VS1SDManual

User Manual: VS1SDManual

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VS1SD
AC Servo Control

10/12

Installation & Operating Manual

MN766

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Important:
Be sure to check www.baldor.com for the latest software, firmware and drivers for your VS1SD product. Also you can
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Table of Contents

MN766

Chapter 1
Introduction
1.1 Getting Assistance from Baldor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1.2 Safety Notices. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1.3 Quick Start. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1-1
1-1
1-3

Chapter 2
General Information
2.1 Limited Warranty. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.2 Standards. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.2.1 Design and Test Standards . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.2.2 Environmental Test Standards. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.2.3 Marks. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2-1
2-1
2-1
2-1
2-1

Chapter 3
Installing the Drive
3.1 Receiving & Inspection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.2 General Requirements for the Installation Site . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.2.1 Location Instructions. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.2.2 Minimum Mounting Clearances. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.3 Mounting the Drive. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.3.1 Protecting the Drive from Debris. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.3.2 Watts Loss Data. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.4 Cover Removal Procedure (NEMA 1 Drives). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.5 Cover Removal Procedure (NEMA 4X Frames AA and B) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.6 Cover Replacement Procedure (NEMA 4X Frames AA and B) . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3-1
3-1
3-1
3-1
3-1
3-1
3-2
3-2
3-2
3-3

Chapter 4
Power Wiring
4.1 Grounding the Drive. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.1.1 Ungrounded Distribution System. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.1.2 Input Power Conditioning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.2 Line Impedence. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.2.1 Line Reactors. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.2.2 Load Reactors. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.3 Line Disconnect. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.4 Protective Devices . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.5 Reduced Input Voltage Considerations. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.6 Electrical Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.7 Optional Filter/Reactor. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.8 Incoming Power and Motor Connections . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.9 Operating a 3-Phase Control on Single Phase Input Power. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.9.1 Single Phase Power Derating . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.9.2 Single Phase Power and Motor Connections VS1SD6XX-XX. . . . . . . . . . . . . . . . . . . . . . . .
4.10 3-Phase Motor Connections. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.10.1 Motor Lead Termination. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.11 Strain Relief (Mounted at Terminal Box). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.12 Brushless Servo Motor Identification. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.13 External Trip Input . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.14 Resolver Installation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.14.1 Feedback Termination. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4-1
4-1
4-1
4-2
4-2
4-2
4-2
4-3
4-3
4-3
4-3
4-5
4-6
4-6
4-8
4-9
4-9
4-10
4-11
4-11
4-12
4-12

4.15 Optional Dynamic Brake Hardware. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.16 Home (Orient) Switch Input . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.16.1 External Index Jumper Position. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.16.2 Connections for External Index Signal. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4-12
4-13
4-13
4-13

Chapter 5
Control Wiring
5.1 Control Board Connections. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.2 Analog Inputs. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.2.1 Analog Input 1 (Single Ended). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.2.2 Analog Input 2 (Differential). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.3 Analog Outputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.4 Opto-Isolated Inputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.5 Operating Modes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.5.1 Keypad. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.5.2 Standard Run 2-Wire. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.5.3 Standard Run 3-Wire. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.5.4 15 Preset Speeds. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.5.5 Fan Pump 2-Wire. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.5.6 Fan Pump 3-Wire. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.5.7 Process Control. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.5.8 3 Speed Analog 2-Wire . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.5.9 3 Speed Analog 3-Wire . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.5.10 E-POT 2-Wire. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.5.11 E-POT 3-Wire. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.5.12 Network. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.5.13 Profile Run. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.5.14 Bipolar. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.5.16 Pulse Follower. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.5.17 PLC . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.6 Digital Outputs. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.7 Relay Outputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.8 USB Port . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.9 Communication Expansion Boards . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.9.1 RS485 Modbus. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.10 Opto-Isolated Inputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.11 Opto-Isolated Outputs. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.12 Pre-Operation Checklist . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.13 Powerup Procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.14 Mint WorkBench. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.14.1 Install USB Driver. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.14.2 Install Mint WorkBench . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.14.3 Update Firmware. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5-1
5-3
5-3
5-3
5-4
5-4
5-5
5-5
5-6
5-7
5-8
5-9
5-10
5-11
5-12
5-13
5-14
5-15
5-16
5-17
5-18
5-20
5-20
5-20
5-21
5-21
5-22
5-22
5-23
5-23
5-24
5-24
5-25
5-25
5-26
5-28

MN766

Chapter 6
Using the Keypad
6.1 Keypad Components . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.1.1 Display Description. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.1.2 Display Features. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.2 Status Mode. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.3 Menu Display . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.4 Basic Params . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.5 Save Parameter Values. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.6 Restore Parameter Values. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.7 Advanced Prog. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.7.1 Modified Parameters. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.7.2 Linear List. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.8 Event Log. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.9 Diagnostics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.10 Display Options. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.11 Operating the Control from the Keypad. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.11.1 Accessing the Keypad JOG Command. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.11.2 Speed Adjustment using Local Speed Reference. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

6-1
6-1
6-2
6-3
6-4
6-5
6-8
6-9
6-10
6-11
6-11
6-12
6-13
6-15
6-16
6-16
6-16

Chapter 7
Parameter Descriptions
7.1 Level 1 Parameters (Advanced Prog, Level 1 Blocks). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
7.2 Level 2 Parameters (Advanced Prog, Level 2 Blocks) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
7.3 Level 3 Parameters (Advanced Prog, Level 3 Blocks). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

7-1
7-15
7-25

Chapter 8
Customizing Your Application
8.1 Manually Tuning the Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

8-1

Chapter 9
Troubleshooting
9.1 Event Log . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9.2 Diagnostic Information. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9.3 Fault Messages. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9.4 Electrical Noise Considerations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

9-1
9-6
9-8
9-13

Chapter 10
PLC Mode Description
10.1 Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
10.2 Configuring Parameters. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
10.3 Comparator Function. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
10.4 Timers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
10.5 PLC Mode as Standard Run 2-Wire Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
10.6 PLC Mode as 15 Preset Speed Mode. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
10.7 PLC Mode as Process PID Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
10.8 PLC Mode as a Modified Process PID Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

10-1
10-1
10-1
10-2
10-8
10-9
10-10
10-11

iii

Chapter 11
Composite Reference Description
11.1 Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
11.2 Composite Reference Examples. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

11-1
11-2

Chapter 12
Monitor and RTC Description
12.1 Monitor Parameters (P0001 to P0202). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
12.2 Real Time Clock (RTC) Overview. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

12-1
12-7

Appendix A
Technical Specifications
A.1 VS1SD Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
A.2 Specifications for Power Terminal Block Wiring. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
A.3 Identifying the Drive by Model Number. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
A.4 Storage Guidelines . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
A.5 VS1SD Drive Ratings, Model Numbers and Frame Sizes. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
A.6 VS1SD Terminal Wire Gauge Specifications. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
A.7 VS1SD Dimensions and Weights. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

A-1
A-4
A-5
A-5
A-6
A-7
A-8

Appendix B
Parameter Tables
B.1 Level 1 Parameters (Advanced Prog, Level 1 Blocks). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
B.2 Level 2 Parameters (Advanced Prog, Level 2 Blocks). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
B.3 Level 3 Parameters (Advanced Prog, Level 3 Blocks). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

B-1
B-8
B-12

Appendix C
CE Guidelines
C.1 Outline . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
C.2 EMC - Conformity and CE Marking. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
C.3 EMC Installation Options. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
C.4 Grounding the Wall Mounting (Class A) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
C.5 Grounding the Enclosure Mounting (Class B). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
C.6 Use of CE Compliant Components. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
C.7 EMC Wiring Technique . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
C.8 EMC Installation Instructions. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

C-1
C-1
C-2
C-2
C-2
C-2
C-3
C-4

Appendix D
Options and Kits
D.1 Dynamic Braking (DB) Hardware. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
D.2 Expansion Boards. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
D.3 Keypad Extension Cable. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
D.4 Keypad Connector . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
D.5 Optional Remote Keypad Installation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

D-1
D-2
D-3
D-3
D-4

Appendix E
Remote Keypad Mounting Template
E.1 Remote Keypad Mounting Template. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

E-1

MN766

Chapter 1
Introduction
The information in this manual supports firmware versions up through 1.22. This manual is intended for qualified electrical
personnel familiar with installing, programming, and maintaining AC Drives. This manual contains information on:
• Installing and wiring the VS1SD drive
• Programming the drive
• Troubleshooting the drive

1.1 Getting Assistance from Baldor
For technical assistance, contact your Baldor District Office. Before calling, please review the troubleshooting section of this
manual. You will be asked for the drive model number or catalog number that is located on the nameplate along with the
drive serial number.

1.2 Safety Notices
This equipment contains voltages that may be as high as 1000 volts! Electrical shock can cause serious or fatal injury. Only
qualified personnel should attempt the start-up procedure or troubleshoot this equipment.
This equipment may be connected to other machines that have rotating parts or parts that are driven by this equipment.
Improper use can cause serious or fatal injury. Only qualified personnel should attempt the start-up procedure or
troubleshoot this equipment.
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.
PRECAUTIONS
WARNING:

Do not touch any circuit board, power device or electrical connection before you first ensure
that power has been disconnected and there is no high voltage present from this equipment or
other equipment to which it is connected. Electrical shock can cause serious or fatal injury. Only
qualified personnel should attempt the start-up procedure or troubleshoot this equipment.

WARNING:

Be sure that you are completely familiar with the safe operation of this equipment. This equipment
may be connected to other machines that have rotating parts or parts that are controlled by this
equipment. Improper use can cause serious or fatal injury. Only qualified personnel should
attempt the start-up procedure or troubleshoot this equipment.

WARNING:

Do not use motor overload relays with an automatic reset feature. These are dangerous since the
process may injure someone if a sudden or unexpected automatic restart occurs. If manual reset
relays are not available, disable the automatic restart feature using external control wiring.

WARNING:

This unit has an automatic restart feature that will start the motor whenever input power is
applied and a RUN (FWD or REV) command is issued. If an automatic restart of the motor could
cause injury to personnel, the automatic restart feature should be disabled.

WARNING:
Be sure the system is properly grounded before applying power. Do not apply AC power before

you ensure that all grounding instructions have been followed. Electrical shock can cause serious
or fatal injury.
WARNING:

Do not remove cover or open door for at least five (5) minutes after AC power is disconnected to
allow capacitors to discharge. Dangerous voltages are present inside the equipment. Electrical
shock can cause serious or fatal injury.

WARNING:
Improper operation of control may cause violent motion of the motor shaft and driven equipment.

Be certain that unexpected motor shaft movement will not cause injury to personnel or damage

to equipment. Certain failure modes of the control can produce peak torque of several times the
rated motor torque.
WARNING:

Motor circuit may have high voltage present whenever AC power is applied, even when motor is
not rotating. Electrical shock can cause serious or fatal injury.

WARNING:

Dynamic brake resistors may generate enough heat to ignite combustible materials. Keep all
combustible materials and flammable vapors away from brake resistors.

MN766

Introduction 1-1

WARNING:

The motor shaft will rotate during the autotune procedure. Be certain that unexpected motor shaft
movement will not cause injury to personnel or damage to equipment.

WARNING:

MEDICAL DEVICE/PACEMAKER DANGER - Magnetic and electromagnetic fields in the vicinity
of current carrying conductors and industrial motors can result in a serious health hazard to
persons with cardiac pacemakers, internal cardiac defibrillators, neurostimulators, metal
implants, cochlear implants, hearing aids, and other medical devices. To avoid risk, stay away
from the area surrounding a motor and its current carrying conductors.

CAUTION:

Disconnect motor leads (T1, T2 and T3) from control before you perform a dielectric withstand
(insulation) test on the motor. Failure to disconnect motor from the control will result in extensive
damage to the control. The control is tested at the factory for high voltage/leakage resistance as
part of the Underwriters Laboratory requirements.

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
51-200
10,000
201-400
18,000
401-600
30,000
601-900
42,000

CAUTION:

Do not connect AC power to the Motor terminals T1, T2 and T3. Connecting AC power to these
terminals may result in damage to the control.

CAUTION:

Baldor does not recommend using “Grounded Leg Delta” transformer supplies that may create
ground loops. Instead, we recommend using a four wire Wye.

CAUTION:
Do not supply any power to the External Trip (motor thermostat) leads at TH1 and TH2. Power on

these leads can damage the control. Use a dry contact type that requires no external power to
operate.
CAUTION:

If a customer installed Dynamic Brake (DB) hardware mounting is in any position other than
vertical, the DB hardware must be derated by 35% of its rated capacity.

CAUTION:

Before external Dynamic Brake Hardware is added, the internal resistor must be disconnected
(frames AA, B, C and D only). Remove the resistor from the B+/R1 and R2 terminals and insulate
the leads to avoid accidental connection to drive circuity. The external resistor can be connected
across these terminals. Failure to remove the internal resistor will decrease the total resistance
(parallel connection) and cause damage.

CAUTION:
Do not set Level 2, Drive Configure, Power Input parameter to Common Bus if AC power

is connected to L1, L2 or L3. Common Bus requires numerous changes. Contact Baldor for
information.
CAUTION:

Only Baldor cables should be used to connect the keypad and control. These are special twisted
pair cables to protect the control and keypad. Damage associated with other cable types are not
covered by the Baldor warranty.

CAUTION:

If an M-Contactor is installed, the control must be disabled for at least 200msec before the
M-Contactor is opened. If the M-Contactor is opened while the control is supplying voltage and
current to the motor, the control may be damaged. Before the control is enabled, the M-Contactor
must be closed for at least 200msec.

CAUTION:

Use of power correction capacitors on the output of the drive can result in erratic operation
of the motor, nuisance tripping, and/or permanent damage to the drive. Remove power
correction capacitors before proceeding. Failure to observe this precaution could result in
damage to, or destruction of, the equipment.

CAUTION:

Motor thermostat leads must be routed in a separate conduit than the motor power leads. Failure
to isolate these connections may cause nuisance trips, misoperation or component failure.

1-2 Introduction

MN766

1.3 Quick Start
Quick Start Guide MS766 is also available separately from www.baldor.com.
If you are an experienced user of Baldor controls, you are probably already familiar with the keypad programming and
keypad operation methods. If so, this quick start guide has been prepared for you. This procedure will help get your system
up and running in the keypad mode quickly and allows motor and control operation to be verified. This procedure assumes
that the Control, Motor and Dynamic Brake hardware are correctly installed (see Chapters 3, 4, and 5 for procedures)
and that you have an understanding of the keypad programming and operation procedures. Figure 1-1 shows minimum
connection requirements. It is not necessary to wire the terminal strip to operate in Keypad mode (Chapter 5 describes
terminal strip wiring procedures).
The quick start procedure is as follows:
1. Read the Safety Notice and Precautions in this Chapter.
2. Mount the control. Refer to Chapters 3, 4, and 5 “Physical Location” procedure.
3. Connect AC power ensuring source voltage matches drive voltage (Figure 1-1). See wire and fuse size guidelines in
Chapter 4. Torque connections per Table A-2.
4. Connect the motor ensuring motor is wired for same voltage as drive (Figure 1-1). Torque connections per Table A-2. Do
not couple the motor shaft to the load until auto tune is complete.
5. Install Dynamic brake hardware, if required. Refer to Chapter 4 “Optional Dynamic Brake Hardware.”
6. Connect motor thermostat leads to TH1 and TH2 after removing factory supplied jumper. Be sure to route these leads in
a separate conduit from the motor power leads.
CAUTION:
After completing the installation but before you apply power, be sure to check the following
electrical items:
1. Verify AC line voltage at source matches control rating.
2. Inspect all power connections for accuracy, workmanship and torques as well as compliance to codes.
3. Verify control and motor are grounded to each other and the control is connected to earth ground.
4. Check all signal wiring for accuracy.
5. Be certain all brake coils, contactors and relay coils have noise suppression. This should be an R-C filter for AC coils and
reverse polarity diodes for DC coils. MOV type transient suppression is not adequate.
CAUTION:
Make sure that unexpected operation of the motor shaft during start up will not cause injury to

personnel or damage to equipment.
Procedure - Initial Conditions
Be sure the Control, Motor and Dynamic Brake hardware are wired according to the procedures described in Chapters 4
and 5 of this manual. Become familiar with the keypad programming and keypad operation of the control as described in
Chapter 6 of this manual.
1. Remove all power from the control.
2. Verify that any enable inputs to J2-8 are open (remove factory jumper from J2-8 to J3-24).
3. Uncouple the motor from the load (including coupling or inertia wheels).
4. Turn power on. Be sure there are no faults displayed. If a fault is indicated, refer to Chapter 9 “Troubleshooting”.
5. Select “Advanced Prog”, “Level 2 Blocks”, “Drive Config” and set the parameter “Factory Settings” to “Yes”. This will
change all parameters to Factory Default.
6. Set the Level 2 Drive Limits block, “OPERATING ZONE” parameter as desired.
(STD CONST TQ, STD VAR TQ, QUIET CONST TQ or QUIET VAR TQ).
7. If external dynamic brake hardware is used, set the Level 2 Brake Adjust block “Resistor Ohms” and “Resistor Watts”
parameters (see parameter description in Chapter 7 for more information).
8. Enable the control (J2-8 connect to J3-24).
CAUTION:
The motor shaft will rotate during this procedure. Be certain that unexpected motor shaft

movement will not cause injury to personnel or damage to equipment.
9. Select Basic Params from the main keypad menu. Perform each step including motor data and “Calc Motor Model”.
10. For applications with resolver feedback, select “Advanced Prog”, “Level 2 Blocks”, “Auto Tune” and execute “Feedback
Test”. This will cause motor rotation to verify proper resolver feedback connections. For more advanced tuning of the
uncoupled motor to the drive, see the Autotune parameters in Level 2 programming.
11. Remove all power from the control.
12. Couple the motor to its load.
13. Verify freedom of motion of motor shaft.
14. Verify the motor coupling is tight without backlash.
15. Verify the holding brakes, if any, are properly adjusted to fully release and set to the desired torque value.
16. Turn power on. Be sure no errors or faults are displayed.
17. Run the drive from the keypad using one of the following: the arrow keys for direct speed control, a keypad entered
speed or the JOG mode.
18. Select and program additional parameters to suit your application.
MN766

Introduction 1-3

The control is now ready for use in the keypad mode. If a different operating mode is desired, refer to Chapter 5 Operating
Modes and Chapter 6 and 7 for Programming and Operation.
For more advanced tuning of the drive speed loop once coupled to the load, see “Speed Loop Tune” in “Autotune Block” in
Chapter 7.

Figure 1-1 Minimum Connection Diagram
Minimum Signal Connections

Terminals 21 to 30 (J3)
21 External User +24V Return
Terminals 8 to 20 (J2) 22 External User +24V
USB Port
J2
8 Enable Input
23 Internal +24V
9 Digital Input #1
24 Internal +24V Return
8
10 Digital Input #2
25 Relay Out 1 NC
J1
11 Digital Input #3
26 Relay Out 1 COM
1
Terminals 1 to 7 (J1) 12 Digital Input #4
27 Relay Out 1 NO
1 User Analog Return 13 Digital Input #5
28 Relay Out 2 NC
14 Digital Input #6
2 Analog Input #1
29 Relay Out 2 COM
3 Analog Ref. Power 15 Digital Input #7
30 Relay Out 2 NO
16 Digital Input #8
4 Analog Input #2 +
17 Digital Out #1+ (Collector)
5 Analog Input #2 18 Digital Out #1- (Emitter)
6 Analog Output #1
19 Digital Out #2+ (Collector)
7 Analog Output #2
20 Digital Out #2- (Emitter)
For keypad operation, only Enable (J2-8) is required.
21

AC Power & Motor Connections
Example of Terminal Strip Layout**
L1 L2 L3

Motor Leads Motor Thermal Leads*

R1/B+
R2 B- T1 T2 T3 TH1 TH2 GND

Earth Ground

Input AC
Power
Fuses

DB Resistor
(Internal)

T1
T2
T3
Motor
TH1
TH2

GND

Note: The control enable input must be active to allow operation. Therefore, J2-8 Enable is connected by a factory installed
jumper to J3-24. This uses the internal supply and provides an active low at J2-8.
Remove TH1 and TH2 jumper if Motor Thermal Leads are connected.
Note: Motor thermal leads must be run in a separate conduit from motor power leads.
Note: An open circuit on these terminals will generate a motor overtemperature fault. Refer to the fault / troubleshooting
information provided in Chapter 9.





See Figure 4-3 for terminal arrangement for the various frame sizes.

1-4 Introduction

MN766

Chapter 2
General Information
The VS1SD provides control of 3-phase AC servomotors in an industrial package and design. These controls offer Baldor’s
easy to use Smart Keypad for easy setup and flexibility. The H2 keypad follows the same easy to use menu structure as that
of its companions, the H2 Inverter and H2 Vector drives.
The control’s rated output power is designed for use with Baldor’s PM motors.
The control’s rated output power is based on the use of a NEMA design B four pole motor and 60Hz operation at nominal
rated input voltage. If any other type of motor is used, the control should be sized to the motor using the rated current of
the motor. The control may be used in various applications. It may be programmed by the user to operate in four different
operating zones: standard or quiet and constant torque or variable torque. It can also be configured to operate in a number
of modes depending upon the application requirements and user preference. It is the responsibility of the user to determine
the optimum operating zone and mode to interface the control to the application. These choices are made with the keypad
as explained in Chapter 6 of this manual.

2.1 Limited Warranty
For a period of two (2) years from the date of original purchase, BALDOR will repair or replace without charge controls
and accessories which our examination proves to be defective in material or workmanship. This warranty is valid if the
unit has not been tampered with by unauthorized persons, misused, abused, or improperly installed and has been used
in accordance with the instructions and/or ratings supplied. This warranty is in lieu of any other warranty or guarantee
expressed or implied. BALDOR shall not be held responsible for any expense (including installation and removal),
inconvenience, or consequential damage, including injury to any person or property caused by items of our manufacture
or sale. (Some states do not allow exclusion or limitation of incidental or consequential damages, so the above exclusion
may not apply.) In any event, BALDOR’s total liability, under all circumstances, shall not exceed the full purchase price of the
control. Claims for purchase price refunds, repairs, or replacements must be referred to BALDOR with all pertinent data as to
the defect, the date purchased, the task performed by the control, and the problem encountered. No liability is assumed for
expendable items such as fuses.
Goods may be returned only with written notification including a BALDOR Return Authorization Number and any return
shipments must be prepaid.

