value

Input Signal

10

20

30

40

50

60

70

80 72

14.4

Output

Frequency

(kHz)

Section 7

Troubleshooting

Troubleshooting 7-1MN1854

Overview The system troubleshooting procedures involve observing the status of the LED’s.

The tables in this section provide information related to the indications provided by

these devices.Table 7-1 Operation Indicators

LED Color Status Comments

Power Green Indicates that AC power is applied and the

supplies are operating. LED’s will flash during power up tests but only

the Power LED should remain on.

Regen Yellow On during Regen activity. Should remain off. On when Regen circuit is

active to dump excess bus energy.

OverVoltage/

INTLK Red Regen circuit cannot handle excess energy or

Interlock circuit is open. This fault condition is reset by cycling power.

Temperature Red On when internal heatsink temperature exceeds

158°F (70°C). This fault condition is reset by cycling power.

Install a fan kit, reduce the load, reduce ambient

temperature, use the Standby current setting.

Table 7-2 Axis 1 and 2 Indicators

Stepping Green Indicates LinStep+ is sending CW (right LED) or

CCW (left LED) step pulses. Above several steps per second the LED

becomes continuously illuminated.

Disable/Short Yellow On when the Shutdown input is activated by an

external control. The Shutdown signal also

activates the Short output, but does not turn on

the Short LED.

Short LED indicates that a Short Circuit or

Undervoltage condition has occurred. A short

circuit problem can occur because of shorted

or miswired motor leads, or internal fault.

This fault condition is reset by cycling power.

To isolate the problem, disconnect and insulate

the motor leads from the drive connector, but

leave the Interlock jumper installed. Apply

power and step pulses. If the drive does not

invoke the short circuit fault, then it is likely that

the defect is in the motor, wires or the

connections at the drive.

Note: The fault LED and fault Output do NOT activate the same. The fault Output indicates that

one of several fault conditions has occurred. The fault LEDs provide a means of resolving

the source of the fault.

Additional Information (General)

Symptom Possible Cause Possible Remedies

The keypad is blank

with no backlight. The keypad is not receiving +5VDC. Verify all wiring is correct.

Verify that the +5VDC is between 4.8 and 5.2V.

Display is difficult to

read Contrast ratio is incorrectly set Adjust the contrast with the pot on the back of the keypad.

The ON LED is yellow. FLASH memory is corrupt. The operating system and user programs must be reloaded.

The ON LED is red. A Fault has occurred. The fault can be determined with the keypad or by using

serial status commands (SS, SA, SD).

Motor moves the wrong Wrong Gear Ratio. Check distance units

distance Motor stalled. Check motor current, inductance, anti–resonance settings

Check Speed Torque required for move, reduce

acceleration.

Motor stalls Acceleration and/or velocity too high. Reduce acceleration and/or velocity.

Motor configured incorrectly. Check motor current, inductance and anti–resonance

settings.

Motor direction is wrong The motor phases are miswired. Verify connections, or swap A+ with A–.

The system real direction is reversed. Change the control’s direction parameter.

The control does not re-

spond to keypad input. The keypad is disabled. Check the switch settings on the back of the keypad.

The motor “whines”The inductance or anti–resonance

setting is incorrect. Verify the Inductance setting. Operation is best with motors

4 mH or above. Otherwise, verify the anti–resonance setting.

7-2 Troubleshooting MN1854

Additional Information Continued

Symptom Possible Cause Possible Remedies

No RS232 commu-

nication but keypad

works.

If the keypad works, the RS232 port

is working. Something else is wrong

(wiring, configuration, address).

Refer to Section 5, “Configure Serial Communications”.

Verify PC COM port is set to 9600 baud, 8 data bits 1 stop bit,

no parity.

RS232 communica-

tion and keypad do The keypad is disabled. Verify that you do not have an RS485 version.

Enable the keypad by the switch on back of keypad.

tion and keypad do

not work. The serial port is not working. Contact Baldor.

“Hit A Limit” A limit switch has been activated. Either the motion commanded was not correct, or the EOT

switch is incorrectly positioned on your system.

“Amplifier Fault”Multiple drive faults have occurred. The fault can be determined with the keypad or by using serial

status commands (SS, SA, SD).