2.2 Standards
The VS1SD drives have been designed and tested to comply with the following standards.

2.2.1 Design and Test Standards

• UL508C: Power Conversion Equipment.
• UL840: Insulation coordination including clearance and creepage distances for electrical equipment.
• CSA C22.2 No. 14: Industrial Control Equipment.
• EN61800-5-1: Adjustable speed electrical power drive systems. Safety requirements.

Electrical, thermal and energy.
• EN50178: Electronic equipment for use in power installations.
• EN60529: Degrees of protection provided by enclosures.
• EN61800-3: When installed as directed in this manual, VS1SD drives conform to the category C3 emission limits and the
‘second environment’ immunity requirements defined by this standard.

2.2.2 Environmental Test Standards
•
•
•
•

EN60068-1: Environmental testing, general and guidance.
EN60068-2-2: Environmental testing, Test B. Dry heat.
EN60068-2-78: Environmental testing, Test cab. Damp heat, steady state.
EN60068-2-6: Vibration testing.

2.2.3 Marks

See also Appendix C for general recommendations for CE compliance.

MN766

General Information 2-1

2-2 General Information

MN766

Chapter 3
Installing the Drive

This chapter provides information that must be considered when planning a VS1SD drive installation and provides drive
mounting information and installation site requirements.

3.1 Receiving & Inspection
When you receive your control, 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 control.
2. Remove the control from the shipping container and remove all packing materials from the control. The container and
packing materials may be retained for future shipment.
3. Verify that the catalog number of the control you received is the same as the catalog number listed on your purchase
order.
4. Inspect the control for external physical damage that may have been sustained during shipment and report any damage
immediately to the commercial carrier that delivered your control.
5. If the control is to be stored for several weeks before use, make sure that it is stored in a location that conforms to
published storage humidity and temperature specifications stated in this manual.

3.2 General Requirements for the Installation Site
It is important to ensure that the drive’s environment and operating conditions are satisfactory. The area behind the drive
must be kept clear of all control and power wiring. Power connections may create electromagnetic fields that may interfere
with control wiring or components when run in close proximity to the drive.
Read the recommendations in the following sections before continuing with the drive installation.

3.2.1 Location Instructions

Before deciding on an installation site, consider the following guidelines:
• Protect the cooling fan by avoiding dust or metallic particles.
• Do not expose the drive to a corrosive atmosphere.
• Protect the drive from moisture and direct sunlight.
• Verify that the drive location will meet the environmental conditions specified in Table 3-1.

Table 3-1 Ambient Temperatures and Mounting Clearances
Frame
Size

Ambient Temperature
Minimum

AA
B

Maximum
45°C

-10°C (14°F)

C
D

Enclosure Rating

Minimum Mounting Clearances
Top & Bottom

Left & Right Sides

NEMA 1

2 inches (50mm)

NEMA 4X

0 inches (0mm)

45°C

NEMA 1

40°C

NEMA 4X

45°C

NEMA 1

2 inches (50mm)

2 inches (50mm)
0 inches (0mm)
2 inches (50mm)

3.2.2 Minimum Mounting Clearances

Be sure to provide proper top, bottom and side clearance (2” minimum on each side).

3.3 Mounting the Drive
Mount the drive upright on a flat, vertical surface. Avoid mounting the drive in locations that would subject the drive to
vibration in excess of the 0.5G RMS rating (e.g. adjacent to a large punch press).

3.3.1 Protecting the Drive from Debris

Drives suppled in NEMA 1 enclosures must be protected from debris falling through the drive vents during installation
and operation. The drive is designed to operate in NEMA 1 Type installations. The atmosphere must not contain airborne
particles that can collect on the internal circuitry of the drive, especially conductive particles. Drives supplied in NEMA 4X
enclosures are designed for harsh environments including dust and water. NEMA 1 and NEMA 4X drives are for indoor use
only.

MN766

Installing the Drive 3-1

3.3.2 Watts Loss Data
Table 3-2 Watts Loss Data
Frame Size
AA, B, C and D

240VAC

480VAC

2.5kHz PWM

8.0kHz PWM

2.5kHz PWM

8.0kHz PWM

50Watts +
(14 W/Amp)

50Watts +
(17 W/Amp)

50Watts +
(26 W/Amp)

Example: At 2.5kHz, a 3HP, 240VAC control draws 10Amps. Watts loss = 50W + (10x14) = 190Watts

3.4 Cover Removal Procedure (NEMA 1 Drives):
To connect power and signal wires, the cover must be removed (AA, B, C and D frame drives). This procedure describes
how to access all terminal connections inside the control.
1. Remove the four cover screws shown in Figure 3-1.
2. Lift and remove the cover.
3. Press in the two Cover Releases (Control) and rotate the control cover open as shown.

Figure 3-1 Cover Removal
Lift and
remove cover

Control
Cover
Cover
Release

Cover
Screws
(4)

Cover
Release

Cover
Control
Shield
Screws
(4)

Shield
Plate

I/O Module
Slot 1

I/O Module
Slot 2

Power
Base
Power & Motor
Connections

Cable Entrance

Analog/Digital
I/O Terminals

Cable Clamp and
Shield Termination

3.5 Cover Removal Procedure (NEMA 4X Frames AA and B):
CAUTION:

Failure to follow this procedure may result in damage to the controller cover gasket which will
cause improper sealing and inability to maintain specified NEMA 4X ratings.

1. While supporting cover, remove all cover screws reserving for usage when replacing cover.
2. Do not use any kind of tool to pry the cover away from the drive to avoid damaging the gasket or surrounding plastic.
3. Separate cover from base a short distance by pulling it away from the drive while being careful to not pull on the keypad
cable which is attached to both the cover and the control board.
4. Disconnect the keypad cable from the keypad board connector on the inside of the cover by pressing in on the retention
clip and gently pulling the cable out of the connector.

3-2 Installing the Drive

MN766

3.6 Cover Replacement Procedure (NEMA 4X Frames AA and B):
CAUTION:

Failure to follow this procedure may result in damage to the controller cover gasket which will
cause improper sealing and inability to maintain specified NEMA 4X ratings.

1. While holding the cover close to the controller, plug the keypad cable (disconnected in step 4 above) into the connector
on the keypad board making sure that the retention clip snaps into place.
2. Check that keypad cable is not overlapping any of the cover edges while placing cover on drive. Ensure that gasket is
seated in cover groove around the complete perimeter of the cover without any folds.
3. While holding the cover against the base, insert, start and tighten all cover screws and tighten only to the point of contact
with the cover while following the numerical sequence outlined in the diagram below.
4. Using the numerical sequence on the following figure, tighten each screw to 15 in-lbs. of torque.
5. Do not over-tighten ensuring that the cover is seated flush around complete perimeter of base.

Figure 3-2 Cover Replacement (NEMA 4X)

Maximum cover screw torque:
15 in-lbs. (see above procedure)
1

AA - FRAME NEMA 4X

MN766

B - FRAME NEMA 4X

Installing the Drive 3-3

3-4 Installing the Drive

MN766

Chapter 4
Power Wiring
4.1 Grounding the Drive
Baldor does not recommend using “Grounded Leg Delta” transformer power leads that may create ground loops. Instead
we recommend using a four wire Wye. Baldor drives are designed to be powered from standard three 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 4-1.

Figure 4-1 Recommended System Grounding
Note: Motor thermal leads must be run
in separate conduit from motor
power leads.

See recommended tightening torques in Table A-2.
Note: A line reactor is recommended
and must be purchased separately.

T1 T2 T3

Optional
Line
Reactor

L2
L3

Driven Earth
Ground Rod
(Plant Ground)

L1 L2 L3

Note:
Wiring shown for clarity of
grounding method only. Not
representative of actual
terminal block arrangement.

AC Main
Supply

Safety
Ground

TH1
TH2
GND

Drive

Optional
Load
Reactor

Note: An optional separately
purchased load reactor
is recommended.

Earth
Four Wire
Wye
Route all 4 wires L1, L2, L3 and Earth (Ground)
together in conduit or shielded cable.
Route all 4 wires T1, T2, T3 and Motor Ground together
in conduit or shielded cable.
Connect all wires (including motor ground)
inside the motor terminal box.

Ground per NEC and
Local codes.

4.1.1 Ungrounded Distribution System

With an ungrounded power distribution system it is possible to have a continuous current path to ground through the MOV
devices internal to the VS1SD. To avoid equipment damage, an isolation transformer with a WYE grounded secondary is
recommended. This provides three phase AC power that is symmetrical with respect to ground.

4.1.2 Input Power Conditioning

Baldor drives are designed for direct connection to standard three phase lines that are electrically symmetrical with respect
to ground. 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 drive 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 drive.
• If the feeder or branch circuit that provides power to the drive has power factor correction capacitors that are switched on
line and off line, the capacitors must not be switched while the drive is connected to the AC power line. If the capacitors
must be switched while the drive is connected to the AC power line, additional protection is required. TVSS (Transient
Voltage Surge Suppressor) of the proper rating must be installed on the drive input between the drive and any type of
input impedance such as an input reactor or drive isolation transformer.

MN766

Power Wiring 4-1

4.2 Line Impedance
Baldor VS1SD drives require 1% line impedance minimum (3% for AA frame size drives and B Frame NEMA 4X drives). If the
impedance of the incoming power does not meet this requirement, a 3 phase line reactor can be used to provide the needed
impedance in most cases. The input impedance of the power lines can be determined as follows:
Measure the line to line voltage at no load and at full rated load.
Use these measured values to calculate impedance as follows:

% Impedance =

VoltsNo Load

VoltsFull Load
VoltsNo Load

x 100

4.2.1 Line Reactors

Three phase line reactors are available from Baldor. The line reactor to order is based on the full load current of the motor
(FLA). If providing your own line reactor, use the following formula to calculate the minimum inductance required.

L=
Where: L

(VL- L
(I

√3

0.01)
X

377)

Minimum inductance in Henries.

V L- L Input volts measured line to line.
0.01 Desired percentage of input impedance 1%. (Note: Change this value to
I

Input current rating of drive.

0.03 for AA Frame Size drives.)

377 Constant used with 60 Hz power.
Use 314 if input power is 50 Hz.

4.2.2 Load Reactors

Line reactors may be used at the drive output to the motor. When used this way, they are called Load Reactors. Load
reactors serve several functions that include:
• Protect the drive from a short circuit at the motor.
• Limit the rate of rise of motor surge currents.
• Slowing the rate of change of power the drive delivers to the motor.
Note: The wire leads that connect the motor to the control are critical in terms of sizing, shielding and the cable
characteristics. Short cable runs are usually trouble free but fault-monitoring circuitry can produce numerous faults
when long cables (over 200 feet) are used.
• 200+ft (60m): Baldor recommends adding an optional load reactor to the output of the control.
• 300+ft (90m): Baldor recommends adding an optional load reactor and common mode choke to the control.
The load reactor and/or common mode choke should be placed in close physical proximity to the control.
Unexpected faults may occur due to excessive charging current required for motor cable capacitance. If you use
long motor leads and experience unexpected trips due to overcurrent conditions and are not sure how to correctly
size and connect the optional load reactors, contact your local Baldor District Office.
Load reactors should be installed as close to the drive as possible. Selection should be based on the motor nameplate FLA
value.

4.3 Line Disconnect
A power disconnect should be installed between the input power service and the drive for a fail safe method to disconnect
power. This drive will remain in a powered-up condition until all input power is removed from the drive and the internal bus
voltage is depleted.

4-2 Power Wiring

MN766

4.4 Protective Devices
Note: Integral solid state short circuit protection does not provide branch circuit protection. Branch circuit protection must
be provided in accordance with the National Electrical Code and any additional local codes.
Recommended fuse sizes are based on the following:
115% of maximum continuous drive input current for time delay.
150% of maximum continuous drive input current for Fast or Very Fast action.
Note: These recommendations do not consider harmonic currents or ambient temperatures greater than 45°C. Be sure a
suitable input power protection device is installed. Use the recommended fuses and wire sizes shown in Tables
4-1 through 4-6. Wire size is based on the use of copper conductor wire rated at 75°C. The table is specified for
NEMA B motors.
Fast Action Fuses:
240VAC, Buss® KTN

480VAC, Buss® KTS to 600A (KTU for 601 to 1200A)

600VAC, Buss® KTS to 600A (KTU for 601 to 1200A)
Very Fast Action:
240VAC, Buss® JJN
480VAC, Buss® JJS
600VAC, Buss® JJS
Time Delay:
240VAC, BUSS FRN

480VAC, BUSS FRS (KLU for 601 to 1200A)

600VAC, BUSS FRS (KLU for 601 to 1200A)
Semiconductor
240VAC, Ferraz Shawmut A50QS
Fuses:
480VAC, Ferraz Shawmut A70QS (22.8mm) M20, PG16

600VAC, Ferraz Shawmut A70QS
UL Listed Breakers:
Frame Size D - 250A maximum (all ratings)
Buss® is a trademark of Cooper Industries, Inc.

4.5 Reduced Input Voltage Considerations
Power ratings are for nominal AC input voltages (240 or 480VAC). The power rating of the drive must be reduced when
operating at a reduced input voltage. The amount of reduction is the ratio of the voltage change.
Examples:
A 5HP, 240VAC drive operating at 208VAC has an effective power rating of 4.33HP.

5Hp x

208VAC
= 4.33Hp
240VAC

Likewise, a 3HP, 480VAC drive operating at 380VAC has an effective power rating of 2.37HP.

3Hp x

380VAC
= 2.37Hp
480VAC

4.6 Electrical Installation
All interconnection wires between the drive, AC power source, motor, host control and any other operator interface stations
should be in metal conduits or shielded cable must be used. If the connection being made is on a connection stud or
grounding screw, then 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. See
Figure A-2 in Appendix A for conduit hole size for each frame size.

4.7 Optional Filter/Reactor
Figure 4-2 shows the connections for installing an optional Line Filter and AC Line Reactor.

Figure 4-2 Filter and Reactor Connections
AC
Line

L1 Filter
L2
L3
PE
Line

MN766

L1
L2
L3
PE

Reactor

L1
L2
L3
PE

Control

Load

Power Wiring 4-3

Table 4-1 240VAC Three Phase Wire Size and Protective Devices
Control Rating

Input Fuse (Amps)

Catalog
No.
VS1SD

Input Amps

2A3

3.2

2A4

4.2

Time
Delay

Wire Gauge
AWG

mm2

2.5

Fast Acting (UL) Fast Acting (CUL)

Semiconductor (CUL)

2A7

6.8

2.5

2A10

9.6

2.5

2A15

7.5

15.2

2A22

2A28

2A42

2A54

100

*100

A50QS100-4

2A68

125

*125

A50QS125-4

A50QS150-4

2A80

150

*150

2A104

104

175

150

2A130

130

200

175

2/0

* Requires custom drive for CUL application using fast fuses.
Note: Wire sizes based on 750C copper wire. Fuses based on 400C ambient, max continuous output and no harmonic current.

Table 4-2 480VAC Three Phase Wire Size and Protective Devices
Control Rating

Input Fuse (Amps)

Catalog
No.
VS1SD

Input Amps

Fast Acting (UL)

Fast Acting (CUL)

Time
Delay

4A2

2.1

Wire Gauge
Semiconductor (CUL)

AWG

mm2

2.5

4A3

3.4

4.5

2.5

4A5

4.8

6.3

2.5

4A8

7.6

2.5

4A11

7.5

17.5

2.5

4A14

17.5

4A21

4A27

4A34

*50

A70QS70-4

4A40

*60

A70QS80-4

4A52

*80

A70QS100-4

4A65

100

4A77

125

100

4A96

150

125

4A124

100

124

200

175

2/0

* Requires custom drive for CUL application using fast fuses.
Note: Wire sizes based on 750C copper wire. Fuses based on 400C ambient, max continuous output and no harmonic current.

4-4 Power Wiring

MN766

4.8 Incoming Power and Motor Connections
Figure 4-3 shows the layout of the terminals on the power connectors for each size drive. All cables must be in conduits
or shielded and the conduits or shields must be grounded at the cable entrance. The brake resistor and cable must be in a
conduit or shielded if installed outside the enclosure.

Figure 4-3 Power Connections

Ground

Motor Leads

TH1 TH2 GND

T1 T2 T3

Dynamic Brake

B+/R1 R2 B-

Motor Thermal
Leads
*

Input AC Power

L1 L2 L3

Motor Thermal
Leads*

Motor Leads

R2 B- T1 T2 T3 TH1 TH2 GND
B+/R1

Dynamic Brake

Input AC Power

Motor Thermal
Leads *

Frame Size D Drives

Frame Size B and C Drives
L1 L2 L3

Motor
Chassis
Ground

TH1 TH2 GND

Motor Leads

Dynamic Brake

Motor GND

Motor Thermal
Leads *

L1 L2 L3 GND
R2 B- T1 T2 T3
R1/B+

Input AC Power

Motor
Chassis
Ground

TH1 TH2 GND

Motor Leads

Input AC Power

Dynamic Brake

L1 L2 N GND
R2 B- T1 T2 T3
R1/B+

Frame Size AA 3-Phase Input Drives

Motor GND

Frame Size AA 1-Phase Input Drives

See Recommended Tightening Torques in Table A-2.
*Remove TH1 to TH2 jumper if Motor Thermal Leads are connected.
Note: An open circuit between TH1 and TH2 will cause an overtemperature fault.
Refer to fault/troubleshooting information in Chapter 9.

1.
2.
3.
4.

Access the Power and Motor Terminals (see Cover Removal procedure).
Feed the power supply and motor cables into the drive through the cable entrance.
Connect the line L1, L2, L3 and GND to the power terminal connectors, Figure 4-4.
Connect motor leads to T1, T2, T3 and GND motor terminal connectors.

Figure 4-4 3 Phase Input Power Connections
*Optional components not provided with control.
Notes:
1. See “Protective Devices” described previously in this section.
2. Use same gauge wire for Earth ground as is used for L1, L2
and L3 for AA, B, C frame drives. For D frame drives, size the
grounding conductor per the local electrical codes.
3. Metal conduit should be used. Connect conduits so the
use of a Reactor or RC Device does not interrupt EMI/RFI
shielding.
4. See Line/Load Reactors described previously in this section.

L1
Note 1

Earth

*Fuses

Note 3

Note 4

Note 3

*Optional
Line
Reactor
A2

Note 2

GND

Baldor
Control

MN766

Power Wiring 4-5

4.9 Operating a 3-Phase Control on Single Phase Input Power
Single phase AC input power can be used to power the control instead of three phase for control sizes AA, B and C. The
specifications and control sizes are listed in Appendix A of this manual. If single phase power is to be used, the rated
control output current may have to be reduced (derated). In addition, power wiring and jumper changes are required. Both
connection types are shown in Figures 4-5 and 4-6.
Single phase rating wire size and protection devices are listed in Table 4-5.

4.9.1 Single Phase Power Derating:

Single phase power derating requires that the continuous and peak current ratings of the control be reduced by the
following:
1. 3.2 to 15.2 Continuous Amp, 240 and 480VAC controls:
Derate output to next lower model rating. (I.E. 2A15 becomes 2A10.)
2. 22 to 80 Continuous Amp, 240 and 480VAC controls:
Derate output by 50% of the nameplate rating.

Table 4-3 Single Phase Wire Size and Protection Devices - 240VAC Controls
Catalog
No.
VS1SD

Control
Rating
Input
Amps

Control Rating
Output Amps
(QCT Continuous)

2A3

3.8

2A4
2A7

Input
Output
Wire Gauge Wire Gauge

Input Fuse (Amps)
Fast Acting
(UL)

Fast Acting
(CUL)

Time
Delay

Semiconductor
(CUL)

2.2

2.5

5.5

3.2

2.5

7.3

4.2

2.5

2A10

11.8

6.8

2.5

2A15

16.6

9.6

2.5

2A22

2.5

2A28

2A42

AWG

mm2 AWG mm2

2A54

*70

A50QS80-4

2A68

*90

A50QS100-4

2A80

110

*110

A50QS125-4

* Requires custom drive for CUL application using fast fuses.
Note: Wire sizes based on 750C copper wire. Fuses based on 400C ambient, max continuous output and no harmonic current.

Table 4-4 Single Phase Wire Size and Protection Devices - 480VAC Controls
Catalog
No.
VS1SD

Input
Output
Control
Input Fuse (Amps)
Control Rating
Wire Gauge Wire Gauge
Rating
Output Amps
Input
(QCT Continuous) Fast Acting Fast Acting Time Semiconductor AWG mm2 AWG mm2
Amps
(UL)
(CUL)
Delay
(CUL)

4A3

5.2

3.0

2.5

4A5

5.9

3.4

2.5

4A8

8.3

4.8

2.5

4A11

13.2

7.6

2.5

4A14

12.1

7.0

2.5

4A21

18.2

10.5

2.5

4A27

23.4

13.5

4A34

*50

A70QS60-4

4A40

*60

A70QS70-4

4A52

*70

A70QS80-4

* Requires custom drive for CUL application using fast fuses.
Note: Wire sizes based on 750C copper wire. Fuses based on 400C ambient, max continuous output and no harmonic current.

4-6 Power Wiring

MN766

Figure 4-5 Size AA Single Phase Power Connections to a 3 Phase Control
Single Phase 3 Wire Connections
L1
Note 1

Single Phase 2 Wire Connections
L1

Earth

Note 3

Earth

*Fuse

* Fuses

Note 3

Note 4

Neutral

* Optional
Line
Reactor
A2

*Optional
Line
Reactor

Note 2
B2

In order to protect the drive,
Level 2, Drive Configure, Power
Input P#2110 should be set to
“Single Phase”.

GND

Baldor
Control

Baldor
Control
* Optional components are not provided with control.
See recommended tightening torques in Table A-2.

Notes:
1. See Protective Devices described previously in this section.
2. Use same gauge wire for Earth ground as is used for L1 and L2.
3. Metal conduit should be used. Connect conduits so the use of a
Reactor or RC Device does not interrupt EMI/RFI shielding.

4. See Line/Load Reactors described previously in this section.
Line Reactors are built-in for size B and larger controls.

Figure 4-6 Size B and C Single Phase Power Connections to a 3 Phase Control
Single Phase 2 Wire Connections

Single Phase 3 Wire Connections
L1
Note 1

L1 Neutral

Earth

Note 3

In order to protect the drive,
Level 2, Drive Configure, Power
Input P#2110 should be set to
“Single Phase”.

* Fuse

* Fuses

Note 3

Note 4

Earth

*Optional
Line
Reactor
A2
L1

B1
Note 2
B2

IMPORTANT:
Do not connect L3.

Baldor
Control

GND

* Optional
Line
Reactor
A2

IMPORTANT:
Do not connect L3.
L2

GND

Baldor
Control

Notes:
1. See Protective Devices described previously in this section.
2. Use same gauge wire for Earth ground as is used for L1 and L2.
*Optional components not provided with control.
3. Metal conduit should be used. Connect conduits so the use of a
See recommended tightening torques in Table A-2.
Reactor or RC Device does not interrupt EMI/RFI shielding.

4. See Line/Load Reactors described previously in this section.
Line Reactors are built-in for size B and larger controls.

MN766

Power Wiring 4-7

4.9.2 Single Phase Power and Motor Connections VS1SD6XX-XX

Figure 4-7 shows the minimum connections required at the power connector. All cables must be in conduits or shielded
and the conduits or shields must be grounded at the cable entrance. The brake resistor and cable must be in a conduit or
shielded if installed outside the enclosure.

Figure 4-7 Single Phase Control Power Terminals
Frame Size AA

Motor
Leads

Motor
Chassis
Ground
Motor GND

Dynamic
Brake

Input AC
Power

TH1 TH2 GND

Motor Thermal
Leads *

L1 L2 N GND
R2 B- T1 T2 T3
R1/B+

See recommended tightening torques in Table A-2.
*Remove TH1 to TH2 jumper if Motor Thermal Leads are connected.
Note: An open circuit between TH1 and TH2 will be used by the drive to generate a motor overtemperature fault. Refer to
the fault/troubleshooting information provided in Chapter 9.
1.
2.
3.
4.

Access the Power and Motor Terminals (see Cover Removal procedure).
Feed the power supply and motor cables into the drive through the cable entrance.
Connect the line L1, L2, N and GND to the power terminal connections, Figure 4-7.
Connect motor leads to T1, T2, T3 and GND motor terminal connectors.

Figure 4-8 Single Phase Control Power Connections
120VAC Single Phase
L1
Note 1

240VAC Single Phase
Earth
Note 1

*Fuses

Note 3

*Optional
Line
Reactor
A2

Note 4
Note 2
L1

Earth

*Fuses

Note 3

A1
Note 4

Baldor
Control

*Optional components not provided with control.
See recommended tightening torques in Table A-2.

GND

Note 3

*Optional
Line
Reactor
A2

B2
L1

Note 2

GND

Baldor
Control

Notes:
1. See Protective Devices described previously in this section.
2. Use same gauge wire for Earth ground as is used for L1, L2 and N.
3. Metal conduit should be used. Connect conduits so the use of a
Reactor or RC Device does not interrupt EMI/RFI shielding.

4. See Line/Load Reactors described previously in this section.
Line Reactors are built-in for size B and larger controls.

4-8 Power Wiring

MN766

4-10

Table 4-5 Single Phase Rating Wire Size and Protection Devices - 120VAC/240VAC Control
120VAC Single Phase Input
Catalog
No.
VS1SD

Input
Amps

240VAC Single Phase Input

Input Fuse (Amps)
AWG
Fast Acting

mm2

Catalog
No.
VS1SD

Input
Amps

Input Fuse (Amps)
Fast Acting

AWG

mm2

6A3

7.6

2.5

6A3

3.8

2.5

6A4

2.5

6A4

5.5

2.5

6A7

7.3

2.5

Note: All wire sizes are based on 750C copper wire. Recommended fuses are based on 400C ambient, maximum
continuous control output and no harmonic current.

4.10 3-Phase Motor Connections
Figure 4-9 shows typical connections to a control. Note all wiring should be 600 volts.

Figure 4-9 Typical Connections to Motor Control
Motor
Leads

Motor
GND

R1/B+

Motor Thermal
Leads

R2 B- T1 T2 T3 TH1 TH2

G
N
D
Shielded Twisted
Pair Wire

Motor Ground
Wire

Motor
Temperature
Switch
U V
G
W

AC Servo Motor

4.10.1 Motor Lead Termination

Motor leads are normally terminated using a Connector or Terminal Box (see Figure 4-10) or Flying Leads. When no
termination is provided and the motor leads just exit the motor housing, this is called “Flying Leads”. For flying leads, refer
to the motor packing list to determine the lead configuration.

Figure 4-10 Motor Termination

MN766

Function

Thermal Switch
Thermal Switch
Brake
Brake
U
Ground
W
V

A
B
C
D
1
2
3
4

C
D
3

8 Pin
B
4
2

Function
A
1

Connector Termination

Thermal Switch
1
2
Thermal Switch
Brake
3
4
Brake
U
U
V
V
W
W
Screw
Ground (P.E.)

1 2 3 4

Terminal Box Termination

Power Wiring 4-9

Power Wiring

4.11 Strain Relief (Mounted at Terminal Box)
The motor cable is terminated at the Terminal Box using a Shielded Strain Relief Connector. Figure 4-11 shows the
components.
1.
2.
3.
4.
5.
6.

Strip the outer shield from the cable to expose the conductors and shield.
Slip the Strain Relief components onto the cable in the order shown.
Fold the Shield wires over the end of the Contact Carrier.
Slide the Threaded Adapter onto the Contact Carrier until the Carrier is completely inserted into the Adapter.
Slide the Gasket into the Contact Carrier.
Slide the Adapter Cover onto the Threaded Adapter and Tighten. As it is tightened, it compresses the Gasket against the
Cable to form the strain relief and securely hold the cable.
7. The assembly can be inserted into the Terminal Box and secured.

Figure 4-11 Motor Cable Strain Relief Assembly

Shielded Cable

Threaded
Adapter

Contact Gasket Adapter
Carrier
Cover

Assemble Parts onto Cable

Fold Shield wires over Contact Carrier

Assembled

4-10 Power Wiring

MN766

4.12 Brushless Servo Motor Identification
Figure 4-12

Frame

SS = Stainless IEC
Steel
50
63
80
90
100

NEMA
5N
6N
8N
9N

Series

C
N

Motor
Size

1
2
3
4

Motor Options

Winding
Code

50
75
etc.

Connections
Standard (Metric)
Threaded Style

Description
Motor (no shaft seal)
Motor & Brake
Motor with shaft oil seal
Motor with brake & shaft oil seal

Optional (inch)
Quick Connect

A
B
C
D

I
J
K
L

Cables (5)

E
F
G
H

Flying
Leads (5)

M
N
O
P

Rotatable
Metric Threaded (9)

R
S
T
U

Feedback Options
A = Resolver
D = Absolute Encoder
E = Encoder w/Commutation (1000ppr)
F = Encoder w/Commutation (2500ppr)
H = Hall effect only
T = Tach/Hall effect
Y = Resolver mounting only

Accessory Options
Blank = No Option
M = No Keyway
N = DIN 42955-R
O = DIN 42955-R & No Keyway
P = Optional Motor Connector on BSM 90/100
(Note: This option available only if current is 20 amps or less).

Z1 = Blower 115 VAC (not available on all motors)
Z2 = Blower 230 VAC (not available on all motors)
Z3 = Blower 24VDC
Notes: 1) Standard BSM50/63/80 Series includes feedback device, two threaded connectors (metric style) for feedback and motor terminations,
IEC square mounting flange.
2) Standard BSM90/100 Series includes feedback device, one threaded connector (metric style) for feedback, termination of motor lead
wires on terminal block, IEC square mounting flange.
3) Standard BSM motors do not have shaft seal. Motors will meet IP65 if shaft oil seal is added.
4) Standard BSM50 Series has as standard no-keyway.
5) Standard cables and flying leads are 1 meter long.
6) SSBSM motors available with IEC mounting and include a shaft oil seal as standard.
7) BSM motors are IP60. Motors that meet IP65 include shaft oil seal.
8) SSBSM motors are IP67.
9) Rotatable connectors are not available for BSM50 series.
10) Contact Baldor for special option availabliity.

4.13 External Trip Input
Terminal J2-16 is available for connection to a normally closed contact. The contact should be a dry contact type with no
power available from the contact. When the contact opens (activated), the control will automatically shut down and give an
External Trip fault.

MN766

Power Wiring 4-11

4.14 Resolver Installation
The Resolver Board is installed in the Feedback Module Slot 3. Connect resolver wiring to the resolver board as shown in
Figure 4-13. Use 16AWG (1.31mm2) maximum.

Figure 4-13 Resolver Connections
16-22A WG
Twisted Pair
Shield
Pink
Gray
Green
Yellow
Red
Blue

Motor Frame
Sine+
SineCosine+
CosineExcitation+
Excitation-

J3 Index Source Select

External Index (sync)
Resolver
Board

Internal Index (sync)

Chassis
GND
1

Encoder Output

Resolver Input
Signal Terminals

1
J3

1∆
2
3
4
5
6
7
8
9

16 = Outer
Shield

16-22A WG Twisted Pair
Channel A+
Channel AChannel B+
Channel BChannel C+
Channel C-

Chassis GND
Sine +
Sine Cosine +
Cosine Excitation +
Excitation Ext Index +
Ext Index -

Emulated Encoder
Output Signal
Terminals
10
11
12
13
14
15
16 ∆

CH A+
CH ACH B+
CH BCH C+
CH COuter Shield
(Chassis GND)

∆ Terminals 1 and 16 are connected internally.

See recommended tightening torques in Table A-2.

4.14.1 Feedback Termination

Connections for Feedback cables are different for each type of feedback device. Standard devices are: Resolver, Halls
(Hall Effect). Custom feedback devices are also available. Request a wiring diagram of your feedback device from the
manufacturer to determine the pin-out and/or wire color codes.

Figure 4-14 Typical Connections to Feedback Termination
Function
R1
R2
S1
S3
S2
S4

REF HI
REF LO
COS+
COSSINE+
SINEOpen

Pin
1
2
3
4
5
6
7-12

12 Pin
9

10 12

2
3

11
4

6
5

Resolver

4.15 Optional Dynamic Brake Hardware
Refer to Figure 4-15 for DB resistor connections. Dynamic Brake (DB) Hardware must be installed on a flat, non-flammable,
vertical surface for effective cooling and operation.
CAUTION:

Before external Dynamic Brake Hardware is added, the internal resistor must be disconnected
(frames AA, B, C, and D). Remove the resistor from the B+/R1 and R2 terminals. The external
resistor can be connected across these terminals. Failure to remove the internal resistor will
decrease the total resistance (parallel connection) and cause damage.

Figure 4-15 DB Terminal Identification
Frame AA, B and D Sizes
“E” or “W” suffix
B+ / R1

Frame C Size Only - Disconnect Internal DB resistor
wires from DBR1 and DBR2 terminals before
connecting external DB Resistor to prevent damage.

B-

Note: Although not shown, metal conduit should be
used to shield all power wires and motor leads.

4-12 Power Wiring

B+ / R1

DBR2

See recommended tightening torques in Table A-2.

DBR1

Wires from the Internal Dynamic Brake resistor
for size AA, B and D controls must be removed
External
before external resistor hardware is installed. TB101

B-

External

MN766

4.16 Home (Orient) Switch Input
The Home or Orient function causes the motor shaft to rotate to a predefined home position. The homing function allows
shaft rotation in the drive forward direction only. The home position is located when a machine mounted switch or “Index”
pulse is activated (closed). Home is defined by a rising signal edge at Resolver expansion board terminal 8. The shaft will
continue to rotate only in a “Drive Forward” direction for a user defined offset value. The offset is programmed in Level 2
Miscellaneous Homing Offset P2308. The speed at which the motor will “Home” or orient is set in Level 2 Miscellaneous
Homing Speed P2307.
To use the internally generated index pulse for homing, no external connections are required. However, to use an external
index input jumper J3 on the resolver expansion board must be moved to External Index (sync) and a switch must be
connected to Index+ and Index-, shown in Figure 4-16.

4.16.1 External Index Jumper Position

Use the following procedure.
1. Remove all power from the control. Wait 5 minutes for bus capacitors to discharge. Open cover.
2. Place resolver expansion board jumper J3 in the desired position, see Figure 4-13.
3. Close cover. Turn power on. Be sure no errors are displayed.

4.16.2 Connections for External Index Signal

A machine mounted switch may be used to define the Home position or “index” channel. A differential line driver output
from a solid state switch is preferred for best noise immunity. Connect this differential output to resolver expansion board
terminals 8 and 9.
A single ended solid-state switch or limit switch should be wired as shown in Figure 4-16. Regardless of the type of switch
used, clean rising and falling edges at pin 8 are required for accurate positioning.
Note: Control requires dynamic brake hardware for Orient (Homing) function to work. Control will trip without dynamic brake
hardware installed. Size AA and B controls (“-E” suffix) are shipped with factory installed dynamic brake hardware.

Figure 4-16 Typical Home or Orient Switch Connections
Customer
Provided
+5VDC to
+12VDC

Resolver Board

INDEX +

INDEX -

Limit Switch (Closed at HOME)
See recommended tightening torques in Table A-2.

MN766

Power Wiring 4-13

4-14 Power Wiring

MN766

Chapter 5
Control Wiring

5.1 Control Board Connections

The analog and digital input and output terminals are shown in Figure 5-1. The signals are described in Tables 5-1, 5-2 and
5-3. Connections will depend upon which operating mode is selected (P1401). Each mode is described and a connection
diagram is provided later in this section.

Figure 5-1 Control I/O Connections

Connector

USB Activity LED
J3

Heartbeat/
Fault LED

USB Port

Board

8
J1

Terminals 1 to 7 (J1)
1 User Analog Return
2 Analog Input 1
3 Analog Ref. Power
4 Analog Input 2 +
5 Analog Input 2 6 Analog Output 1
7 Analog Output 2

Terminals 8 to 20 (J2)
8 Enable Input
9 Digital Input 1
10 Digital Input 2
11 Digital Input 3
12 Digital Input 4
13 Digital Input 5
14 Digital Input 6
15 Digital Input 7
16 Digital Input 8
17 Digital Out 1 + (Collector)
18 Digital Out 1 - (Emitter)
19 Digital Out 2 + (Collector)
20 Digital Out 2 - (Emitter)

Plug

Terminals 21 to 30 (J3)
21 External User +24V Return
22 External User +24V
23 Internal +24V
24 Internal +24V Return
25 Relay Out 1 NC
26 Relay Out 1 COM
27 Relay Out 1 NO
28 Relay Out 2 NC
29 Relay Out 2 COM
30 Relay Out 2 NO

See recommended tightening torques in Table A-2.

Table 5-1 J1 Connector Definition

MN766

Connector Terminal

Signal Description

J1-1

0VDC - Common reference for Analog Inputs and Outputs

J1-2

AIN1 – Analog Input 1

J1-3

AREF - Analog reference power (+10V for Analog Input 1)

J1-4

AIN2+ - Analog Input 2+

J1-5

AIN2- - Analog Input 2-

J1-6

AOUT1 - Analog Output 1

J1-7

AOUT2 - Analog Output 2

Control Wiring 5-1

Table 5-2 J2 Connector Definition
Connector Terminal

Signal Description

J2-8

Enable Input

J2-9

DIN1 – Digital Input 1

J2-10

DIN2 – Digital Input 2

J2-11

DIN3 – Digital Input 3

J2-12

DIN4 – Digital Input 4

J2-13

DIN5 – Digital Input 5

J2-14

DIN6 – Digital Input 6

J2-15

DIN7 – Digital Input 7

J2-16

DIN8 – Digital Input 8

J2-17

Digital Output #1+ (Collector)

J2-18

Digital Output #1- (Emitter)

J2-19

Digital Output #2+ (Collector)

J2-20

Digital Output #2- (Emitter)

Table 5-3 J3 Connector Definition
Connector Terminal

Signal Description

J3-21

External User +24V Return

J3-22

External User +24V

J3-23

Internal +24VDC

J3-24

Internal +24VDC Return

J3-25

Relay Output #1 N.C.

J3-26

Relay Output #1 COMMON

J3-27

Relay Output #1 N.O.

J3-28

Relay Output #2 N.C.

J3-29

Relay Output #2 COMMON

J3-30

Relay Output #2 N.O.

5-2 Control Wiring

MN766

5.2 Analog Inputs
Two analog inputs are available: Analog Input 1 (J1-1 and J1-2) and Analog Input 2 (J1-4 and J1-5) as shown in Figure 5-2.
Either analog input may be selected in the Level 1 Input block, Command Source Parameter, (P1402)..

Figure 5-2 Analog Inputs
J1
Command Pot or
0 - 10VDC

Analog GND
Analog Input 1
Pot Reference

±5VDC, ±10VDC, Analog Input +2
0-20mA or 4-20mA Input Analog Input -2

1
2
3

Analog Input 1

4
5

Analog Input 2

See recommended terminal tightening torques in Table A-2.

5.2.1 Analog Input 1 (Single Ended)

When using a potentiometer as the speed command, process feedback or setpoint source, the potentiometer should be
connected at Analog Input 1. When using Analog Input 1, the respective parameter must be set to “Analog Input 1”.
Note: A potentiometer value of 5kΩ to 10kΩ, 0.5 watt may be used.
Parameter Selection
The single ended Analog Input 1 is typically used in one of three ways:
1. Speed or Torque command (Level 1 Input block, Command Source=Analog Input 1).
2. Process Feedback (Level 2 Process Control block, Process Feedback=Analog Input 1).
3. Setpoint Source (Level 2 Process Control block, Setpoint Source=Analog Input 1).

5.2.2 Analog Input 2 (Differential)

Analog Input 2 accepts a differential command ±5VDC, ±10VDC, 0-20mA or 4-20mA.
If pin J1-4 is positive with respect to pin J1-5 and P1408=±5V or ±10V, the motor will rotate in the forward direction.
If pin J1-4 is negative with respect to pin J1-5 and P1408=±5V or ±10V, the motor will rotate in the reverse direction. If
forward direction is not correct, change Level 2, Motor Data Reverse Rotation parameter P2415.
Analog Input 2 can be connected for single ended operation by connecting either of the differential terminals to common,
provided the common mode voltage range is not exceeded. See Note.
Analog Input 2 can be set for voltage or current mode operation. With JP1 as shown in Figure 5-3 , Voltage mode is
selected. If JP1 is connected to pins 2 and 3, current mode is selected.
The Level 1 Input Setup Parameter P1408 can be set to the full scale voltage or current range desired.
Note: The common mode voltage can be measured with a voltmeter. Apply the maximum command voltage to Analog Input
2 (J1-4,5). Measure the AC and DC voltage across J1-1 to J1-4. Add the AC and DC values. Measure the AC and DC
voltage from J1-1 to J1-5. Add these AC and DC values. If either of these measurement totals exceeds a total of ±15
volts, then the common mode voltage range has been exceeded. To correct this condition, isolate the command
signal with a signal isolator, such as Baldor catalog number BC145.

Figure 5-3 Jumper Locations
RS485

See recommended tightening Torques in Table A-2.
Regen
Connector

Ribbon
Cable

Control
Circuit Board

JP1
Fault

USB Port

JP3

ENP

No Termination

Type
JP6

INP

JP5
EPN

S G A B S
P3

JP2

DFT

Factory Settings
as shown

JP3

ANAIN2 ANAOUT1

JP1

JP2

Voltage

Current
8

USB

MN766

Keypad
Connector

RS485
120 ohm
Termination

Note: Factory connection of
J2-8 (Enable) to J3-24.

Control Wiring 5-3

5.3 Analog Outputs
Two programmable analog outputs are provided on J1-6 and J1-7. These outputs are scaled and can be used to provide
status of various control conditions. The return for these outputs is J1-1 analog return. Each output function is programmed
in the Level 1 Output Setup block, Analog Out1 Signal, (P1511), or Analog Out2 Signal (P1514) parameter values.
Analog Output 1 can be set for voltage or current mode operation. With JP2 as shown in Figure 5-3, Voltage mode is
selected. If JP2 is connected to pins 2 and 3, current mode is selected.
The Level 1 Output Setup Parameter (P1510) can be set to the full scale voltage or current range desired.

5.4 Opto-Isolated Inputs
Logic input connections are made at terminal strip J2 pins 8 to 16. J2 inputs can be wired as Active High or Active Low as
shown in Figure 5-4. Internal or external power source is selected by jumpers JP5 and JP6 shown in Figure 5-4.
Notes for Figure 5-4:
1. See operating modes defined later in this chapter for input usage.
2. Factory connection of J2-8 (Enable) is made to J3-24 for Internal, Active Low connection. For other configurations, the
wire at J3-24 must be moved to J3-23, J3-21 or J3-22 as needed.

Figure 5-4 Active HIGH (Sourcing)/LOW (Sinking) Relationship
Internally Supplied 24VDC
Active High Connections
ENP

JP6

Externally Supplied 24VDC

Active Low Connections
(Factory Default Settings)

INP

*ENP

JP5
EPN

JP6

Active High Connections

INP

ENP

JP5
DFT

*EPN

DFT

Enable
Digital Input 1
Digital Input 2
Digital Input 3
Digital Input 4
Digital Input 5
Digital Input 6
Digital Input 7
Digital Input 8

8
9
10
11
12
13
14
15
16

Enable
Digital Input 1
Digital Input 2
Digital Input 3
Digital Input 4
Digital Input 5
Digital Input 6
Digital Input 7
Digital Input 8

8
9
10
11
12
13
14
15
16

J3
21
22
23
24

External User Return
External User +24V
Internal +24V
Internal 24V Return

J3
21
22
23
24

External User Return
External User +24V
Internal +24V
Internal 24V Return

J3
21
22
23
24

Sink

See recommended tightening torques in Table A-2.

5-4 Control Wiring

INP

ENP

JP5

J2
8
9
10
11
12
13
14
15
16

Source

JP6

Active Low Connections

EPN

JP6

INP

JP5
DFT

EPN

DFT

Enable
Digital Input 1
Digital Input 2
Digital Input 3
Digital Input 4
Digital Input 5
Digital Input 6
Digital Input 7
Digital Input 8

J2
8
9
10
11
12
13
14
15
16

Enable
Digital Input 1
Digital Input 2
Digital Input 3
Digital Input 4
Digital Input 5
Digital Input 6
Digital Input 7
Digital Input 8

External User Return
External User +24V
Internal +24V
Internal 24V Return

J3
21
22
23
24

External User Return
External User +24V
Internal +24V
Internal 24V Return

Source
User Provided
+24V Power Source

Sink
User Provided
+24V Power Source

MN766

5.5 Operating Modes
The operating modes define the basic motor control setup and the operation of the input and output terminals. After the
circuit connections are completed, the operating mode is selected by programming the Operating Mode parameter in the
Level 1 Input Setup Programming Block (P1401).
Operating modes include:
• Keypad

• Standard Run 2Wire

• Standard Run 3Wire

• 15 Preset Speeds

• Fan Pump 2Wire

• Fan Pump 3Wire

• Process Control*

• 3 Spd Ana 2Wire

• 3 Spd Ana 3Wire

• Electronic Pot 2Wire

• Electronic Pot 3Wire

• Network

• Profile Run*

• 15 Preset Position*

• Bipolar

• Pulse Follower*

• PLC*
* To view and change parameters associated with these modes, Operating Mode (P1401) must be set to the respective
mode. For example, this means Process Control parameters will not appear on the keypad for selection unless Level 1, Input
Setup, Operating Mode (P1401) is set to “Process Control”.
Each mode requires connections to the J1, J2 and J3 terminal strips. The terminal strips are shown in Figure 5-1. The
connection of each input or output signal is described in the following pages.