“Over Temperature

Fault”Internal Fan is not operating or

Heatsink Tunnel is clogged or

restricted.

Remove obstruction, or clean tunnel by removing unit, use

screwdriver to prevent the fan from turning, and blow shop

air through the tunnel. Return unit to installation.

Ambient air in cabinet is too hot. If multiple units are installed within the enclosure, ventilation

must be adequately to remove heat.

The fan does not operate. With power off, verify the internal fan connections. If properly

connected, the fan may have failed. Contact Baldor.

“Over Current Fault” Motor is miswired or damaged. The

LinStep+ has short circuit protection,

but you must correct the problem to

clear the fault.

With power off verify all connections.

Verify current setting is correct for the motor rating.

Verify the motor phases are not open or shorted (phase to

phase and phase to ground). The resistance in each phase

should be about the same and only a few ohms. If the

phases are open or have a large resistance, the motor is

probably damaged and should be replaced.

“Over Voltage Fault”Excessive bus voltage. Usually

caused by a regen condition that

overwhelms the internal power

dump circuit.

It can also be caused by high line

voltage, or voltage spikes.

Eliminate the regen event by reducing the load or make the

move less aggressively by reducing the commanded

acceleration or velocity.

Verify AC line voltage is within the limits.

“Interlock Fault”Motor connector does not have an

interlock jumper, or motor has been

disconnected.

Connect motor connector with Interlock.

“Following Error”Motor stalled. Confirm proper motor configuration (current, AR, mH).

Make a less aggressive move.

Wrong encoder resolution set. Verify the encoder settings are correct. Incorrect settings can

cause a following error.

“Encoder Wired

Backwards”Encoder position is changing opposite

the commanded move. Verify motor and encoder wiring. Reverse phases of either

motor or encoder. Contact Baldor for assistance.

“Encoder Fault”Attempted closed loop motion and

encoder position is unchanged. Verify encoder wiring.

“Error Finding Home” Both EOT switches were activated

without finding the home switch. Verify home switch connections and configuration (NORM

OPEN or NORM CLOSED).

“Invalid Program”Attempted to “call” an empty program

(i.e. GT, GS). Verify program number, or define program “called”.

“Program Too Large”Program length exceeds 1024 bytes. Divide program into smaller programs or reduce program size.

“Insufficient Memory”All stored user programs exceed 60K. Reduce program size, or delete programs.

“Invalid Program #”Program number exceeds 400 or

program name does not exist. Verify program name and number.

Troubleshooting 7-3MN1854

Additional Information Continued

Symptom Possible Cause Possible Remedies

“Unknown Command”A command not in the command set

has been issued. Check program for data entry errors.

“Command Is Too

Long”Command and parameter string

exceeds 80 characters. Reduce command string size.

“Too Many Parame-

ters”Parameter list exceeds amount

supported by command. Reduce parameter list size.

“Invalid Parameter”Parameter type is invalid. Verify parameter with command syntax.

“Bad Command

Syntax”Command and parameter list has

invalid syntax. Check program for data entry errors.

“Too Many Nested

LPs”Program exceeds 16 nested loops. Reduce nested loops.

“Too Many Nested

GSs”Program exceeds 16 nested gosubs. Reduce nested gosubs.

“Too Many Nested

EBs”Program exceeds 16 nested IF

blocks. Reduce number of nested IF blocks.

“Bad Variable Name”A variable used as a command

parameter is undefined (misspelled). Verify variable name, or define variable with an initial value.

“No Free Variables”Attempted to define more than 100

user variables. Reduce number of user variables.

Serial Communications Problems

1. Test your terminal or terminal emulation software. Disconnect the motor and transmit a character.

Receiving double characters (XX) when entering single characters (X), indicates your computer is

set to the half duplex mode. Change to the full duplex mode.

2. Host transmit (TX) must be connected to receive (RX) of the drive unit, and receive (RX) of the host

must be connected to transmit (TX) of the drive. If communication fails, try reversing these

connections at either the host or the LinStep.

3. Many serial ports require handshaking. Jumper RTS to CTS, and DSR to DTR at host connector

Jumpers 9 pin (25 pin) RTS to CTS 7 to 8 (4 to 5); DSR to DTR 4 to 6 (6 to 20).