5.5.1 Keypad

The Keypad mode allows the control to be operated from the keypad. In this mode only the Enable input is required.
However, the Stop and External Trip inputs may optionally be used. All other Digital Inputs remain inactive. The Analog
Outputs and Digital Outputs remain active at all times.

Figure 5-5 Keypad Connection Diagram
J1
1
2
3
4
5
6
7

J2
8
9
10
(Optional Stop) 11
12
13
14
15
External Trip 16
17
18
19
See Figure 5-4 for
20
connection information.

User Analog Return
Analog Input 1
Analog Ref. Power +
Analog Input 2+
Analog Input 2Analog Output 1
Analog Output 2

Enable

Enable
Digital Input 1
Digital Input 2
Digital Input 3
Digital Input 4
Digital Input 5
Digital Input 6
Digital Input 7
Digital Input 8
Digital Output 1 + (Collector)
Digital Output 1 - (Emitter)
Digital Output 2 + (Collector)
Digital Output 2 - (Emitter)

See recommended tightening torques in Table A-2.
*Note: Remove factory jumper from J2-8 and J3-24 before connecting switch at J2-8.
For keypad operation, only Enable (J2-8) is required.

J2-8

J2-11

J2-16

MN766

CLOSED allows normal control operation.
OPEN disables the control and motor coasts to stop.
Optional STOP input (not required).
CLOSED allows normal control operation.
OPEN motor coasts or brakes to stop if Level 1 Keypad Setup block, Local Hot Start parameter is set to “ON”.
Optional External Trip input (not required). If used, you must set Level 2 Drive Protect block, External Trip to “ON”.
CLOSED allows normal operation.
OPEN causes an External Trip to be received by the control (when programmed to “ON”).

Control Wiring 5-5

5.5.2 Standard Run 2-Wire

In Standard Run 2Wire mode, the control is operated by the digital inputs and the command source. Also, Preset Speed 1
can be selected. The opto inputs can be switches as shown in Figure 5-6 or logic signals from another device.

Figure 5-6 Standard Run 2-Wire Connection Diagram

10KΩ Pot or
0 - 10VDC

J1
1
2
3
4
5
6
7

*
User Analog Return
Analog Input 1
Analog Ref. Power +
Analog Input 2+
Analog Input 2Analog Output 1
Analog Output 2

Enable
Forward Run
Reverse Run
Jog Forward
Jog Reverse
Accel/Decel Select
Preset Speed 1
Fault Reset
External Trip

See Figure 5-4 for
connection information.

J2
8
9
10
11
12
13
14
15
16
17
18
19
20

See recommended tightening torques in Table A-2.
*Note: Remove factory jumper from J2-8 and J3-24 before connecting switch at J2-8.

J2-8

J2-9

J2-10

J2-11

J2-12

J2-13

J2-14

J2-15

J2-16

CLOSED allows normal operation.
OPEN disables the control and motor coasts to a stop.
CLOSED starts motor operation in the Forward direction.
OPEN motor decels to stop. If Level 1, Keypad Setup, Stop Mode is set to “coast”, motor coasts to stop.
CLOSED starts motor operation in the Reverse direction.
OPEN motor decels to stop. If Level 1, Keypad Setup, Stop Mode is set to “coast”, motor coasts to stop.
CLOSED starts motor JOG operation in the Forward direction.
OPEN motor decels to stop. If Level 1, Keypad Setup, Stop Mode is set to “coast”, motor coasts to stop.
CLOSED starts motor JOG operation in the Reverse direction.
OPEN motor decels to stop. If Level 1, Keypad Setup, Stop Mode is set to “coast”, motor coasts to stop.
CLOSED selects ACC / DEC / S-ACC / S-DEC group 2.
OPEN selects ACC / DEC / S-ACC / S-DEC group 1.
CLOSED selects Preset Speed 1 (J2-11 or 12, will override this Preset Speed).
OPEN allows speed command from the Command Source (P1402).
CLOSED to reset fault.
OPEN to run.
Optional External Trip input (not required). If used, you must set Level 2 Drive Protect block, External Trip to “ON”.
CLOSED allows normal operation.
OPEN causes an External Trip to be received by the control.

Note: When Command Source is a unipolar signal (0-10V, 0-5V, 4-20mA etc.) and Forward Run or Reverse Run is closed,
motion will occur (unless both are closed at the same time).

5-6 Control Wiring

MN766

5.5.3 Standard Run 3-Wire

In Standard Run 3Wire mode, the control is operated by the digital inputs and the command source. Also, Preset Speed 1
can be selected. The opto inputs can be switches as shown in Figure 5-7 or logic signals from another device.

Figure 5-7 Standard Run 3-Wire Connection Diagram

10K Ω Pot or
0 - 10VDC

J1
1
2
3
4
5
6
7

J2
User Analog Return
Analog Input 1
Analog Ref. Power +
Analog Input 2+
Analog Input 2Analog Output 1
Analog Output 2

Enable
Forward Start
Reverse Start
Stop
Jog
Accel/Decel
Preset Speed 1
Fault Reset
External Trip

See Figure 5-4 for connection
Information.

8
9
10
11
12
13
14
15
16
17
18
19
20

See recommended tightening torques in Table A-2.
*Note: Remove factory jumper from J2-8 and J3-24 before connecting switch at J2-8.

J2-8

J2-9

J2-10

J2-11
J2-12
J2-13

J2-14

J2-15

J2-16

CLOSED allows normal operation.
OPEN disables the control and motor coasts to a stop.
MOMENTARY CLOSED starts motor operation in the Forward direction.
In JOG mode (J2-12 CLOSED), motor jogs in the Forward direction as long as closed.
MOMENTARY CLOSED starts motor operation in the Reverse direction.
In JOG mode (J2-12 CLOSED), motor jogs in the Reverse direction as long as closed.
MOMENTARY OPEN motor decels to stop.
CLOSED places control in JOG mode, Forward and Reverse run are used to jog the motor.
CLOSED selects ACC / DEC / S-ACC / S-DEC group 2.
OPEN selects ACC / DEC / S-ACC / S-DEC group 1.
CLOSED selects Preset Speed 1 (J2-12,will override this Preset Speed).
OPEN allows speed command from the Command Source (P1402).
CLOSED to reset fault.
OPEN to run.
Optional External Trip input (not required). If used, you must set Level 2 Drive Protect block, External Trip to “ON”.
CLOSED allows normal operation.
OPEN causes an External Trip to be received by the control.

Note: When Command Source is a unipolar signal (0-10V, 0-5V, 4-20mA etc.) and Forward Run or Reverse Run is closed,
motion will occur (unless both are closed at the same time).

MN766

Control Wiring 5-7

5.5.4 15 Preset Speeds

Operation in 15 Preset Speeds 2-Wire mode is controlled by the opto isolated inputs at J2. The values of the Preset Speeds
are set in the Level 1 Preset Speeds block, Preset Speed 1 to Preset Speed 15. J2-11 through J2-14 inputs allow selection
of 15 Preset Speeds. The opto inputs can be switches as shown in Figure 5-8 or logic signals from another device.

Figure 5-8 15 Preset Speeds
J1
1
2
3
4
5
6
7

User Analog Return
Analog Input 1
Analog Ref. Power +
Analog Input 2+
Analog Input 2Analog Output 1
Analog Output 2

Enable
Forward Run
Reverse Run
Switch 1
Switch 2
Switch 3
Switch 4
Accel/Decel
External Trip

See Figure 5-4 for
connection information.

J2
8
9
10
11
12
13
14
15
16
17
18
19
20

See recommended tightening torques in Table A-2.
*Note: Remove factory jumper from J2-8 and J3-24 before connecting switch at J2-8.
J2-8
CLOSED allows normal operation.

OPEN disables the control and motor coasts to a stop.
J2-9
CLOSED operates the motor in the Forward direction (with J2-10 open).

OPEN motor decels to stop.
J2-10
CLOSED operates motor in the Reverse direction (with J2-9 open).

OPEN motor decels to stop.
J2-11 to J2-14
Selects programmed Preset Speeds as defined in Table 5-4 .
J2-15
CLOSED selects ACC / DEC / S-ACC / S-DEC group 2.

OPEN selects ACC / DEC / S-ACC / S-DEC group 1.
J2-16
Optional External Trip input (not required). If used, you must set Level 2 Drive Protect block, External Trip
to “ON”.

CLOSED allows normal operation.

OPEN causes an External Trip to be received by the control.

Table 5-4 Speed Select Table for 15 Speed, 2-Wire Control Mode
J2-11

J2-12

J2-13

J2-14

Function

OPEN

Selects Level 1:Preset Speed:Preset Speed 1 (P1001)

CLOSED

OPEN

Selects Level 1:Preset Speed:Preset Speed 2 (P1002)

OPEN

CLOSED

OPEN

Selects Level 1:Preset Speed:Preset Speed 3 (P1003)

CLOSED

OPEN

Selects Level 1:Preset Speed:Preset Speed 4 (P1004)

OPEN

CLOSED

OPEN

Selects Level 1:Preset Speed:Preset Speed 5 (P1005)

CLOSED

OPEN

CLOSED

OPEN

Selects Level 1:Preset Speed:Preset Speed 6 (P1006)

OPEN

CLOSED

OPEN

Selects Level 1:Preset Speed:Preset Speed 7 (P1007)

CLOSED

OPEN

Selects Level 1:Preset Speed:Preset Speed 8 (P1008)

OPEN

CLOSED

Selects Level 1:Preset Speed:Preset Speed 9 (P1009)

CLOSED

OPEN

CLOSED

Selects Level 1:Preset Speed:Preset Speed 10 (P1010)

OPEN

CLOSED

OPEN

CLOSED

Selects Level 1:Preset Speed:Preset Speed 11 (P1011)

CLOSED

OPEN

CLOSED

Selects Level 1:Preset Speed:Preset Speed 12 (P1012)

OPEN

CLOSED

Selects Level 1:Preset Speed:Preset Speed 13 (P1013)

CLOSED

OPEN

CLOSED

Selects Level 1:Preset Speed:Preset Speed 14 (P1014)

OPEN

CLOSED

Selects Level 1:Preset Speed:Preset Speed 15 (P1015)

CLOSED

Fault Reset

5-8 Control Wiring

MN766

5.5.5 Fan Pump 2-Wire

Operation in the Fan Pump 2-Wire mode is controlled by the opto isolated inputs at J2-8 through J2-16. The opto inputs can
be switches as shown in Figure 5-9 or logic signals from another device.

Figure 5-9 Fan Pump 2-Wire Connection Diagram
J1
1
2
3
4
5
6
7

User Analog Return
Analog Input 1
Analog Ref. Power +
Analog Input 2+
Analog Input 2Analog Output 1
Analog Output 2

Enable
Forward Run
Reverse Run
Analog Input Select
Run Command
Speed Command
Firestat
Freezestat
External Trip

See Figure 5-4 for
connection information.

J2
8
9
10
11
12
13
14
15
16
17
18
19
20

See recommended tightening torques in Table A-2.
*Note: Remove factory jumper from J2-8 and J3-24 before connecting switch at J2-8.

J2-8

J2-9

J2-10

J2-11

J2-12

J2-13

J2-14
J2-15
J2-16

CLOSED allows normal control operation.
OPEN disables the control and the motor coasts to a stop.
CLOSED operates the motor in the Forward direction (with J2-10 open).
OPEN motor decels to stop. Note: J2-9 and J2-10 are both closed = Fault Reset.
CLOSED operates the motor in the Reverse direction (with J2-9 open).
OPEN motor decels to stop. Note: J2-9 and J2-10 are both closed = Fault Reset.
CLOSED selects Analog Input 1 (if J2-13, J2-14 and J2-15 are closed).
OPEN selects Command Source (Level 1, Input, Command Source) if J2-13, J2-14 and J2-15 are closed.
CLOSED selects STOP/START and Reset commands from terminal strip.
OPEN selects STOP/START and Reset commands from Keypad.
CLOSED allows other selections, see Speed Select Table 5-5 .
OPEN selects speed commanded from Keypad (if J2-14 and J2-15 are closed).
Note: When changing from Terminal Strip to Keypad (J2-12 or J2-13) the motor speed and direction will remain
the same after the change.
Firestat. Selects Level 1, Preset Speeds, Preset Speed 1.
Freezestat. Level 1, Preset Speeds, Preset Speed 2 (if J2-14 is closed).
Optional External Trip input (not required). If used, you must set Level 2 Drive Protect block, External Trip to “ON”.
CLOSED allows normal operation.
OPEN causes an External Trip to be received by the control (when programmed to “ON”).

Table 5-5 Speed Select Table – Fan Pump 2-Wire
J2-11

J2-13

J2-14

J2-15

OPEN

CLOSED

OPEN

Command
Keypad Speed Command
Level 1, Preset Speeds, Preset Speed 1

CLOSED

OPEN

CLOSED

Level 1, Preset Speeds, Preset Speed 2
Level 1, Input Setup, Command Source (parameter P1402)

CLOSED

Analog Input 1

Note: When Command Source is a unipolar signal (0-10V, 0-5V, 4-20mA etc.) and Forward Run or Reverse Run is closed,
motion will occur (unless both are closed at the same time).

MN766

Control Wiring 5-9

5.5.6 Fan Pump 3-Wire

Operation in the Fan Pump 3-Wire mode is controlled by the opto isolated inputs at J2-8 through J2-16. The opto inputs can
be switches as shown in Figure 5-10 or logic signals from another device.

Figure 5-10 Fan Pump 3-Wire Connection Diagram
J1
1
2
3
4
5
6
7

User Analog Return
Analog Input 1
Analog Ref. Power +
Analog Input 2+
Analog Input 2Analog Output 1
Analog Output 2

Enable
Forward Start
Reverse Start
Stop
Run Command
Speed Command
Firestat
Freezestat
External Trip

See Figure 5-4 for
connection information.

J2
8
9
10
11
12
13
14
15
16
17
18
19
20

See recommended tightening torques in Table A-2.
*Note: Remove factory jumper from J2-8 and J3-24 before connecting switch at J2-8.

J2-8

J2-9

J2-10

J2-11
J2-12

J2-13

J2-14
J2-15
J2-16

CLOSED allows normal control operation.
OPEN disables the control and the motor coasts to a stop.
MOMENTARY CLOSED starts motor operation in the Forward direction.
Note: Closing both J2-9 and J2-10 at the same time will reset a fault.
MOMENTARY CLOSED starts motor operation in the Reverse direction.
Note: Closing both J2-9 and J2-10 at the same time will reset a fault.
MOMENTARY OPEN motor decels to stop.
CLOSED selects STOP/START and Reset commands from terminal strip.
OPEN selects STOP/START and Reset commands from Keypad.
CLOSED allows other selections, see Speed Select Table 5-6.
OPEN selects speed commanded from Keypad (if J2-14 and J2-15 are closed).
Note: When changing from Terminal Strip to Keypad (J2-12 or J2-13) the motor speed and direction will remain
the same after the change.
Firestat. Selects Level 1, Preset Speeds, Preset Speed 1.
Freezestat. Selects Level 1, Preset Speeds, Preset Speed 2 (if J2-14 is closed).
Optional External Trip input (not required). If used, you must set Level 2 Drive Protect block, External Trip to “ON”.
CLOSED allows normal operation.
OPEN causes an External Trip to be received by the control (when programmed to “ON”).

Table 5-6 Speed Select Table – Fan Pump 3-Wire
J2-13

J2-14

J2-15

CLOSED

OPEN

CLOSED

Keypad Speed Command

CLOSED

Level 1, Input Setup, Command Source (parameter P1402)

OPEN

5-10 Control Wiring

Command
Level 1, Preset Speeds, Preset Speed 1
Level 1, Preset Speeds, Preset Speed 2

MN766

5.5.7 Process Control

The process control mode provides an auxiliary closed loop general purpose PID set point control. The process control loop
may be configured in various ways and detailed descriptions of the Process Control are given in MN707 “Introduction to
Process Control”. The opto inputs can be switches as shown in Figure 5-11 or logic signals from another device.

Figure 5-11 Process Control Connections
J1
1
2
3
4
5
6
7

User Analog Return
Analog Input 1
Analog Ref. Power +
Analog Input 2+
Analog Input 2Analog Output 1
Analog Output 2

Enable
Forward Enable
Reverse Enable
Table Select
Speed/Torque
Process Mode Enable
Jog
Fault Reset
External Trip

See Figure 5-4 for
connection information.

J2
8
9
10
11
12
13
14
15
16
17
18
19
20

See recommended tightening torques in Table A-2.
*Note: Remove factory jumper from J2-8 and J3-24 before connecting switch at J2-8.

J2-8

J2-9

J2-10

J2-11

J2-12

J2-13

J2-14
J2-15

J2-16

CLOSED allows normal control operation.
OPEN disables the control and the motor coasts to a stop.
CLOSED to enable operation in the Forward direction.
OPEN to disable Forward operation (drive will decel to a stop if a Forward speed command is still present).
Reverse operation is still possible if J2-10 is closed.
CLOSED to enable operation in the Reverse direction.
OPEN to disable Reverse operation (drive will decel to a stop if a Reverse speed command is still present).
Forward operation is still possible if J2-9 is closed.
Note: If J2-9 and J2-10 are both opened, the drive will decel to a stop.
CLOSED = TABLE 2,
OPEN = TABLE 1. Refer to Table 5-7.
Note: The Operating Mode (P1401) must be set to a mode that allows table switching in both tables T1 and T2.
CLOSED Selects ACC/DEC group 2 (V/F) or selects torque mode (Vector).
OPEN Selects ACC/DEC group 1 (V/F) or selects speed mode (Vector).
Note: If a stop command is issued while in the torque (current) mode, the control will stop but will not maintain
position (zero current). This is different than zero speed operation for the velocity mode.
CLOSED to enable PID and FF. Feedforward (FF) is from Command Source (P1402).
OPEN to enable FF only. PID is disabled with its integrator reset to zero.
CLOSED to enable JOG mode. Jog in either direction is allowed if enabled by J2-9 or J2-10.
CLOSED to reset a fault.
OPEN to run.
Optional External Trip input (not required). If used, you must set Level 2 Drive Protect block, External Trip to “ON”.
CLOSED allows normal operation.
OPEN causes an External Trip to be received by the control (when programmed to “ON”).

Table 5-7 Process Control Select Table
J2-11

Command

OPEN

Selects Parameter Table 1

CLOSED

Selects Parameter Table 2

Note: See multiple parameter sets in this section.

MN766

Control Wiring 5-11

5.5.8 3 Speed Analog 2-Wire

Provides 2 wire input control and allows selection of 3 Preset Speeds. The values of the Preset Speeds are set in the Level
1 Preset Speeds block, Preset Speed 1, Preset Speed 2 and Preset Speed 3. The opto inputs can be switches as shown in
Figure 5-12 or logic signals from another device.

Figure 5-12 3 Speed Analog 2-Wire Connection Diagram
J1
1
2
3
4
5
6
7

User Analog Return
Analog Input 1
Analog Ref. Power +
Analog Input 2+
Analog Input 2Analog Output 1
Analog Output 2

Enable
Forward Run
Reverse Run
Analog Input Select
Run Command
Speed Command
Switch 1
Switch 2
External Trip

See Figure 5-4 for
connection information.

J2
8
9
10
11
12
13
14
15
16
17
18
19
20

See recommended tightening torques in Table A-2.
*Note: Remove factory jumper from J2-8 and J3-24 before connecting switch at J2-8.

J2-8

J2-9

J2-10

J2-11

J2-12

J2-13

J2-14
J2-15
J2-16

CLOSED allows normal control operation.
OPEN disables the control and the motor coasts to a stop.
CLOSED operates the motor in the Forward direction (with J2-10 open).
OPEN motor decels to stop.
CLOSED operates the motor in the Reverse direction (with J2-9 open).
OPEN motor decels to stop.
Note: Closing both J2-9 and J2-10 at the same time will reset a fault.
CLOSED selects Analog Input 1.
OPEN selects Level 1 Input block, Command Source parameter.
Note: If Command Source (Level 1 Input block) is set to Analog Input 1, then Analog Input 1 is always selected
regardless of this switch position.
CLOSED selects STOP/START and Reset Commands from the terminal strip.
OPEN selects STOP/START and Reset Commands from the keypad.
CLOSED selects Level 1 Input block, Command Source parameter.
OPEN selects speed commanded from Keypad.
Note: When changing from Terminal Strip to Keypad (J2-12 or J2-13) the motor speed and direction will remain
the same after the change.
Selects Preset Speeds as defined in the Speed Select Table (Table 5-8).
Selects Preset Speeds as defined in the Speed Select Table (Table 5-8).
Optional External Trip input (not required). If used, you must set Level 2 Drive Protect block, External Trip to “ON”.
CLOSED allows normal operation.
OPEN causes an External Trip to be received by the control (when programmed to “ON”).

Table 5-8 Speed Select Table
J2-14

J2-15

Command

OPEN

Level 1, Input Setup, Command Source (parameter P1402)

CLOSED

OPEN

Preset 1

OPEN

CLOSED

Preset 2

CLOSED

Preset 3

Note: When Command Source is a unipolar signal (0-10V, 0-5V, 4-20mA, etc.) and forward run or reverse run is closed,
motion will occur (unless both forward run and reverse run are closed at the same time).

5-12 Control Wiring

MN766

5.5.9 3 Speed Analog 3-Wire

Provides 3 wire input control and allows selection of 3 Preset Speeds. The values of the Preset Speeds are set in the Level
1 Preset Speeds block, Preset Speed 1, Preset Speed 2 and Preset Speed 3. The opto inputs can be switches as shown in
Figure 5-13 or logic signals from another device.

Figure 5-13 3 Speed Analog 3-Wire Connection Diagram
J1
1
2
3
4
5
6
7

User Analog Return
Analog Input 1
Analog Ref. Power +
Analog Input 2+
Analog Input 2Analog Output 1
Analog Output 2

Enable
Forward Start
Reverse Start
Stop
Run Command
Speed Command
Switch 1
Switch 2
External Trip

See Figure 5-4 for
connection information.

J2
8
9
10
11
12
13
14
15
16
17
18
19
20

See recommended tightening torques in Table A-2.
*Note: Remove factory jumper from J2-8 and J3-24 before connecting switch at J2-8.

J2-8

J2-9
J2-10

J2-11
J2-12
J2-13

J2-14
J2-15
J2-16

CLOSED allows normal control operation.
OPEN disables the control and the motor coasts to a stop.
MOMENTARY CLOSED starts motor operation in the Forward direction.
MOMENTARY CLOSED starts motor operation in the Reverse direction.
Note: Closing both J2-9 and J2-10 at the same time will reset a fault.
MOMENTARY OPEN motor decels to stop.
CLOSED selects STOP/START and Reset Commands from the terminal strip.
OPEN selects STOP/START and Reset Commands from the keypad.
CLOSED selects Level 1 Input block, Command Source parameter.
OPEN selects speed commanded from Keypad.
Note: When changing from Terminal Strip to Keypad (J2-12 or J2-13) the motor speed and direction will remain
the same after the change.
Selects Preset Speeds as defined in the Speed Select Table (Table 5-9).
Selects Preset Speeds as defined in the Speed Select Table (Table 5-9).
Optional External Trip input (not required). If used, you must set Level 2 Drive Protect block, External Trip to “ON”.
CLOSED allows normal operation.
OPEN causes an External Trip to be received by the control (when programmed to “ON”).

Table 5-9 Speed Select Table

MN766

J2-14

J2-15

OPEN

Level 1, Input Setup, Command Source (parameter P1402)

Command

CLOSED

OPEN

Preset 1

OPEN

CLOSED

Preset 2

CLOSED

Preset 3

Control Wiring 5-13

5.5.10 E-POT 2-Wire

Provides speed Increase and Decrease inputs to allow E-POT (Electronic Potentiometer) operation with 2 wire inputs. The
values of the Preset Speeds are set in the Level 1 Preset Speeds block, Preset Speed 1 or Preset Speed 2. The opto inputs
can be switches as shown in Figure 5-14 or logic signals from another device.

Figure 5-14 E-POT 2-Wire Connection Diagram
J1
1
2
3
4
5
6
7

User Analog Return
Analog Input 1
Analog Ref. Power +
Analog Input 2+
Analog Input 2Analog Output 1
Analog Output 2

Enable
Forward Run
Reverse Run
Switch 1
Switch 2
Accel/Decel
Increase
Decrease
External Trip

See Figure 5-4 for
connection information.

J2
8
9
10
11
12
13
14
15
16
17
18
19
20

See recommended tightening torques in Table A-2.
*Note: Remove factory jumper from J2-8 and J3-24 before connecting switch at J2-8.

J2-8

J2-9

J2-10

J2-11
J2-12
J2-13

J2-14
J2-15
J2-16

CLOSED allows normal control operation.
OPEN disables the control and the motor coasts to a stop.
CLOSED starts motor operation in the Forward direction.
OPEN motor decels to stop.
CLOSED starts motor operation in the Reverse direction.
OPEN motor decels to stop.
Note: Closing both J2-9 and J2-10 at the same time will reset a fault.
Selects Preset Speeds as defined in the Speed Select Table (Table 5-10).
Selects Preset Speeds as defined in the Speed Select Table (Table 5-10).
CLOSED selects ACC / DEC / S-ACC /S-DEC group 2.
OPEN selects ACC / DEC / S-ACC /S-DEC group 1.
MOMENTARY CLOSED increases motor speed while contact is closed.
MOMENTARY CLOSED decreases motor speed while contact is closed.
Optional External Trip input (not required). If used, you must set Level 2 Drive Protect block, External Trip to “ON”.
CLOSED allows normal operation.
OPEN causes an External Trip to be received by the control (when programmed to “ON”).

Table 5-10 Speed Select Table
J2-11

J2-12

Command

OPEN

Electronic Pot

CLOSED

OPEN

Level 1, Input Setup, Command Source (parameter P1402)

OPEN

CLOSED

Preset 1

CLOSED

Preset 2

5-14 Control Wiring

MN766

5.5.11 E-POT 3-Wire

Provides speed Increase and Decrease inputs to allow E-POT operation with 3 wire inputs. The opto inputs can be switches
as shown in Figure 5-15 or logic signals from another device.

Figure 5-15 E-POT 3-Wire Connection Diagram
J1
1
2
3
4
5
6
7

User Analog Return
Analog Input 1
Analog Ref. Power +
Analog Input 2+
Analog Input 2Analog Output 1
Analog Output 2

Enable
Forward Start
Reverse Start
Stop
E-POT CMD Select
Accel/Decel
Increase
Decrease
External Trip

See Figure 5-4 for
connection information.

J2
8
9
10
11
12
13
14
15
16
17
18
19
20

See recommended tightening torques in Table A-2.
*Note: Remove factory jumper from J2-8 and J3-24 before connecting switch at J2-8.

J2-8

J2-9
J2-10

J2-11
J2-12
J2-13
J2-14
J2-15
J2-16

MN766

CLOSED allows normal control operation.
OPEN disables the control and the motor coasts to a stop.
MOMENTARY CLOSED starts motor operation in the Forward direction.
MOMENTARY CLOSED starts motor operation in the Reverse direction.
Note: Closing both J2-9 and J2-10 at the same time will reset a fault.
MOMENTARY OPEN motor decels to stop.
CLOSED selects Level 1 Command Source parameter value.
OPEN selects E-POT.
CLOSED selects ACC / DEC / S-ACC /S-DEC group 2.
OPEN selects ACC / DEC / S-ACC /S-DEC group 1.
MOMENTARY CLOSED increases motor speed while contact is closed.
MOMENTARY CLOSED decreases motor speed while contact is closed.
Optional External Trip input (not required). If used, you must set Level 2 Drive Protect block, External Trip to “ON”.
CLOSED allows normal operation.
OPEN causes an External Trip to be received by the control (when programmed to “ON”).

Control Wiring 5-15

5.5.12 Network

Provides bipolar speed or torque control. Preset speeds are set in software. The opto inputs can be switches as shown in
Figure 5-16 or logic signals from another device. See Table 5-11 for Modbus coils that may be used in this mode.

Figure 5-16 Network Connection Diagram
J1
1
2
3
4
5
6
7

User Analog Return
Analog Input 1
Analog Ref. Power +
Analog Input 2+
Analog Input 2Analog Output 1
Analog Output 2

J2
Enable 8 Enable
Forward Enable 9 Digital Input 1
Reverse Enable 10 Digital Input 2

11
12
13
14
15
External Trip 16
17
18
See Figure 5-4 for
19
connection information.
20

Digital Input 3
Digital Input 4
Digital Input 5
Digital Input 6
Digital Input 7
Digital Input 8
Digital Output 1 + (Collector)
Digital Output 1 - (Emitter)
Digital Output 2 + (Collector)
Digital Output 2 - (Emitter)

See recommended tightening torques in Table A-2.
*Note: Remove factory jumper from J2-8 and J3-24 before connecting switch at J2-8.

J2-8

J2-9

J2-10

J2-16

Table 5-11 Modbus Coils that Affect this Mode
Coil
2

Torque Mode (Vector Only)

Speed Mode

Orientation, absolute position orientation (Closed Vector or AC Servo only)

Homing
(available in Closed Vector or AC Servo Only)

Process Torque (Vector Only)

Process Velocity

Network Current Limiting

Jog Mode

Keypad Reference Source (local)

Terminal Block Reference Source (remote)

Network Reference Source

Select Acc/Dec Group 1

Select Acc/Dec Group 2

Stop, stops the motor

Forward Run (terminal J2-9 must also be true)

Reverse Run ( terminal J2-10 must also be true)

Bipolar Mode (terminals J2-9 and J2-10 must also be true)

Network Drive enable and drive hardware enable (terminal J2-8) must both be set else drive is disabled

5-16 Control Wiring

MN766

5.5.13 Profile Run

Provides a speed profile consisting of seven segments to setup a cyclic operation or test cycle. The opto inputs can be
switches as shown in Figure 5-17 or logic signals from another device. Speed settings for Speed Curve 1 to Speed Curve 7
are Preset Speed 1 to Preset Speed 7. See level 3, Profile Run block for more information.

Figure 5-17 Profile Run Connection Diagram
J1
1
2
3
4
5
6
7

User Analog Return
Analog Input 1
Analog Ref. Power +
Analog Input 2+
Analog Input 2Analog Output 1
Analog Output 2

Enable 8
Enable
Forward Enable 9 Digital Input
Reverse Enable 10 Digital Input
Cycle 11 Digital Input
Run 12 Digital Input

13
14
Reset 15
External Trip 16
17
18
See Figure 5-4 for
19
connection information.
20

1
2
3
4
Digital Input 5
Digital Input 6
Digital Input 7
Digital Input 8
Digital Output 1 + (Collector)
Digital Output 1 - (Emitter)
Digital Output 2 + (Collector)
Digital Output 2 - (Emitter)

See recommended tightening torques in Table A-2.
*Note: Remove factory jumper from J2-8 and J3-24 before connecting switch at J2-8.

J2-8

J2-9

J2-10

J2-11

J2-12

J2-13
J2-14
J2-15

J2-16

MN766

CLOSED allows normal operation.
OPEN disables the control and motor coasts to a stop.
CLOSED to enable operation in the Forward direction.
OPEN to disable Forward operation (drive will decel to a stop if a Forward profile run command is still present).
Reverse operation is still possible if J2-10 is closed.
CLOSED to enable operation in the Reverse direction.
OPEN to disable Reverse operation (drive will decel to a stop if a Reverse profile run command is still present).
Forward operation is still possible if J2-9 is closed.
CLOSED runs the profile for an indefinite number of cycles. When the Level 3, Profile Run, Number of Cycles
(P3001) cycle count is reached, the counter is reset and the mode restarts (continuous cycling).
Example: If P3001 = 5 the profile runs 5 times, the counter is reset to zero, and will begin running 5 more cycles
immediately. As long as pin 11 is closed it will keep resetting the count to zero every time the number of cycles is
reached.
OPEN cycle mode is terminated when cycle count is reached.
CLOSED uses Run Command and Cycle Command from J2-9, J2-10 and J2-11.
OPEN uses Commands from Keypad.
Not used.
Not used.
CLOSED resets an alarm or fault.
OPEN normal operation.
Optional External Trip input (not required). If used, you must set Level 2 Drive Protect block, External Trip to “ON”.
CLOSED allows normal operation.
OPEN causes an External Trip to be received by the control (when programmed to “ON”).

Control Wiring 5-17

5.5.14 Bipolar

Provides bipolar speed or torque control. The control is operated by the digital inputs and the command source. The opto
inputs can be switches as shown in Figure 5-19 or logic signals from another device.

Figure 5-18 Bipolar Connection Diagram
J1
1
2
3
4
5
6
7

Servo Mode
User Analog Return
Analog Input 1
Analog Ref. Power +
Analog Input 2+
Analog Input 2Analog Output 1
Analog Output 2

Enable
Forward Run
Reverse Run
Homing
Speed/Torque
Switch 1
Switch 2
Fault Reset
External Trip

See Figure 5-4 for
connection information.

J2
8
9
10
11
12
13
14
15
16
17
18
19
20

Enable
Digital Input 1
Digital Input 2
Digital Input 3
Digital Input 4
Digital Input 5
Digital Input 6
Digital Input 7
Digital Input 8
Digital Output 1 +
Digital Output 1 Digital Output 1 +
Digital Output 2 -

See recommended tightening torques in Table A-2.
*Note: Remove factory jumper from J2-8 and J3-24 before connecting switch at J2-8.

J2-8
CLOSED allows normal control operation.

OPEN disables the control and the motor coasts to a stop.
J2-9
CLOSED to enable operation in Forward direction.

OPEN to disable Forward operation (drive will decel to a stop if a Forward reference command is still

present). Reverse operation is still possible if J2-10 is closed.
J2-10
CLOSED to enable operation in the Reverse direction.

OPEN to disable Reverse operation (drive will decel to a stop if a Reverse reference command is still

present). Forward operation is still possible if J2-9 is closed.

Note: If J2-9 and J2-10 are both opened, the drive will decel to a stop.
J2-11
CLOSED causes the motor to rotate in the forward direction until the load reaches a marker or external
switch location.

OPEN allows normal operation.

Note: Parameter P2308 sets the homing offset. The motor rotates at the speed set in P2307 until the

index pulse is detected and then at the speed set in P1001 until the offset is reached.
J2-12
CLOSED puts the control in torque command mode, Vector modes only.

OPEN puts the control in speed (velocity) command mode. Note: If a stop command is issued while in

the torque (current) mode, the control will stop but will not maintain position (zero current). This is

different than zero speed operation for the velocity mode.
J2-13 & J2-14
Select from four parameter tables as defined in Table 5-13.
J2-15
Momentary CLOSED to reset fault condition.

OPEN allows normal operation.
J2-16
Optional External Trip input (not required). If used, you must set Level 2 Drive Protect block, External Trip
to “ON”.

CLOSED allows normal operation.

OPEN causes an External Trip to be received by the control (when programmed to “ON”).

Table 5-12 Bipolar Mode Select Table
J2-13

J2-14

Function

OPEN

Parameter Table 1 (T1)

CLOSED

OPEN

Parameter Table 2 (T2)

OPEN

CLOSED

Parameter Table 3 (T3)

CLOSED

Parameter Table 4 (T4)

Note: See multiple parameter sets in this section.

5-18 Control Wiring

MN766

Bipolar - Multiple Parameter Sets
The following procedure allows you to program up to four complete sets of parameter values and to use these multiple
parameter sets. Each parameter table must be properly initialized before use. Each table must have an operating mode
that supports table switching (Process Control, Bipolar or Network) and all motor data and related parameters must be the
same in each table if switching tables with the drive enabled. When programming each parameter set, use the ENTER key to
accept and automatically save parameter values.
Note: The control can be programmed in the REMOTE mode with the drive enabled. The control must be disabled to
change the operating mode parameter. The operating mode is not stored with the other parameters in a parameter
table.
1. If this is a new installation, perform this procedure after the Pre-Operation Checklist and Power-Up Procedures at the end
of this section.
2. Set the Level 1 INPUT block, Operating Mode parameter, (P1401) value to BIPOLAR in each of the parameter sets.
3. Set switches J2-13 and J2-14 to Parameter Table 1 (both switches open). Be sure switches J2-8, J2-9 and J2-10 are
OPEN. Select Basic Parameters from the main Keypad menu. Perform each step including Calc Motor Model. This
creates and saves the first parameter set which is numbered Table 1.
4. Set switches J2-13 and J2-14 to Parameter Table 2. Be sure switches J2-8, J2-9 and J2-10 are OPEN. Select Basic
Parameters from the main Keypad menu. Perform each step including Calc Motor Model. This creates and saves the
second parameter set which is numbered Table 2.
5. Set switches J2-13 and J2-14 to Parameter Table 3. Be sure switches J2-8, J2-9 and J2-10 are OPEN. Select Basic
Parameters from the main Keypad menu. Perform each step including Calc Motor Model. This creates and saves the
6. third parameter set which is numbered Table 3.
7. Set switches J2-13 and J2-14 to Parameter Table 4. Be sure switches J2-8, J2-9 and J2-10 are OPEN. Select Basic
Parameters from the main Keypad menu. Perform each step including Calc Motor Model. This creates and saves the final
parameter set which is numbered Table 4.
8. Remember that to change the value of a parameter in one of the parameter tables, you must first select the table using
the switches. You cannot change a value in a table until you have first selected that table.
Note: The active parameter table is selected by Level 2:Drive Configure:Active Parameter Table, (P0052).
Example:
Before attempting to switch parameter tables during operation “on the fly” using the digital inputs J2-13 & 14, the operating
mode for each parameter table to be used must be initialized. Specifically, to switch from Table 1 to Table 2 then back to
Table 1 both parameter Table 1 and parameter Table 2 must have operating modes that support table switching. Otherwise,
once the switch occurs, switching back will not be possible.
To illustrate this, prior to running Bipolar Mode perform the following steps:
1. Use the keypad, set Level 2:Drive Configure:Active Parameter Table to 0 “Table 1”.
2. Go to Level One and set Level 1: Input Setup:Operating Mode to Bipolar.
Repeat the above steps but this time for Table 2.
3. Use the keypad, set Level 2:Drive Configure:Active Parameter Table to 1 “Table 2”.
4. Go to Level One and set Level 1:Input Setup:Operating Mode to Bipolar.
The drive is now properly configured to switch between parameter Table 1 and Table 2.
Home Adjustment
(Do not power up the control at this time. Perform this procedure after the Powerup Procedure at the end of this section).
Perform this procedure as part of the Powerup Procedure described at the end of this section. To set the electrical home
position perform the following procedure:
1. Disable drive (J2-8 open).
2. Set P2308 Homing Offset and P2307 Homing Speed as required.
3. Place control in remote mode.
4. Enable drive (J2-8 closed).
5. Close J2-9 and J2-10, forward and reverse enables.
6. Close J2-11 to start the move.
7. The motor runs forward in speed mode at homing speed until the index pulse is triggered. The homing function allows
shaft rotation in the drive forward direction only. The home position is located when a machine mounted switch or
“Index” pulse is activated (closed). Home is defined by a rising signal edge at Resolver expansion board terminal 8. The
shaft will continue to rotate only in a “Drive Forward” direction for a user defined offset value. The offset is programmed
in Level 2 Miscellaneous Homing Offset P2308. The Speed at which the motor will “Home” or orient is set in Level 2
Miscellaneous Homing Speed P2307.
To use the internally generated index pulse for homing, no external connections are required. However, to use an external
index input, jumper J3 on the resolver expansion board must be moved to External Index (sync) and a switch must be
connected to Index+ and Index-, shown in Figure 4-17.

MN766

Control Wiring 5-19

a. If the homing speed is increased, the homing offset may also need to be increased to avoid the motor reversing
direction to reach the home position. The Home Offset is actually the counts the motor travels to stop after the home
switch is found.
b. During the offset positioning portion of the homing move, Preset Speed 1 and ACC/DEC Group 1 are used.
c. If homing is triggered during a move, the drive enters speed mode, attains homing speed using ACC/DEC Group 1,
then completes the homing normally.
8. Another home sequence can be performed while at the home position by opening and closing J2-11.

5.5.15 Pulse Follower

Provides electronic gearing of two or more controls from an upstream pulse reference. This mode requires expansion board
EXBHH007 and its operation is described in MN755.

5.5.16 PLC

Provides control from a PLC device (Programmable Logic Control) as described in Chapter 10 of this manual. Preset speeds
are set in software. The opto inputs can be switches as shown in Figure 5-20 or logic signals from another device.

Figure 5-19 PLC Connection Diagram
J1
1
2
3
4
5
6
7

Enable
*
User Analog Return
Analog Input 1
Analog Ref. Power +
See Figure 5-4 for
Analog Input 2 +
connection information.
Analog Input 2 Optional
Inputs
Analog Output 1
Analog Output 2
One input must be a direction
input (FWD or REV).

J2
8
9
10
11
12
13
14
15
16
17
18
19
20

See recommended tightening torques in Table A-2.
*Note: Remove factory jumper from J2-8 and J3-24 before connecting switch at J2-8.

5.6 Digital Outputs
Digital Outputs 1 and 2 are opto-isolated. Internal supply or a customer provided external power source may be used as
shown in Figure 5-21. The maximum voltage from Digital Output to common when active is 1.0 VDC.
If the Digital Outputs are used to directly drive a relay, a flyback diode rated at 1A, 100V (IN4002 or equivalent) minimum
should be connected across the relay coil. See Figure 5-21. Each opto output is programmed in the Output programming
block.

Figure 5-20 Digital Output Power Connections
Internally Supplied 24VDC
Sourcing Current Connections

Sinking Current Connections

Externally Supplied 24VDC
Sourcing Current Connections

Out1

J2
Out1

Out2
Out1
Out2

17
18
19
20

Digital Output 1 +
Digital Output 1 Digital Output 2 +
Digital Output 2 -

J3
21
22
23
24

External User Return
External User +24V
Internal +24V
Internal 24V Return

17
18
19
20

J2
Digital Output 1 + (Collector)
Digital Output 1 - (Emitter)
Digital Output 2 + (Collector)
Digital Output 2 - (Emitter)

Out1
Out2

J3
21
22
23
24

Sinking Current Connections
J2

Digital Output 1 +
Digital Output 1 Digital Output 2 +
Digital Output 2 -

21
22
23
24
+
User
24VDC

17
18
19
20

Digital Output 1 +
Digital Output 1 Digital Output 2 +
Digital Output 2 -

External User Return
External User +24V
Internal +24V
Internal 24V Return

See recommended tightening torques in Table A-2.

17
18
19
20

Out2

External User Return
External User +24V
Internal +24V
+
Internal 24V Return

21
22
23
24

External User Return
External User +24V
Internal +24V
Internal 24V Return

User
24VDC

Note: Digital Outputs are rated to 24VDC @ 60mA resistive (non-inductive).

5-20 Control Wiring

MN766

5.7 Relay Outputs
Relay Outputs 1 and 2 provide N.O. and N.C. voltage-free contacts. The internal relay function is shown in Figure 5-22.

Figure 5-21 Relay Contacts
Control Board
Relay Out 1 N.C.
Relay Out 1 COM
Relay Out 1 N.O.
Relay Out 2 N.C.
Relay Out 2 COM
RelayOut 2 N.O.

J3
25
26
27

Load

28
29
30

Load

If the load is an AC
relay coil, install an RC
RC Snubber
Snubber across the coil
to reduce noise
0.47 μf
transmission.
RE
33 Ω

If the load is a DC relay
coil, install a flyback
diode across the coil to +
reduce noise
transmission.
RE

Load

See recommended tightening torques in Table A-2.

Note: Relay Outputs are rated to 10-30VDC or 240VAC @ 5A resistive (non-inductive).

5.8 USB Port
The USB port shown in Figure 5-23 is a full 12Mbps USB 2.0 compliant port for serial communications. The connections are
described in Figure 5-23 and Table 5-14.

Figure 5-22 USB Receptacle Pin Identification
Host End (USB-A)

1
2

Peripheral End (USB-B)

3 4

Table 5-13 USB Port Connections

MN766

Signal Name

Description

Vbus

D-

Data Return

USBus power from the host for monitoring

D+

Data In

GND

Power Supply Return

Control Wiring 5-21

5.9 Communication Expansion Boards
The communication and feedback module slots are shown in Figure 5-24. All option boards are designed as plug-in
modules.

Figure 5-23 Expansion Board Location

Keypad
Connector
JP3

Ribbon Cable

Regen
Board
Connector

RS485

I/O Module Slot 1

I/O Module
Slot 2

View From Rear (Opposite J1 Connector)

Control
Board

Feedback
Module Slot 3
J1

See recommended tightening torques in Table A-2.