4. Configure the host to the identical baud rate, number of data bits, number of stop bits, and parity.

5. Check all grounds. Use DC common or signal ground as your reference. Do not use earth ground

or shield.

6. Check your cable length. If any cable is over 50 ft. long, you should be using a line driver, optical

coupler, or shield. Shields must be connected to earth ground at one end only.

7-4 Troubleshooting MN1854

Section 8

Specifications & Product Data

Specifications & Product Data 8-1MN1854

Identification

1

Linear Stepper Driver

LX

LinStep+

Number Axes

1=1 Axis

2=2 Axis

P

Driver Type

D = LinStep

P = LinStep Plus

Input Voltage

1=115VAC

2=230VAC

2 A–06

Rated Output Current

06 = 6.9 Amperes

8-2 Specifications & Product Data MN1854

General Specifications

Description Unit LX2P1A06–2

Input Voltage Range Nominal

Minimum

Maximum

VAC 115

92

132

Input Frequency Hz 50/60 ±5%

Nominal Output Bus Nominal

(@ 115 / 230 input) Minimum

Maximum

VDC 170

88

220

Max. Output Current each axis ARMS 6

Resolution in (mm) 4 x 10–5 (1.016 x 10–3)

Efficiency % 85

Motor Inductance mH 2 – 60

Switching Frequency kHz 20

Encoder –Optically Isolated, differential line driver, 5VDC, 500 KHz Max (2

MHz post quadrature)

Inputs –8 – Programmable + 2 Limit and 1 Home inputs. (24VDC

maximum – optically isolated ≤ 3mA sink current at ≥ 0.7Volts)

Output Power –12VDC @ 12mA (Pull–ups)

5VDC @ 200mA (encoder)

Programmable Outputs –8 – Open collector (100mA maximum sink current,

350mA maximum total sink amps).

Programming –Keypad or Serial communications

Operating Temperature °F 〈°C) 32 to 100 (0 to 40); 122 (50) Maximum

Operating Altitude ft (m) 8300 (2540) Maximum

Storage Temperature °F 〈°C) –13 to 158 (–25 to 70)

Humidity (non–condensing) % 10–90

Shock 10G (according to DIN IEC 68–2–6/29)

Vibration 1G @ 10 – 150 Hz (according to DIN IEC 68–2–6/29)

Protection & Indicators Description

LED Indications Green – Normal operation; Red – Fault condition; Amber – FLASH

fault Protection

Short Circuit Disable on phase–to–phase, or phase–to–ground detected

Undervoltage Disable if supply drops below 90 VAC

Over Temperature Disable if heatsink > 70 °C

Interlock Disable if interlock connection broken

Regen/Overvoltage Disable if bus voltage exceeds 220 VAC on 115 VAC units, 440 VAC

on 230 VAC unit

Specifications & Product Data 8-3MN1854

Dimensions

10.08

(256.0)

0.20 (5.1)

0.34 (8.7)

10.50

(266.7)

2.93

(74.4)

5.84

(148.3)

3.73

(94.7)

0.21 (5.3)

2 Axis

Driver

1.19

(30.2)

Use 8–32 or 10–32 Cap Screws (2 places)

9.06

(230.1)

(Optional Keypad)

For safe operation, allow a clearance distance between each control and on all sides of each control.

At least 3 inches (75mm) top and bottom clearance must be provided for air flow. Between drivers

(each side), allow at least 0.1 inch (2.5mm).

8-4 Specifications & Product Data MN1854

Section 9

CE Guidelines

CE Guidelines 9-1MN1854

CE Declaration of Conformity

Baldor indicates that the products are only components and not ready for

immediate or instant use within the meaning of “Safety law of appliance”, “EMC

Law” or “Machine directive”.

The final mode of operation is defined only after installation into the user’s

equipment. It is the responsibility of the user to verify compliance.