J2
J3

5.9.1 RS485 Modbus

The serial communications port on the control board supports RS485 communications, Figure 5-24. The baud rate and node
addresses are selectable from the Keypad. Jumper JP3 (Figure 5-24) on the control board sets termination. As shown (pins 2
and 3 jumpered) no terminating resistor is used. Setting the jumper to pins 1 and 2 selects the 120 ohm terminating resistor
for the RS485 cable. The RS485 connections are described in Table 5-15. Refer to Baldor manual MN744 for connection
and software information. Note that the hardware specifications for this port follow the RS485 standard.

Table 5-14 RS485 Multi-Drop Port Connections

5-22 Control Wiring

Signal Name

Description

SCR

Data Return

Data In

GND

Power Supply Return

SCR

Screen termination, connected to chassis on the control board

MN766

5.10 Opto-Isolated Inputs
The equivalent circuit of the nine opto inputs is shown in Figure 5-25. The function of each input depends on the operating
mode selected and each is described previously in this section. This Figure also shows the connections using the internal
opto input Supply.

Figure 5-24 Opto-Input Connections

J2
Enable
Digital Input 1
Digital Input 2
Digital Input 3
Digital Input 4
Digital Input 5
Digital Input 6
Digital Input 7
Digital Input 8

See recommended terminal tightening torques in Table A-2.

8
9
10
11
12
13
14
15
16

See Figure 5-4 for
connection information.
4.8K

4.8K

Opto In Common

5.11 Opto-Isolated Outputs
The outputs are opto-isolated and may be configured for sinking or sourcing. However, all must be configured the same. The
maximum voltage from opto output to common when active is 1.0 VDC (TTL compatible). The equivalent circuit for the optoisolated outputs is shown in Figure 5-26.

Figure 5-25 Opto-Output Equivalent Circuit
J2
17

PC865
50mA max

Digital Output 1 + (Collector)

Digital Output 1 (Emitter)

Digital Output 2 + (Collector)

Digital Output 2 (Emitter)

PC865
50mA max

See recommended terminal tightening torques in Table A-2.

MN766

Control Wiring 5-23

5.12 Pre-Operation Checklist (Check of Electrical Items)
1.
2.
3.
4.
5.

Verify AC line voltage at source matches control rating.
Inspect all power connections for accuracy, workmanship and tightness and compliance to codes.
Verify control and motor are grounded to each other and the control is connected to earth ground.
Check all signal wiring for accuracy.
Be certain all brake coils, contactors and relay coils have noise suppression. This should be an R-C filter for AC coils and
reverse polarity diodes for DC coils. MOV type transient suppression is not adequate.

5.13 Powerup Procedure
1.
2.
3.
4.
5.

Remove all power from the control.
Verify that any enable inputs to J2-8 are open.
Disconnect the motor from the load (including coupling or inertia wheels).
Turn power on. Be sure there are no faults.
Set the Level 2 Drive Limits block, “OPERATING ZONE” (P2001) parameter as desired
(STD CONST TQ, STD VAR TQ, QUIET CONST TQ or QUIET VAR TQ).
6. If external dynamic brake hardware is used, set the Level 2 Brake Adjust block “Resistor Ohms” and “Resistor Watts”
parameters.
7. Enable the control (J2-8 connect to J3-24).
WARNING:
The motor shaft will rotate during this procedure. Be certain that unexpected motor shaft

movement will not cause injury to personnel or damage to equipment.
8. Select Basic Parameters from the main Keypad menu. Enter values for each parameter:
• MOTOR RATED AMPS
(P2402)
• MOTOR POLE PAIRS
(P2413)
• MOTOR RATED SPEED
(P2403)
• FEEDBACK SOURCE (P2409)
• ENCODER COUNTS
(P2408) (Use default setting only)
• CALC MOTOR MODEL - YES -
(P2414)
9. Select “Advanced Prog”, Level 2 Blocks, Auto Tune, “One-Step Tuning” and run all tests.
10. Remove all power from the control.
11. Couple the motor to its load.
12. Verify freedom of motion of motor shaft.
13. Verify the motor coupling is tight without backlash.
14. Verify the holding brakes if any, are properly adjusted to fully release and set to the desired torque value.
15. Turn power on. Be sure no errors are displayed.
16. Run the drive from the keypad using one of the following: the arrow keys for direct speed control, a keypad entered
speed or the JOG mode.
17. Select and program additional parameters to suit the application.
The control is now ready for use in the keypad mode. If a different operating mode is desired, refer to Chapter 5 Operating
Modes and Chapter 6 Using the Keypad.

5-24 Control Wiring

MN766

5.14 Mint WorkBench
As an alternative to using the keypad for programming and setup, Baldor’s Mint WorkBench software version 5.5 or greater
can be used. When the software is installed and configured, the help topics provide information on how to use the software.
The following procedure will help you install and configure the software.
Before you can use Mint WorkBench software, it must be installed on your PC’s hard drive.
Be sure that the USB port of the control is connected to a USB port on your PC.
This must be connected to establish communication after the software is installed.

5.14.1 Install USB Driver

The control connects to a PC by using USB cable connection. This procedure installs the USB driver that is required by
Windows.
1. The software must be downloaded from the Baldor site: http://www.baldor.com Simply log into that web site and select
Products then select AC Controls then select VS1 Series AC Servo to locate the Software tools.
2. USB Device Driver

Figure 5-26 USB Driver

Select Software Tool
Select Control Type

3. Click on USB Device Drive and select Open to view the uncompressed files.

4.
5.
6.
7.

Select the inf and sys files and copy them to a folder on your hard drive. These will be installed next.
Be sure the control is powered up.
Connect the USB cable to the control. Windows should find a new USB device.
Install the USB drivers.
a. Choose “install from a list or specific location” and click Next.
b. Choose “Don’t search I will choose the driver to install”.
c. Click “Have Disk”. Then enter the location that you stored the inf and sys file (in step 3) and click Next to install the
driver files.

8. Proceed to the Mint WorkBench installation procedure.
MN766

Control Wiring 5-25

5.14.2 Install Mint WorkBench
1. Use the Add/Remove Software feature of the Windows control panel and remove previous versions of Mint WorkBench
software.
2. The software must be downloaded from the Baldor site: http://www.baldor.com
Simply log into that web site, Figure 5-27, and locate
1. Mint WorkBench v X.x
3. Click on Download the software, and run the installation program.
4. When installation is complete, the Mint WorkBench program will start, see Figure 5-28.
a. Click “Start New Project”.
b. Click “Scan”.
c. Select “VS1” from the list.
d. Click Select and the Mint WorkBench main menu is displayed, see Figure 5-29.

Figure 5-27 Mint WorkBench Software Set-up

X.x

Figure 5-28 Communication Established

SHH-1.20

Software version is Servo (SHH) version 1 release 20.

5-26 Control Wiring

MN766

5. Parameter values can be modified as desired.

Figure 5-29 Mint WorkBench Main Menu
Change a Parameter Value Example:
Change Preset Speed 1 to 48RPM.
Click on Preset Speeds Block.
Click in the Value Column for Preset Speed 1.
Type in the new value “48” press enter.
Note that the keypad will instantly display the new value.
If the parameter value is a selection, a
list will appear for you to make the selection.

6. When all parameter values are as desired, they can be saved to a file. Click File, see Figure 5-31. The PTX file is saved in
My Documents\My Mint directory.
7. When complete, the entire project can be saved to your PCs hard disk for future use. Click File, Save File, see Figure
5-31. The WBX file is saved in C:\Program Files\Mint Machine Center\Firmware\ you can choose the directory.

Figure 5-30 Save Parameters & Project

Note: For Parameter Tables, a .ptx extension is
automatically added when you enter a file name.

Note: For Mint WorkBench Projects, a .wbx extension is
automatically added when you enter a file name.

The help menus provided with the software can be used to explore other features and descriptions of menu choices.
As previously stated, either the Mint WorkBench program or the Keypad can be used to adjust parameter values for the
application.

MN766

Control Wiring 5-27

5.14.3 Update Firmware

Installing chx Files
(If you are installing msx files skip this procedure and go to “Installing msx Files”).
This procedure erases memory and restores factory settings. All user data will be lost. After the firmware download, all user
data values must be reprogrammed.
1. The software must be downloaded from the Baldor site: http://www.baldor.com
Simply log into that web site, Figure 5-27. Locate and click on Drive Firmware.
2. Save the firmware file to a location on your hard disk.
(for example: C:\Program Files\Mint Machine Center\Firmware\VS1 Servo\SHH_1_20.chx).
This procedure erases memory and restores factory settings. All user data will be lost. After the firmware download, all user
data values must be reprogrammed.
3. Start the Workbench program as before, see Figure 5-32.
a. Select “Download Firmware” from the Tools menu.
b. Select “Advanced” then “Download Firmware File”, click “Yes” at the warning to download.
c. Select the firmware file to download (for example: SHH_1_20.chx).
d. When complete, the new firmware version is displayed and the control is ready for use.
Note: All user settings and motor parameter values have been over written by factory settings.

Figure 5-31 Mint WorkBench Firmware Update
b

c
SHH-1.20

Software version is Servo (SHH) version 1 release 20.

5-28 Control Wiring

MN766

Chapter 6
Using the Keypad
6.1 Keypad Components
The keypad is used to program the control parameters, to operate the motor and to monitor the status and outputs of the
control by accessing the display options, the diagnostic menus and the fault log. Additionally drive parameters can be
stored in the keypad for future retrieval.

6.1.1 Display Description
Keypad Display – Displays status
Information during Local or Remote
operation. It also displays information
during parameter setup and fault or
Diagnostic information.

STATUS

FWD

159.5 V
6.2 A

F1 – Alternates or “toggles” between
The last two menu choices or function
Indicated by text displayed directly
Above key.

DIAG

LOCAL

600 RPM
20.0 HZ
600r

MAIN

Display Diagnostics –
I/O Status
I/O Function configuration
Modified Parameters
Control Operation Data
Custom Units
Fault Display – 10 Faults with Time
Stamp
F2 – Clears faults or undo parameter
edit changes or function indicated by
text displayed directly above key.
Up Arrow
Down Arrow
Left Arrow
Right Arrow
Moves cursor to select menu choices.

ENTER – Press ENTER to save
parameter value changes. In the
display mode the ENTER key is used to
directly set the local speed reference. It
is also used to select other operations
when prompted by the keypad display.

LOCAL/REMOTE – Switches between
local and remote modes.

MENU/ESC – Selects the menu
display when viewing status. The
following menu items are shown:
Status, Basic Params, Advanced Prog,
Event Log, Diagnostics and Display
Options. Backs up one level for other
screens.

HELP – Provides help at each display
screen, setup parameter and fault.
Press to view/close help information.

REV – When pressed, initiates a
reverse direction run command.

JOG – Initiates Jog mode. Press FWD
or REV for motion. Only active in local
mode.

STOP – Initiates a stop command.
Note: Pressing the stop key twice in
succession will immediately disable the
drive placing the motor in a coast stop
condition.

FWD – When pressed, initiates a
forward direction run command.

MN766

Indicator Lights – (on indicated key)
STOP key with red light indicator.
FWD key with green light indicator.
REV key with green light indicator.
JOG key with green light indicator.

Using the Keypad 6-1

6.1.2 Display Features
STOP=Stop; FWD=Forward; REV=Reverse
Present Menu Selection

STATUS

FWD

159.5V
6.2A
Previous Menu Selection
(Press F1 to return to previous menu)

DIAG

600r

LOCAL

Local / Remote Mode

600RPM
20.0HZ
MAIN

Press F2 to go back one menu level
Speed Reference

Prog Mode Display Features:
The first character of the parameter number
has the following meaning:

PROG

PRESET SPEED 1
30RPM

F = Factory Setting (parameter value has not been changed).
C = Custom value set by user (not factory value).
V = Parameter value may be Viewed but not changed.

PRESET SPEEDS

STATUS

F1001T1

BACK
Parameter Table used:
T1, T2, T3, T4

L = Parameter value is locked, security code required.

6-2 Using the Keypad

MN766

6.2 Status Mode
When AC power is applied to the control, the keypad will display the status.
Action
Apply Power

Description

Normal screen at start up.
Displays Motor Voltage,
Factory default value.

Press F1 - Status

Display

Status screen is displayed

MOTOR DATA

PROG

MOTOR RATED VOLT
230.0V
STATUS

F2401T`1

BACK

STATUS

STOP

LOCAL

0.0V
0.0A
DIAG

Press

key

Comments

Logo is displayed for a short time.
The Status screen is then
displayed.

Next screen format is displayed.

0RPM
0.0HZ
0.00r

MAIN
LOCAL

STATUS

0RPM
STOP

DIAG

Press

key

Next screen format is displayed.

0.0A
0.00r

LOCAL

STATUS

0RPM
0.0HZ

STOP

DIAG

Press

key

Next screen format is displayed.

0.00r

0.0A
0.0V

STOP

Press

key

Next screen format is displayed.

0.00r

0RPM
0.0V
0.0A

STOP

Press

key

Next screen format is displayed.

0.00r

0.0NM
0.0A
0RPM

STOP

MN766

MAIN
LOCAL

STATUS

DIAG

MAIN
LOCAL

STATUS

DIAG

MAIN
LOCAL

STATUS

DIAG

MAIN

0.00r

MAIN

Using the Keypad 6-3

Status Mode Continued
Action
Press

key

Description
The first screen format is
displayed.

Display
STOP

STATUS

0.0V
0.0A

Press FWD key

Motor begins to rotate in the
forward direction at the preset
speed.

Comments
LOCAL

0RPM
0.0HZ

DIAG

0.00r

MAIN

STATUS

FWD

LOCAL

600RPM

159.5V
0.2A
DIAG

20.0HZ
600r

MAIN

6.3 Menu Display
After power-up the display shows the Status screen. Press the Menu key to display menu options.
Action

Description

Status Display

Display
STATUS

STOP

0.0V
0.0A
DIAG

Press Menu/Esc

Displays top level menu options.

LOCAL

0RPM
0.0HZ
0.00r

MAIN

to move cursor over
Press or
the desired selection and press
“Enter” to select and display the
selection.

STATUS
BASIC PARAMS
ADVANCED PROG
EVENT LOG
DIAGNOSTICS
DIAG

6-4 Using the Keypad

Comments

BACK

MN766

6.4 Basic Params
From the Menu display screen, select Basic Params and press Enter.
Parameter Status
All programmable parameters are displayed with an “F” at the bottom center of the display. “F” means it is the factory
setting value. “C” means it is a custom value set by the user. “V” means the parameter value may be viewed but not
changed while the motor is operating. If the parameter is displayed with an “L”, the value is locked and may not be changed
until the security code is entered.
Action
Basic Params Display

Press
to go to the
next Basic Params
screen.

Description
Control type display. The
parameter number “1601” is given
at the bottom center of the
display.“F”1601 indicates it is at
the factory setting and has not
been changed.

Display
MOTOR CONTROL

BASIC

CONTROL TYPE

AC Servo

STATUS

F2413T1

BACK

MOTOR DATA

BASIC

MOTOR RATED SPD
2500 RPM

BASIC

F2403T1

BACK

MOTOR DATA

FEEDBACK SOURCE
Daughter FDBK

BASIC

F2409T1

BACK

MOTOR DATA

ENCODER COUNTS
1024 PPR
STATUS

MN766

BACK

MOTOR POLE PAIRS
2

STATUS

Press to go to the
next Basic Params
screen.

F2402T1

MOTOR DATA

BASIC

STATUS

Press
to go to the
next Basic Params
screen.

BACK

MOTOR RATED AMPS
4.2 A

STATUS

Press
to go to the
next Basic Params
screen.

F1601T1

MOTOR DATA

BASIC

STATUS

Press
to go to the
next Basic Params
screen.

Comments
No other control selections are
available.

F2408T1

BACK

Using the Keypad 6-5

Basic Params Continued
Action
Press to go to the
next Basic Params
screen.

Description

Display
BASIC

MOTOR DATA

CALC MOTOR MODEL
No
STATUS

Press to go to the
next Basic Params
screen.

F2414

BASIC

OPERATING MODE
Keypad
F2401T1

BASIC

ACCEL TIME 1
3.0 SEC
F1101T1

BASIC

DECEL TIME 1
3.0 SEC
F1104T1

BASIC

MIN OUTPUT SPEED
0 RPM
F2202 T1

MAX OUTPUT SPEED
2500 RPM
F2003T1

BACK

BASIC
END OF
BASIC PARAMS
STATUS

6-6 Using the Keypad

BACK

DRIVE LIMITS

BASIC

STATUS

Press to go to the
next Basic Params
screen.

BACK

DRIVE LIMITS

STATUS

Press to go to the
next Basic Params
screen.

BACK

RAMP RATES

STATUS

Press to go to the
next Basic Params
screen.

BACK

RAMP RATES

STATUS

Press
to go to the
next Basic Params
screen.

BACK

INPUT SETUP

STATUS

Press to go to the
next Basic Params
screen.

Comments

BACK

MN766

How to Change a Value
These are the BASIC screens. To change a value, simply display the desired parameter and press Enter and change the
value. For example:

Action
Press
to go to the
next Basic Params
screen.

Description
1401 indicates the parameter
number and F indicates it is the
factory value.

Display
BASIC

Comments

INPUT SETUP

OPERATING MODE

Keypad

STATUS

Press Enter to choose
parameter value and
edit.

BASIC

F1401T1

BACK

INPUT SETUP

Press “F2” to exit EDIT mode
without saving changes.

OPERATING MODE

Keypad
STATUS

Press the or
keys
to change parameter
value.

BACK

INPUT SETUP

BASIC

OPERATING MODE
Process Control
END

Press Enter to save the
parameter value and
exit.

F1401T1

BASIC

BACK

INPUT SETUP

OPERATING MODE
Process Control
STATUS

C1401T1

BACK

When editing a parameter value, the function of the “F1” key (previous parameter block) shown in the lower left of the
display changes to one of the following to help select the parameter value: TOP Press “F1” to display and select the first
value in the list of parameter values.
When the first parameter value is displayed, press Enter or scroll to select a different value. END Press “F1” to display and
select the last value in the list of parameter values.
When the last parameter value is displayed, press Enter or scroll to select a different value. DEF Press “F1” to display and
select the Factory Setting value.
PREV Press “F1” to display and select previous value.
MIN Press “F1” to display and select minimum parameter value.
MAX Press “F1” to display and select maximum parameter value.
Note: When END is displayed, Pressing “F1” will display the last value in the list but then TOP or DEF is displayed. The “F1”
key allows you to quickly move through large lists of parameter choices. The value is not selected until you press
“Enter”.

MN766

Using the Keypad 6-7

6.5 Save Parameter Values
The keypad keys and display work with the memory of the control. When a parameter value is displayed, the displayed value
is the value stored in control memory. The changes are written to non-volatile memory and are stored even when power is
removed. Normal control operation can resume when power is restored.
Keypad memory is only used to backup the four parameter tables stored in control memory. This means that after the
parameters are configured for the application and the control operation is as desired, a copy of the parameters can be
saved to keypad memory as a backup copy. This backup copy can be restored at any time. This is useful to restore program
operation after a firmware update or to make several controls operate the same. It prevents having to make the changes to
each control individually.

Action
Press Menu.

Press Enter to edit
Keypad Setup
parameters.

Description

Display

Go to the Advanced Prog
Level 1 Keypad Setup block.

Scroll to PARAMS TO KEYPAD.

PRESET SPEEDS
RAMP RATES
JOG SETTINGS
KEYPAD SETUP
INPUT SETUP
STATUS

BACK

PROG

KEYPAD SETUP

Press “Enter” to change
parameter value.

PARAMS TO KEYPAD
No
STATUS

Press Enter to edit
parameter.

Comments
Press “Enter” to select.

EDIT

Note that T1 is missing from the
parameter number. It is not part
of the stored parameter table
BACK values T1, T2, T3 and T4.

F1310

KEYPAD SETUP

Press

to change value to YES.

PARAMS TO KEYPAD
Yes
STATUS

Press Enter to load the
parameter table values
from control memory to
keypad memory.

PROG

F1310

BACK

KEYPAD SETUP

Press “F2” to return to Keypad
Setup menu.

PARAMS TO KEYPAD
No
STATUS

F1310

BACK

A copy of all four parameter tables have now been saved to non-volatile keypad memory.

6-8 Using the Keypad

MN766

6.6 Restore Parameter Values
The keypad keys and display work with the memory of the control. When a parameter value is displayed, the displayed value
is the value stored in control memory. The changes are written to non-volatile memory and are stored even when power is
removed. Normal control operation can resume when power is restored.
Keypad memory is only used to backup the four parameter tables stored in control memory. This means that after the
parameters are configured for the application and the control operation is as desired, a copy of the parameters can be
saved to keypad memory as a backup copy. This backup copy can be restored at any time. This is useful to restore program
operation after a firmware update or to make several controls operate the same. It prevents having to make the changes to
each control individually.
Action

Description

Press Menu.

Go to the Level 1 Keypad Setup
block.

Press Enter to edit
Keypad Setup
parameters.

Scroll to DOWNLOAD SELECT
and change as desired.

Display

Comments
Press “Enter” to select.

PRESET SPEEDS
RAMP RATES
JOG SETTINGS
KEYPAD SETUP
INPUT SETUP

PROG

KEYPAD SETUP

DOWNLOAD SELECT
ALL
STATUS

Scroll to KEYPAD TO PARAMS.

PROG

F1311T1

ALL = Download all parameters.
Motor = Download only motor
parameters.
Other = All parameters other than
motor parameters.

BACK

KEYPAD SETUP

Press “Enter” to change
parameter value.

KEYPAD TO PARAMS
No
STATUS

Press Enter to edit
parameter.

EDIT

F1312T1

BACK

KEYPAD SETUP

Press

to change value to YES.

KEYPAD TO PARAMS
Yes
STATUS

Press Enter to load the
parameter table values
from keypad memory to
control memory.

PROG

F1312T1

BACK

KEYPAD SETUP

Press “F2” to return to Keypad
Setup menu.

KEYPAD TO PARAMS
No
STATUS

F1312T1

BACK

A copy of all four parameter tables have now been restored to non-volatile memory control.

MN766

Using the Keypad 6-9

6.7 Advanced Prog
At the Menu display screen, select ADVANCED PROG and press Enter. This menu provides access to all drive parameters
which are organized in blocks that are grouped into one of 3 levels. Examples of tasks accomplished via this menu are:
1. Adjustment of motor data not available in the basic parameters menu.
2. Auto Tune the motor.
3. Customize the drive parameters to your application.
Parameter Status
All programmable parameters are displayed with its parameter number shown at the bottom center of the display. “F” means
it is the factory setting value. “C” means it is a custom value set by the user. “V” means the parameter value may be viewed
but not changed while the motor is operating. If the parameter is displayed with an “L”, the value is locked and may not be
changed until the security code is entered.
Action

Description

Advanced Prog Display

Top Level Advanced Prog menu.

Display
LEVEL 1 BLOCKS
LEVEL 2 BLOCKS
LEVEL 3 BLOCKS
MODIFIED PARAMS
LINEAR LIST
STATUS

Press Enter to edit
Level 1 parameters.

Press Enter to select
Preset Speeds.

Top of Level 1 Advanced Prog
Block 1 menu.

Preset speed 1 value display.

Comments

BACK

Press enter to program level 1
block parameters.
Press to view Level 2 blocks.
Press to view Level 3 blocks.
Press to view list of parameters
that have been changed from their
factory settings or to view a list of
parameters organized by number.
Press to scroll to next level 1
block.

PRESET SPEEDS
RAMP RATES
JOG SETTINGS
KEYPAD SETUP
INPUT SETUP
STATUS

BACK

PROG

PRESET SPEEDS

Press to go to next Preset
Speed parameter.

PRESET SPEED 1
30 RPM
STATUS

Press Enter to edit
Preset Speed 1.

Press
or
to increase or
decrease the value highlighted by
the cursor.

EDIT

to increase the value.

BACK

PRESET SPEEDS

PRESET SPEED 1
00030 RPM
MAX

Press

F1001T1

EDIT

F1001T1

PRESET SPEEDS

Press Enter to save the
new value and stop
editing.

PROG

F1001T1

PRESET SPEEDS

C1001T1

to move cursor.

Press “F1” to select the maximum
allowable speed.

Press F2 to exit editing the value
without saving or press Enter to
exit and save the new value.

RESET

PRESET SPEED 1
000040 RPM
STATUS

RESET

PRESET SPEED 1
000040 RPM
MAX

Press

Press F2 to return to previous
screen.
Press F1 to go to Status screen.

BACK

Parameter values in other Level 1, 2 and 3 blocks can be selected and edited in the same way.

6-10 Using the Keypad

MN766

6.7.1 Modified Parameters

Allows viewing of all parameters that have been changed from factory set values.
Action

Description

Advanced Prog Display. Top Level Advanced Prog menu.

Press Enter to select
Modified Parameters.

View parameter values that have
been changed from factory
settings by user selection,
autotune, etc.

Display

Comments
Press to scroll to Modified Params.
Press enter to view list of
parameters that have been changed
from their factory settings.

LEVEL 1 BLOCKS
LEVEL 2 BLOCKS
LEVEL 3 BLOCKS
MODIFIED PARAMS
LINEAR LIST
PROG

PRESET SPEEDS

PRESET SPEED 1
38 RPM
STATUS

C1001T1

PROG

BACK

INPUT SETUP

OPERATING MODE
PLC
STATUS

C1401T1

Press to go to next modified
parameter.
Press F2 to return to Advanced
Prog menu.

BACK

6.7.2 Linear List
Action

Description

Display

Advanced Prog Display. Top Level Advanced Prog menu.

Press Enter to select
sequential view of
parameters by
parameter number
“Linear List”.

MN766

The number and name of each
parameter is displayed in listing
format.
The first character of the parameter
number has the following meaning:
F = Factory Setting
C = Custom value set by user
V = Parameter value may be Viewed
but not changed.
L = Parameter value is locked,
security code required.

Comments
Press to scroll to Linear List.
Press enter to view list of
parameters beginning with 1001.

LEVEL 1 BLOCKS
LEVEL 2 BLOCKS
LEVEL 3 BLOCKS
MODIFIED PARAMS
LINEAR LIST

C1001
F1002
F1003
F1004
F1005
PNUM

Press or
keys to scroll to
through the parameter list.
Press
or
keys to jump to
next page.
Press F2 to return to previous
menu.
BACK

PRESET SPEED 1
PRESET SPEED 2
PRESET SPEED 3
PRESET SPEED 4
PRESET SPEED 5

Using the Keypad 6-11

Change a parameter value within the linear list as follows:
Action
Press Enter to select
the parameter value to
be viewed or modified.

Description

Display

The number and name of each
parameter is displayed in listing
format.

C1001
F1002
F1003
F1004
F1005

Comments

PRESET SPEED 1
PRESET SPEED 2
PRESET SPEED 3
PRESET SPEED 4
PRESET SPEED 5
BACK

PNUM

Press Enter to change
the parameter value.

The parameter value can be
changed as previously described
in Advanced Programming.

PROG

PRESET SPEEDS

PRESET SPEED 1
38 RPM
STATUS

C1001T1

BACK

Press
or
keys to scroll to
through the parameter list.
Press
or
keys to jump to
next page.
Press F2 to return to previous
menu.
Press Enter then use cursor keys
to position cursor and increase or
decrease each character under
the cursor as desired.
Press F2 to return to previous
menu.

Jump to display a different range of parameters as follows:
Action

Description

Press F1 key (PNUM)
to highlight Parameter
Number.

The parameter number is
highlighted.

Press Enter key to edit
the highlight Parameter
Number.

The parameter number is
highlighted.

Display
C1001
F1002
F1003
F1004
F1005
PNUM
C2001
F1002
F1003
F1004
F1005

PRESET SPEED 1
PRESET SPEED 2
PRESET SPEED 3
PRESET SPEED 4
PRESET SPEED 5
BACK
PRESET SPEED 1
PRESET SPEED 2
PRESET SPEED 3
PRESET SPEED 4
PRESET SPEED 5
BACK

PNUM

The newly selected parameter
number range is displayed.
These values may be viewed and
changed or jump to a different
parameter range may be
performed.

F2001
F2002
F2003
F2004
F2006

Comments

OPERATING ZONE
MIN OUTPUT SPEED
MAX OUTPUT SPEED
PWM FREQUENCY
CURR RATE LIMIT

Press F1 key (PNUM) to highlight
Parameter Number.
Press or
keys to scroll.
Press F2 (BACK) to return to
previous menu.
Use cursor keys to position cursor
and increase or decrease each
character under the cursor as
desired. Press Enter when
finished.
Press F2 to return to previous
menu.
Press or
keys to scroll to
through the parameter list.
Press
or
keys to jump to
next page. Press F2 (BACK) to
return to previous menu.

BACK

PNUM

6.8 Event Log
From the Menu display screen, select Event Log and press enter. Trace is used to display control conditions present at the
time the fault occurred. A separate trace log is recorded for each event.

Action
Event Log Display

Description

Display

Displays error name,
Entry # and time the
error occurred.
LOW INITIAL BUS
0
Date

EV. LOG

Time

Entry # DD/MM/YY HH:MM:SS
0-9

STOP

Comments
LOCAL

LOW INITIAL BUS
4-Jul-06
09:35:00

STATUS

TRACE

Press

to view next entry.

Press F2 to view Trace Log
Press F1 to return to Status
Menu.
Note: Trace is described in
Chapter 9 of this manual.

Input states, Output states, various voltage and current values etc. can be viewed to help understand the cause of the fault
condition. See Chapter 9 of this manual for more information.
6-12 Using the Keypad

MN766

6.9 Diagnostics
From the Menu display screen, select Diagnostics and press enter. These are read only values with the exception of the real
time clock settings.
See Chapter 9 for a more detailed description.

Description

Action
Press Menu.

Display

Displays top level menu options.

Press
group.

to display next Displays active operating mode
settings.

to display next

Bit display of digital inputs,
outputs and the voltage present at
the internal 24V supply terminals.
Note: Example display shows that
the drive enable terminal
(J2-8) is on and that
Relay Out 2 is on.

Press
group.

to display next

DIAG

Displays software version, hp,
volts and Amp/Volt ratings.

BACK
STOP

0.00r

MAIN

DIAG

STOP

LOCAL

DIGITAL I/O
INPUTS
100000000
OUTPUTS
0001
USER 24V
24.9V
STATUS

0.00r

MAIN

DIAG

STOP

LOCAL

PROC CONTROL PID
0.00HZ 0.0FF
0.0SP 0.0FB

DIAG

STATUS

to display next

DIAG

Press
group.

to display next

Displays:
Power Base ID number
EE Firmware version
FPGA Firmware version

Press
group.

to display next Displays real time clock values
(date and time) and total run time
since installation.
Press ENTER to set date and
time.

MN766

Press F1 to go to STATUS screen.
Press
or to go to the next or
previous Diagnostic screen.
Press F2 to return to main menu.
Note: This screen does not appear
unless P1401 is set to
Process Control.
Press F1 to go to STATUS screen.

STOP

LOCAL

or to go to the next or
Press
previous Diagnostic screen.

3HP
240.0V
4.0A/V

Press F2 to return to main menu.

SHH-1.21

Press F1 to go to STATUS screen.

0.00r

MAIN

STOP

LOCAL

Press or
to go to the next or
previous Diagnostic screen.

9.6A
16.8A

Press F2 to return to main menu.

SHH-1.21

0.00r

MAIN

STOP
LOCAL
DIAG
POWER BASE VERSION
ID
0x000A2003
EE VER
0x00000001
FPGA VER
0x00000A02
STATUS

0.00r

MAIN

DIAG

STOP

LOCAL

REAL TIME CLOCK
Jul 4, 2006
22:07:35
RUN TIMER
474.1HR
STATUS

Press F2 to return to main menu.

MAIN

RATED CURRE
RATED PK CU
STATUS

Press
or to go to the next or
previous Diagnostic screen.

0.00r

RATED HP
RATED VOLTS
RATED A/V

Press
group.

LOCAL

OPERATING MODE
Keypad
Speed
AC Servo

STATUS

to display next

Press Enter to view diagnostic
information.

STATUS

Output Frequency, % Feedforward
% Setpoint, % Feedback

Press
group.

Press
or to move cursor over
the “DIAGNOSTICS” selection.

STATUS
BASIC PARAMS
ADVANCED PROG
EVENT LOG
DIAGNOSTICS
STATUS

Press
group.

Comments

0.00r

MAIN

Press F1 to go to STATUS screen.
or to go to the next or
Press
previous Diagnostic screen.
Press F2 to return to main menu.
Press F1 to go to STATUS screen.
0x=Hexadecimal
0b=Binary
or
Press
to go to the next or
previous Diagnostic screen.
Press F2 to return to main menu.
Press F1 to go to STATUS screen.

Using the Keypad 6-13

Diagnostics Continued
Action
Press
group.

Press
group.

to display next

Diagnostic Analog Input values
display.

Diagnostic Analog Output values
display.

Full revolutions are displayed.

to display next Diagnostic installed Option Card
.
identification display.

to display next Displays keypad software version.
(Note that this is not the same
as the drive control firmware.)

Displays Composite Reference
values.

to display next
DC Bus Voltage
Drive Heatsink Temperature
% Drive Overload (remaining)

Press
group.

Display
DIAG

STOP

Comments
LOCAL

ENERGY
EST POWER
0.00KW
EST ENERGY
0.0KWH
EST COST
0.0$

STATUS

0.00r

MAIN

DIAG

STOP

LOCAL

ANALOG INPUTS
ANA IN1
1.3v
ANA IN2
0.0v
STATUS

0.00r

MAIN

DIAG

STOP

LOCAL

ANALOG OUTPUTS
ANA OUT1
0.0V
ANA OUT2
0.0V
STATUS

0.00r

DIAG

STOP

MAIN

to display next
Motor Voltage
Motor Current
% Motor Overload (remaining)

STATUS

0.00r

MAIN

DIAG

STOP

LOCAL

OPTION BOARDS
OPTION 1
ETHERNET
OPTION 2
NONE
FEEDBACK
RESOLVER

STATUS

0.00r

MAIN

DIAG

STOP

LOCAL

KEYPAD VERSION
KEYPAD SOF
1.1X

0.00r

MAIN

DIAG

STOP

LOCAL

COMPOSITE REF
COMPONENT A
0.00%
COMPONENT B
0.00%
REFERENCE
0.00%

STATUS

0.00r

Alarm

DIAG

STOP

LOCAL

DRIVE
BUS VOLTAGE
DRIVE TEMP
DRIVE O/L L

333.9V
26.1C
100.0%

STATUS

0.00r

MAIN

DIAG

STOP

LOCAL

STATUS

6-14 Using the Keypad

0.00r

Press F2 to return to main menu.
Press F1 to go to Status screen.
or to go to the next or
Press
previous Diagnostic screen.
Press F2 to return to main menu.
Press F1 to go to Status screen.
Press
to go to the next or
or
previous Diagnostic screen.
Press F2 to return to main menu.
Press F1 to go to Status screen.
or to go to the next or
previous Diagnostic screen.
Press F2 to return to main menu.
Press F1 to go to Status screen.
or
Press
to go to the next or
previous Diagnostic screen.
Press F2 to return to main menu.
Press F1 to go to Status screen.
or
Press
to go to the next or
previous Diagnostic screen.
Press F2 to return to main menu.

STATUS

MOTOR
MOTOR VOLTAGE
MOTOR CURRE
MOTOR O/L L

or to go to the next or
Press
previous Diagnostic screen.

LOCAL Press

POSITION COUNTER
REVOLUTIONS
0
COUNTS
0
SPEED MEAS
0

Press to display next
group.

Press
group.

Description

to display next Displays energy cost (based on
parameter P2305 value).

333.9V
4.8A
100.0%

Press F1 to go to Status screen.
or
Press
to go to the next or
previous Diagnostic screen.
Press F2 to return to main menu.
Press F1 to go to Status screen.
Press or
to go to the next or
previous Diagnostic screen.
Press F2 to return to main menu.
Press F1 to go to Status screen.
Press
or to go to the next or
previous Diagnostic screen.
Press F2 to return to main menu.
Press F1 to go to Status screen.

MAIN

MN766

6.10 Display Options
Action
Press “F2” to return to
MAIN MENU.

Description
Displays top level menu options.

Display
STATUS
BASIC PARAMS
ADVANCED PROG
EVENT LOG
DIAGNOSTICS
DIAG

Press
to DISPLAY
OPTIONS. Press ENTER.

Comments
Press “F1” or “F2” to return to
DIAGNOSTICS.

BACK

BASIC PARAMS
ADVANCED PROG
EVENT LOG
DIAGNOSTICS
DISPLAY OPTIONS
DIAG

Displays the KEYPAD CONTRAST
adjustment screen.

BACK

PROG

KEYPAD CONTRAST
50%
STATUS

Press
to display next Displays the BACKLIGHT On/Off
select screen.
parameter.

KEYPAD SETUP

PROG

F1313T1

BACK

KEYPAD SETUP
BACKLIGHT
On

DIAG

MN766

F1314T1

Press “Enter” to change parameter
value.
Press

to display next screen.

Press “F1” to return to STATUS screen.
Press “F2” to return to previous menu.
Press “Enter” to change parameter
value.
Press
to display next screen.
or
Press “F1” to return to STATUS screen.

BACK

Press “F2” to return to previous menu.

Using the Keypad 6-15

6.11 Operating the Control from the Keypad
To activate the LOCAL Mode, first press the “STOP” key (if enabled).
Note: Pressing the keypad STOP key (if enabled) will automatically issue a motor stop command and change to LOCAL
mode. Selection of LOCAL Mode overrides any remote or serial control inputs except the External Trip input, Local
Enable Input or STOP input.
The control can operate the motor from the keypad in two ways.
1. JOG Command.
2. Speed adjustment with Keypad entered values and/or Keypad Up/Down arrow keys.
Note: If the level 1, input block operating mode parameter is set to Keypad, then no other means of operation is permitted
other than from the keypad.

6.11.1 Accessing the Keypad JOG Command
Action

Description

Status Display

Display
STATUS

The JOG LED will light indicating
the JOG mode is active. Holding
the FWD or REV key starts JOG
operation.
Releasing FWD or REV key will
terminate motor rotation.

LOCAL

STOP

0.0V
0.0A

Press JOG key
Next, press and hold
the FWD or REV key

Comments

0RPM
0.0HZ

DIAG

0.00r

MAIN

STATUS

FWD

LOCAL

10.1V
1.3A
DIAG

210RPM
7.0HZ
210r

To change Jog Speed, Edit
Level 1 parameter P1201 (Jog
Speed).
Press STOP key twice to
terminate JOG mode.

MAIN

6.11.2 Speed Adjustment using Local Speed Reference
Action

Description

At the Status Display,
press ENTER key to
access Local Speed
Reference.

Display
EDIT

Comments
LOCAL REFs

LOC SPEED REF
000000 RPM
MAX

F0201

EDIT

RESET
LOCAL REFs

LOC SPEED REF
000000 RPM
DIAG

F0201

EDIT

BACK
LOCAL REFs

LOC SPEED REF
000300 RPM

Press FWD or REV key.

The control will turn the motor
shaft at the local speed ref speed.

DIAG

C0201

BACK

STATUS

FWD

LOCAL

12.7V
1.3A
DIAG

6-16 Using the Keypad

300RPM
10.0HZ
300r

Press
or to move cursor.
or to increase or
Press
decrease value at cursor.
Press ENTER when finished and
save the new value.

or to move cursor.
Press
or
Press
to increase or
decrease value at cursor.
Press ENTER when finished and
save the new value.

Press STOP key to terminate
local speed mode.
Press
or to increase or
decrease motor speed during
rotation.

BACK

MN766

Chapter 7
Parameter Descriptions
7.1 Level 1 Parameters (Advanced Prog, Level 1 Blocks)
Table 7-1 Level 1 Parameter Block Definitions
Block Title
PRESET
SPEEDS

Parameter (Number)
Selection (Value)
Preset Speed 1 (1001)
Preset Speed 2 (1002)
Preset Speed 3 (1003)
Preset Speed 4 (1004)
Preset Speed 5 (1005)
Preset Speed 6 (1006)
Preset Speed 7 (1007)
Preset Speed 8 (1008)
Preset Speed 9 (1009)
Preset Speed 10 (1010)
Preset Speed 11 (1011)
Preset Speed 12 (1012)
Preset Speed 13 (1013)
Preset Speed 14 (1014)
Preset Speed 15 (1015)

Parameter Name and Description
Preset Value: 30
Preset Value: 60
Preset Value: 90
Preset Value: 120
Preset Value: 150
Preset Value: 180
Preset Value: 210
Preset Value: 240
Preset Value: 270
Preset Value: 300
Preset Value: 330
Preset Value: 360
Preset Value: 390
Preset Value: 420
Preset Value: 450
Range: 0 - Max Speed RPM
Allows selection of 15 predefined motor operating speeds. Each speed may
be selected using external switches connected to terminals at J2. For motor
operation, a motor direction command must be given along with a preset
speed command.

RAMP
RATES

Accel Time 1 (1101)
Accel Time 2 (1107)

Preset Value: 3.0
Range: 0.0 to 3600.0 Seconds
Accel time is the number of seconds required for the motor to increase at a
linear rate from 0 to “Max Output Speed” parameter (P2003) in the Level 2
Output Limits block.

Decel Time 1 (1104)
Decel Time 2 (1110)

Preset Value: 3.0
Range: 0.0 to 3600.0 Seconds
Decel time is the number of seconds required for the motor to decrease at
a linear rate from the speed specified in the “Max Output Speed” parameter
(P2003) to 0.

Start S-Acc 1 (1102)
Start S-Acc 2 (1108 )

Preset Value: 0.0
Range: 0.0 to 100.0%
Start S-Curve Acceleration as a percentage of accel time (% 1 and 2).

End S-Acc 1 (1103)
End S-Acc 2 (1109)

Preset Value: 0.0
Range: 0.0 to 100.0%
End S-Curve Acceleration as a percentage of accel time (% 1 and 2).

Start S-Dec 1 (1105)
Start S-Dec 2 (1111)

Preset Value: 0.0
Range: 0.0 to 100.0%
Start S-Curve Deceleration as a percentage of decel time (% 1 and 2).

End S-Dec 1 (1106)
End S-Dec 2 (1112)

Preset Value: 0.0
Range: 0.0 to 100.0%
End S-Curve Deceleration as a percentage of decel time (% 1 and 2).

MN766

Parameter Descriptions 7-1

Table 7-1 Level 1 Parameter Block Definitions Continued
Block Title
RAMP
RATES
(Continued)

Parameter (Number)
Selection (Value)
PL Dec Time (1113)

Parameter Name and Description
Preset Value: 1.0
Range: 0.0 to 3600.0 Seconds
Time to stop the motor from maximum drive speed during a power loss.
Commanded Speed

% Maximum Speed
100
Speed Curve
80 (Accel)

Speed Curve
(Decel)

60
Accel Rate 40
20
0

-20
-40
Start
S-Accel 1

JOG
SETTINGS

Jog Speed (1201)

Accel Time

4
End
S-Accel 1

End
Start
S-Decel 1
S-Decel 1
Decel Time

12 Seconds
Decel Rate

Preset Value: 210
Range: 0 - MAX Speed RPM
Jog Speed is the programmed speed used during jog. Jog can be initiated
from the keypad or terminal strip. At the Keypad, press and release the
JOG key then press and hold the direction (FWD or REV). For Standard Run
3Wire mode, close the JOG input (J2-12) at the terminal strip then close and
maintain the direction input (J2-9 or J2-10). Process Control mode operation
is different. If the terminal strip Process Control Enable input (J2-13) is
closed, pressing the Keypad JOG key (or closing J2-14) will cause the drive
to move in the direction of the error (without pressing FWD or REV).

Jog Accel Time (1202)

Preset Value: 10.0
Range: 0.0 to 3600.0 Seconds
The accel rate or time to reach max Speed.
Time to reach Jog Speed=(Jog Speed/Max Speed) x (Jog Accel Time).

Jog Start S-Acc (1203)

Preset Value: 0.0
Range: 0.0 to 100.0%
Start S-Curve Acceleration as a percentage of jog accel time.

Jog End S-Acc (1204 )

Preset Value: 0.0
Range: 0.0 to 100.0%
End S-Curve Acceleration as a percentage of jog accel time.

Jog Decel Time (1205)

Preset Value: 10.0
Range: 0.0 to 3600.0 Seconds
The decel rate or time to decel from max Speed.
Time to reach zero speed=(Jog Speed/Max Speed) x (Jog Decel Time).

Jog Start S-Dec (1206)

Preset Value: 0.0
Range: 0.0 to 100.0%
Start S-Curve Deceleration as a percentage of jog decel time.

Jog End S-Dec (1207)

Preset Value: 0.0
Range: 0.0 to 100.0%
End S-Curve Deceleration as a percentage of jog decel time.