The product conforms with the following standards:

DIN VDE 0160 / 05.88 Electronic equipment for use in electrical power

installations

DIN VDE 0100 Erection of power installations with nominal

voltages up to 1000V

DIN IEC 326 Teil 1 / 10.90 Design and use of printed boards

DIN VDE 0110Teil 1-2 / 01.89 Dimensioning of clearance and creepage

DIN VDE 0110Teil 20 / 08.90 distances

EN 60529 / 10.91 Degrees of protection provided by enclosures

EMC – Conformity and CE – Marking

The information contained herein is for your guidance only and does not

guarantee that the installation will meet the requirements of the council directive

89/336/EEC.

The purpose of the EEC directives is to state a minimum technical requirement

common to all the member states within the European Union. In turn, these

minimum technical requirements are intended to enhance the levels of safety both

directly and indirectly.

Council directive 89/336/EEC relating to Electro Magnetic Compliance (EMC)

indicates that it is the responsibility of the system integrator to ensure that the

entire system complies with all relative directives at the time of installing into

service.

Motors and controls are used as components of a system, per the EMC directive.

Hence all components, installation of the components, interconnection between

components, and shielding and grounding of the system as a whole determines

EMC compliance.

The CE mark does not inform the purchaser which directive the product complies

with. It rests upon the manufacturer or his authorized representative to ensure the

item in question complies fully with all the relative directives in force at the time of

installing into service, in the same way as the system integrator previously

mentioned. Remember, it is the instructions of installation and use, coupled with

the product, that comply with the directive.

Wiring of Shielded (Screened) Cables

Conductive

Clamp

Remove the outer

insulation to expose the

overall screen.

9-2 CE Guidelines MN1854

Using CE approved components will not guarantee a CE compliant system!

1. The components used in the drive, installation methods used, materials

selected for interconnection of components are important.

2. The installation methods, interconnection materials, shielding, filtering

and grounding of the system as a whole will determine CE compliance.

3. The responsibility of CE mark compliance rests entirely with the party

who offers the end system for sale (such as an OEM or system

integrator).

Baldor products which meet the EMC directive requirements are indicated with a

“CE” mark. A duly signed CE declaration of conformity is available from Baldor.

EMC Wiring Technique 1CABINET

The drawing shows an electroplated zinc coated enclosure,

which is connected to ground.

This enclosure has the following advantages:

– All parts mounted on the back plane are connected to

ground.

– All shield (screen) connections are connected to ground.

Within the cabinet there should be a spatial separation

between power wiring (motor and AC power cables) and

control wiring.

2SCREEN CONNECTIONS

All connections between components must use shielded

cables. The cable shields must be connected to the

enclosure. Use conductive clamps to ensure good ground

connection. With this technique, a good ground shield can

be achieved.

3EMC – FILTER

The EMI or main filter should be mounted next to the power

supply (here BPS). For the connection to and from the main

filter screened cables should be used. The cable screens

should be connected to screen clamps on both sides.

(Exception: Analog Command Signal).

4Grounding (Earth)

For safety reasons (VDE0160), all BALDOR components

must be connected to ground with a separate wire. The

diameter of the wire must be at minimum AWG#6 (10mm@).

Ground connections (dashed lines) must be made from the

central ground to the regen resistor enclosure and from the

central ground to the Shared Power Supply.

5Y–CAPACITOR

The connection of the regeneration resistor can cause RFI

(radio frequency interference) to be very high. To minimize

RFI, a Y–capacitor is used. The capacitor should only be

connected between the dynamic brake resistor housing

and terminal pin R1 (lead from Flex).

Recommend: 0,1µF / 250VAC Type: PME265

BALDOR–Ordering–No.: ASR27104

Y

Ca

pa

cit

or

CE Guidelines 9-3MN1854

EMC Installation Instructions

To ensure electromagnetic compatibility (EMC), the following installation

instructions should be completed. These steps help to reduce interference.

Consider the following:

•Grounding of all system elements to a central ground point

•Shielding of all cables and signal wires

•Filtering of power lines

A proper enclosure should have the following characteristics:

A) All metal conducting parts of the enclosure must be electrically

connected to the back plane. These connections should be made with a

grounding strap from each element to a central grounding point . 

B) Keep the power wiring (motor and power cable) and control wiring

separated. If these wires must cross, be sure they cross at 90 degrees to

minimize noise due to induction.

C) The shield connections of the signal and power cables should be

connected to the screen rails or clamps. The screen rails or clamps

should be conductive clamps fastened to the cabinet. 

D) The cable to the regeneration resistor must be shielded. The shield must

be connected to ground at both ends.

E) The location of the AC mains filter has to be situated close to the drive

so the AC power wires are as short as possible.

F) Wires inside the enclosure should be placed as close as possible to

conducting metal, cabinet walls and plates. It is advised to terminate

unused wires to chassis ground. 

G) To reduce ground current, use at least a 10mm2 (6 AWG) solid wire for

ground connections.

 Grounding in general describes all metal parts which can be connected to a protective

conductor, e.g. housing of cabinet, motor housing, etc. to a central ground point. This

central ground point is then connected to the main plant (or building) ground.

Or run as twisted pair at minimum.

Cable Screens Grounding

Cable (Twisted Pair Conductors)

Conductive Clamp – Must contact bare cable shield

and be secured to metal backplane.

9-4 CE Guidelines MN1854

Input Signal Cable Grounding

Cable

1

2

3

7

9

10

11

Control

Simulated Encoder Output Cable Grounding

Cable

1

6

2

7

3

8

11

13

Control

To

Controller

Encoder Cable Grounding

Cable

1

6

2

7

3

8

11

13

Control Encoder Connector

Housing

Connection of shields to digital ground is optional.

Appendix A

Appendix A-1MN1854

Programming Template

1 234567891011 12 13 14 15 16 17 18 19 20

21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40

FK1 FK2 FK3

1 234567891011 12 13 14 15 16 17 18 19 20

21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40

FK1 FK2 FK3

1 234567891011 12 13 14 15 16 17 18 19 20

21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40

FK1 FK2 FK3

1 234567891011 12 13 14 15 16 17 18 19 20

21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40

FK1 FK2 FK3

A-2 Appendix MN1854

1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20

21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40

FK1 FK2 FK3

1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20

21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40

FK1 FK2 FK3

1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20

21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40

FK1 FK2 FK3

1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20

21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40

FK1 FK2 FK3

Appendix A-3MN1854

1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20

21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40

FK1 FK2 FK3

1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20

21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40

FK1 FK2 FK3

1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20

21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40

FK1 FK2 FK3

1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20

21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40

FK1 FK2 FK3

A-4 Appendix MN1854

Remote Keypad Mounting Template

0.23

(5.84)

2.0 (50.8)

0.66

(16.7)

3.09

(78.48)

3.184

(80.87)

3.25 (82.55)

0.75

(19.0)

4.0 (101.6)

2.04

(51.8)

3.39

(86.10)

3.034 (77.06)

4.154 (105.51)

4.380 (111.25)

4.838 (122.88)

EE

EE

MM

MM

B

BB

0.5 (12.7)

Cut–Out

1.5 (38.1)

Cut–Out

0.5 (12.7)

Cut–Out

Installation Notes.

1. For SAE mounting (6–32 hardware) mark and drill holes “E” with 3/16" drill bit.

2. For metric mounting (M3.5 hardware) mark and drill holes “M” with 3/16" drill bit.

3. For Ball–Head Removable mounting mark and drill holes “B” with 5/32" drill bit.

4. To prevent damage to keypad, mounting screws must not extend more than 0.2" into keypad.

5. To isolate the keypad from the enclosure, use non–conductive mounting hardware.

BALDOR ELECTRIC COMPANY

P.O. Box 2400

Ft. Smith, AR 72902–2400

(501) 646–4711

Fax (501) 648–5792

www.baldor.com

W Baldor Electric Company

MN1854 Printed in USA

7/01 C&J 1000

CH

TEL: +41 52 647 4700

FAX: +41 52 659 2394

D

TEL: +49 89 90 50 80

FAX: +49 89 90 50 8491

UK

TEL: +44 1454 850000

FAX: +44 1454 850001

I

TEL: +39 11 562 4440

FAX: +39 11 562 5660

AU

TEL: +61 29674 5455

FAX: +61 29674 2495

F

TEL: +33 145 10 7902

FAX: +33 145 09 0864

CC

TEL: +65 744 2572

FAX: +65 747 1708

MX

TEL: +52 47 61 2030

FAX: +52 47 61 2010

LinStep+ Dual–Axis Microstepping Indexer/Driver MN1854