Jog Forward (1209)

Preset Value: 1
Range: 0 - 1
Off (0) Mode Disabled.
On (1) Enables Jog in the drive forward direction at Jog speed for keypad mode.

Jog Reverse (1210)

Preset Value: 1
Range: 0 - 1
Off (0) Mode Disabled.
On (1) Enables Jog in the drive reverse direction at Jog speed for keypad mode.

7-2 Parameter Descriptions

MN766

Table 7-1 Level 1 Parameter Block Definitions Continued
Block Title
KEYPAD
SETUP

Parameter (Number)
Selection (Value)
Stop Key (1301)

Parameter Name and Description
Preset Value: 1
Range: 0 - 1

Off (0) Keypad STOP key is not active.
Allows keypad STOP key to initiate motor stop during remote or serial
operation. If active, pressing STOP selects Local mode and initiates the
On (1)
stop command. Note: Pressing STOP key twice in rapid succession will
immediately terminate PWM to motor and disable the drive.
Stop Mode (1302)

Preset Value: 0
Range: 0 - 1
Regen (0) The voltage and frequency to the motor is reduced at a rate set by Decel
Time.
Coast (1) Motor is turned off and allowed to coast to a stop.
Selects if the Stop command causes the motor to COAST to a stop or
REGEN to a stop.

Run Forward (1303)

Preset Value: 1
Range: 0 - 1
Off (0) Disables FWD key in Local mode.
On (1) Makes the keypad FWD key active in Local mode.

Run Reverse (1304)

Preset Value: 1
Range: 0 - 1
Off (0) Disables REV key in Local mode.
On (1) Makes the keypad REV key active in Local mode.

Switch on Fly (1305)
(LOCAL/REMOTE KEY)

Preset Value: 0
Range: 0 - 1
Off (0) Disables Switch on Fly.
On (1) Allows switching between Local and Remote while Control is on.

Local Hot Start (1306)

Preset Value: 0
Range: 0 - 1
Off (0) Disables the Stop input at J2-11 in the keypad operating mode.
On (1) Enables the Stop input at J2-11 in the keypad operating mode.

Speed Increment (1307)

Preset Value: 30
Range: 1 to 2500 RPM or 0.01 to 60 Hz
Sets the increment of speed change for each key press. (1-3600 RPM or
0-60 Hz)

Init Local Speed (1308)

Preset Value: 0
Range: 0 - 2

Zero Speed (0) Initializes local speed to 0 RPM on Power Up.
Last Speed (1) Initializes local speed to last speed on Power Up.
Set Speed (2) Initializes local speed to “Set Speed” (P1309) on Power Up.
Set Speed (1309)

Preset Value: 30
Range: 0 - MAX Speed RPM
At power up, initializes the local speed to this preset value if “Init Local
Speed” = Set Speed.

Params to Keypad (1310)

Preset Value: 0
Range: 0 - 1

No (0) No action.
Yes (1)

MN766

Transfers the parameter settings stored in the control memory (flash) to
keypad memory.

Parameter Descriptions 7-3

Table 7-1 Level 1 Parameter Block Definitions Continued
Block Title
KEYPAD
SETUP
(Continued)

Parameter (Number)
Selection (Value)
Download Select (1311)

Parameter Name and Description
Preset Value: 0
Range: 0 - 2

All (0) All parameters.
Motor (1) Motor parameters only.
Other (2) All parameters except Motor parameters.
Selects parameters to download (All, Motor or Other) with “Keypad to
Params” (P1312). See Appendix B for notation of which parameters are
motor related.
Keypad to Params (1312)

Preset Value: 0
Range: 0 - 1

No (0) No action.
Yes (1)
Keypad Contrast (1313)

Transfers the parameter settings stored in keypad memory to the control
memory (flash).
Preset Value: 50
Range: 20 - 80%
Sets LCD contrast: 0=dimmest, 100=brightest.

Backlight (1314)

Preset Value: 1
Range: 0 - 1
Off (0) Sets the Keypad Display backlight OFF.
On (1) Sets the Keypad Display backlight ON.

LOC TORQUE MODE (1315)

Preset Value: 0
Range: 0 - 1

Off (0) Disables local torque mode.
On (1) Enables local torque mode operation.
LOC TORQUE REF (1316)

Preset Value: 0.00
Range: -100.00 to 100.00%
Local torque mode reference value.

INPUT
SETUP

Operating Mode (1401)

Preset Value: 0
Range: 0 - 16

Keypad (0) Drive operates from keypad only.
Standard Run 2Wire (1)

Drive operates from digital inputs and command source. Preset Speed 1
may also be selected.

Standard Run 3Wire (2)

Drive operates from digital inputs and command source. Preset Speed 1
may also be selected.

15 Preset Speeds (3)

Operation in 15 Preset Speeds 2 Wire Mode is controlled by digital inputs at
J2. Speeds set in parameters P1001 to P1015.

Fan & Pump 2Wire (4) Operation in Fan & Pump 2 Wire controlled by digital inputs at J2.
Fan & Pump 3Wire (5) Operation in Fan & Pump 3 Wire controlled by digital inputs at J2.
Process Control (6)

The Process Control provides an auxiliary closed loop general purpose PID
set point control.

3Spd Ana 2Wire (7) Provides 2 Wire control and allows selection of 3 Preset Speeds.
3Spd Ana 3Wire (8) Provides 3 Wire control and allows selection of 3 Preset Speeds.
Electronic Potentiometer provides digital inputs for Speed Increase and
E-Pot 2Wire (9) Speed Decrease. Also provides 2 digital inputs for selection of E-Pot or
"Command Source" (1402), Preset Speed 1, and Preset Speed 2.
Electronic Potentiometer provides digital inputs for Speed Increase and
E-Pot 3Wire (10) Speed Decrease. Also provides a digital input for selection of E-Pot or
“Command Source” (1402).
Network (11 Provides Bipolar speed or torque control.
7-4 Parameter Descriptions

MN766

Table 7-1 Level 1 Parameter Block Definitions Continued
Block Title
INPUT
SETUP
(Continued)

Parameter (Number)
Selection (Value)
Operating Mode (1401)
(Continued)
Profile Run (12)

Parameter Name and Description
Preset Value: 0
Range: 0 - 16
Provides a seven segment speed profile for cyclic operation or test cycle.
See Level 3, Profile Run Block.

15 Preset Positions (13) (Closed loop vector only). Provides for 15 preset Point-to-Point moves.
Bipolar (14)
Pulse Follower (15)

Provides bipolar speed or torque control. Torque control only available in
vector modes.
Provides electronic gearing of two or more controls from upstream
reference. (Requires Expansion Board EXBHH007).

PLC (16) Provides for control from custom designed internal logic.
CTD 2Wire (17

Cooling Tower Drive, (CTD) 2 Wire provides for 2 wire control with Trickle
Current Enable digital input.

CTD 3Wire (18)

Cooling Tower Drive (CTD) 2 Wire provides for 2 wire control with reversing
and Trickle Current Enable digital input.

CTD 2Wire Rev (19)

Cooling Tower Drive (CTD) 2 Wire provides for 2 wire control with reversing
and Trickle Current Enable ditial input.

CTD 3Wire Rev (20)

Cooling Tower Drive (CTD) 2 Wire provides for 3 wire control with reversing
and Trickle Current Enable digital input.
External connections to the control are made at the control terminal strip
(wiring diagrams are shown in Chapter 5 “Operating Modes”).

Command Source (1402)

Preset Value: 1
Range: 0 - 10

None (0) Command Source is not used.
Analog In1 (1) Connect a 10Kohm pot at J1 or connect a 0-10VDC signal to J1-2 and J1-1.
Connect a 0-5V, 0-10V, ±5V, ±10V, 0-20mA or 4-20mA source to J1-4 and
Analog In2 (2) 5. 4-20mA should be considered when a long distance (greater than 50 ft)
between the external device and J1-4 and 5 of the control is necessary.
Keypad (3) Command is from Keypad.
Network (4) Signal source is from a device on the network.
Composite Ref (5) The result of the Level 3 Composite Reference set by the user.
Opt1 Ana In1 (6) Scaled value of option board 1 analog input 1 signal value.
Opt1 Ana ln2 (7) Scaled value of option board 1 analog input 2 signal value.
Opt2 Ana ln1 (8) Scaled value of option board 2 analog input 1 signal value.
Opt2 Ana ln2 (9) Scaled value of option board 2 analog input 2 signal value.
EXB Pulse Fol (10) Signal source is from the EXB Pulse Follower expansion board.
ANA IN1 Type (1403)

Preset Value: 1
Range: 0 - 1
None (0) Input not used.

Potentiometer (1) 0 - 10V signal used.

MN766

Parameter Descriptions 7-5

Table 7-1 Level 1 Parameter Block Definitions Continued
Block Title
INPUT
SETUP
(Continued)

Parameter (Number)
Selection (Value)
ANA IN2 Type (1408)

Parameter Name and Description
Preset Value: 1
Range: 0 - 6

None (0) Input not used.
-10V to +10V (1) Bipolar 10V signal used.
-5V to +5V (2) Bipolar 5V signal used.
4 to 20mA (3) 4-20mA current signal used.
0 to 20mA (4) 0-20mA current signal used.
0 to 10V (5) Unipolar 10V signal used.
0 - 5V (6) Unipolar 5V signal used.
Defines signal being used.
ANA IN1 Invert (1404)
ANA IN2 Invert (1409)

Preset Value: 0
Range: 0 - 1
Will cause a low input voltage (e.g. 0VDC) to be a low motor speed
Off (0) command and a maximum input voltage (e.g. 10VDC) to be a maximum
motor speed command.
Will cause a low input voltage (e.g. 0VDC) to be a maximum motor speed
On (1) command and a maximum input voltage (e.g. 10VDC) to be a low motor
speed command.

ANA IN1 Gain (1405)
ANA IN2 Gain (1410)

Preset Value: 100.0%
Range: 0.0% to 300.0%
Allows 0 to 300% gain to be applied ((as in Y=Gain*(X-Offset)).

ANA IN1 Offset (1406)
ANA IN2 Offset (1411)

Preset Value: 0.0
Range: -100.0% to 100.0%
Provides an offset to the Analog Input to minimize signal error. For example,
if the minimum speed signal is 1VDC (instead of 0VDC) the Ana In1 Offset
can be set to -10% so the minimum voltage input is seen by the control as
0VDC. This parameter is automatically adjusted during the auto tune Analog
Offset Trim test.

ANA IN1 Filter (1407)
ANA IN2 Filter (1413)

Preset Value: 0
Range: 0 - 6

No Filter (0) No Filtering.
Max Filter (6) Max Filtering.
Amount of low pass signal filtering to use.
ANA IN2 D.Band (1412)

Preset Value: 0.0
Range: 0.0% to 75.0%
Allows a defined range of voltage to be a deadband. A command signal
within this range will not affect the control output. The deadband value is the
voltage above and below the zero command signal level.

EXT. CUR LIMIT (1414)

Preset Value: 0
Range: 0 - 1
Off (0)

Ramp output to speed loop is held at its present value as long as regen
current limit is active.

On (1) Ramp output to speed loop is always ramped to the value of its input.

7-6 Parameter Descriptions

MN766

Table 7-1 Level 1 Parameter Block Definitions Continued
Block Title
INPUT
SETUP
(Continued)

Parameter (Number)
Selection (Value)
CURR LMT SOURCE (1415)

Parameter Name and Description
Preset Value: 0
Range: 0 - 9

None (0) Turns off external current limit.
Analog In1 (1) Connect a 10Kohm pot at J1 or connect a 0-10VDC signal to J1-2 and J1-1.
Connect a 0-5V, 0-10V, ±5V, ±10V, 0-20mA or 4-20mA source to J1-4 and 5.
Analog In2 (2) 4-20mA should be considered when a long distance (up to 50 ft) between
the external device and J1-4 and 5 of the control is necessary.
Keypad (3) Turns off Current Limit Source from Keypad.
Composite Ref (4) See Chapter 11 for more information.
Opt1 Ana In1 (5)

Selects analog input from high resolution analog input/output Expansion
Board (EXBHH005) mounted in expansion slot 1.

Opt1 Ana In2 (6)

Selects analog input from high resolution analog input/output Expansion
Board (EXBHH005) mounted in expansion slot 1.

Opt2 Ana In1 (7)

Selects analog input/output Expansion Board (EXBHH005) mounted in
expansion slot 2.

Opt2 Ana In2 (8)

Selects analog input/output Expansion Board (EXBHH005) mounted in
expansion slot 2.

Network (9) Selects the network current limit word as the current limit source.
Selects the external current limit reference to be used, converts it internally
to a percentage and then sets the torque limit of the drive as a percentage of
the drive’s Peak Current Level (P2006).
SLEEP MODE (1416)

Preset Value: 0
Range: 0 - 1
Off (0) No action.
On (1)

CMD Sleep Band (1417)

Disables control when Command Source is less than CMD Sleep Band
(P1417). Active in all speed modes.
Preset Value: 0.00
Range: 0.00 to 100.00%
Disables the control when Command Source is less than CMD Sleep
Band (P1417). Active in all speed modes and is also applied to the torque
reference when in torque mode.

MN766

Parameter Descriptions 7-7

Table 7-1 Level 1 Parameter Block Definitions Continued
Block Title
INPUT
SETUP
(Continued)

Parameter (Number)
Selection (Value)
TORQUE FF SRC (1418)

Parameter Name and Description
Preset Value: 0
Range: 0 - 8

None (0) Turns off external torque feedforward reference.
Analog In1 (1) Connect a 10Kohm pot at J1 or connect a 0-10VDC signal to J1-2 and J1-1.
Connect a 0-5V, 0-10V, ±5V, ±10V, 0-20mA or 4-20mA source to J1-4 and
Analog In2 (2) 5. 4-20mA should be considered when a long distance (greater than 50 ft)
between the external device and J1-4 and 5 of the control is necessary.
Keypad (3)

Turns off external torque feedforward reference. (Keypad uses Local Keypad
Torque Reference as feedforward.)

Composite Ref (4) See Chapter 11 for more information.
Opt1 Ana In1 (5)

Selects analog input from high resolution analog input/output expansion
Board(EXBHH005) mounted in expansion slot 1.

Opt1 Ana In2 (6)

Selects analog input from high resolution analog input/output expansion
Board(EXBHH005) mounted in expansion slot 1.

Opt2 Ana In1 (7)

Selects analog input/output Expansion Board (EXBHH005) mounted in
expansion slot 2.

Opt2 Ana In2 (8)

Selects analog input/output Expansion Board (EXBHH005) mounted in
expansion slot 2.
Selects the external torque feedforward reference to be used which is added
to the torque demand from the speed loop. The result then becomes the
torque reference for the current loop.

1451-1474

7-8 Parameter Descriptions

Parameters 1451-1474 are used to configure the High Resolution Analog I/O
Expansion Board. See manual MN754 for Configuration details.

MN766

Table 7-1 Level 1 Parameter Block Definitions Continued
Block Title
OUTPUT
SETUP

Parameter (Number)
Selection (Value)
Digital Output 1 (1501)
Digital Output 2 (1502)
Relay Output 1 (1503)
Relay Output 2 (1504)

Parameter Name and Description
Preset Value: 1
Preset Value: 8
Preset Value: 9
Preset Value: 17
Range: 0 - 31

Drive Run (0) Active when drive is “On” and a FWD/REV direction command is present.
Drive Ready (1) Active after soft start, when drive is enabled and no faults are present.
Drive On (2)
Drive Stopped (3)

(V/F) Active when drive is “Ready” and producing PWM to motor. (Vector)
Active when drive is “Ready” and motor flux is present.
Active when stop command is present and motor is stopped (or coasting to
stop).

Jog (4) Active during Jog mode.
Accelerate (5) Active when control is accelerating.
Constant Speed (6) Active when control speed is constant.
Decelerate (7) Active when control is decelerating.
At Zero Speed (8)
At Speed (9)
At Set Speed (10)

Active when motor speed is less than the Level 1 Output Setup “Zero SPD
Set Pt (P1505)”.
Active when motor speed is within band set by the Level 1 Output Setup “At
Speed Band (P1506)”.
Active when output speed is at or greater than the Level 1 Output Setup
“Set Speed Point (P1507)”.

Curr Overload (11) Active when motor current is greater than “Overload Set Point (P1508)”.
Curr Underload (12) Active when motor current is less than “Underload Set Point (P1509)”.
I2T Overload (13) Active when overload left is less than 100%.
Keypad Control (14) Active when control is in Local keypad control.
Dynamic Brake (15) Active when Dynamic Brake transistor is turned ON.
Foldback (16) Active when current foldback is active (V/Hz Mode only).
Fault (17) Active when a fault condition is present (will cause trip).
Alarm (18) Active when an Alarm condition is present (but doesn’t cause trip).
Command Forward (19) Active during forward run command.
Command Reverse (20) Active during reverse run command.
Motor Forward (21) Active when motor is moving in Drive forward direction.
Motor Reverse (22) Active when motor is moving in Drive reverse direction.
Process Error (23)

Active when absolute process error is greater than P2606 (Process Error
Tolerance).

Network (24) Active when commanded by network. Network device controls this output.
At Position (25)
In Motion (26)

PLC (27) Output is controlled by PLC mode.
RTC (28) Output is controlled by RTC module.
Powered Up (29) Active when Bus is “UP” and no faults are present.
Heater (30) Output turns on when trickel current heating is active
Contactor Ctl (31) Provides control of a contactor between the Control and the motor so that
the contactor is sequenced with the required time delays.
See also 1505, 1506, 1507, 1508,1509, 1517, Chapter 10, Chapter 11,
Chapter 12.
MN766

Parameter Descriptions 7-9

Table 7-1 Level 1 Parameter Block Definitions Continued
Block Title
OUTPUT
SETUP
(Continued)

Parameter (Number)
Selection (Value)
Zero SPD Set PT (1505)

Parameter Name and Description
Preset Value: 180
Range: 0 - MAX Speed RPM
A digital output programmed to “At Zero Speed” becomes active when
motor speed becomes less than this setting. This is useful when a motor
brake is to interlock operation with a motor.

At SPD Band (1506)

Preset Value: 60
Range: 0 - 100 RPM
At Speed opto output is active when the magnitude of (Speed Ref)-(Speed
Demand) is less than the set value of P1506.

Set Speed Point (1507)

Preset Value: 1800
Range: 0 - MAX Speed RPM
A digital output programmed to “At Set Speed” becomes active when the
motor speed is greater than the value programmed in this parameter. This is
useful when another machine must not start or stop until the motor exceeds
a predetermined speed.

Overload Set Pt (1508)

Preset Value: 150.0
Range: 0.0 - 200.0%
Sets the motor current value as a percent of drive rated current at which the
Overload digital output is active.

Underload Set Pt (1509)

Preset Value: 50.0
Range: 0.0 - 200.0%
Sets the motor current value as a percent of drive rated current at which the
Underload digital output is active.

Ana Out1 Type (1510)

Preset Value: 0
Range: 0 - 3

0 to +10V (0) Sets the Analog Output Signal to 0 - 10V.
0 to 5V (1) Sets the Analog Output Signal to 0 - 5V.
4mA to 20mA (2) Sets the Analog Output Signal to 4 - 20mA.
0mA to 20mA (3) Sets the Analog Output Signal to 0 - 20mA.
ANA OUT2 TYPE (1513)

Preset Value: 1
Range: 0 -1

+5/-5V (0) Sets the Output Signal ±5V.
+10/-10V (1) Sets the Output Signal ±10V.
ANA Out1 Signal (1511)
ANA Out2 Signal (1514)

Preset Value: 29
Preset Value: 3
Range: 0 - 34

Speed Ref (0) Scaled value of speed reference (input to velocity profiler) (ACC/DEC ramp).
Speed Demand (1)

Scaled value of speed reference (output of velocity profiler) (ACC/DEC
ramp).

ACC/DEC (2) Scaled value of ACC/DEC rate. Range is from 0 to max ACC/DEC rate.
Motor Current (3)

Scaled value of Motor Current. Range is based on 2 times drive FLA.
(Includes both MAG and Load currents).

Mag Current (4) Scaled value of magnetizing current, range is based on 2 times drive FLA.
Mag Curr Cmd (5)

The commanded D-axis PI vector magnetizing current to the current
controller, range is based on 2 times drive FLA.

Load Current (6) Scaled value of the load amps, range is based on 2 times drive FLA.
Load Curr Cmd (7)

7-10 Parameter Descriptions

The commanded Q-axis PI vector load current to the current controller,
range is based on 2 times drive FLA.

MN766

Table 7-1 Level 1 Parameter Block Definitions Continued
Block Title

Parameter (Number)
Selection (Value)

OUTPUT
SETUP
(Continued)

ANA Out1 Signal (1511)
ANA Out2 Signal (1514)
(Continued)

Parameter Name and Description
Preset Value: 29
Preset Value: 3
Range: 0 - 34

Power Factor (8) Scaled value of power factor, range is from 0 to 1.0.
Ph1 Current (9)

Scaled value of the phase 1 motor current, range is based on 2 times drive
FLA.

Ph2 Current (10)

Scaled value of the phase 2 motor current, range is based on 2 times drive
FLA.

Ph3 Current (11)

Scaled value of the phase 3 motor current, range is based on 2 times drive
FLA.

Motor Voltage (12)

Scaled value of the motor voltage, range is based on drive rated output
voltage.

VD Demand (13) Flux controller output. Used to diagnose control problems.
VQ Demand (14) Load controller output. Used to diagnose control problems.
Bus Voltage (15)

Scaled value of the Bus voltage. (Range is based on 123% of drive rated
output voltage).

Abs Torque (16)

Scaled value of the absolute torque, range is based on peak torque (2 x
rated torque).

Torque (17)

Scaled value of the motor torque (signed), range is based on rated torque
(2 x rated torque).

Control Temp (18) Scaled value of the control heatsink temperature, range is -50°C to 150ºC.
Analog In1 (19) Scaled value of the analog input 1 signal value.
Analog In2 (20)

Scaled value of the analog input 2 signal value, range depends on input type
P1408.

Opt1 Ana In1 (21)

Scaled value of option board 1 analog input 1 signal value, range depends
on input type selected.

Opt1 Ana In2 (22)

Scaled value of option board 1 analog input 2 signal value, range depends
on input type selected.

Opt2 Ana In1 (23)

Scaled value of option board 2 analog input 1 signal value, range depends
on input type selected.

Opt2 Ana In2 (24)

Scaled value of option board 2 analog input 2 signal value, range depends
on input type selected.

Scaled value of the process feedforward signal, range is -100% to 100% of
Proc Feedforward (25) Process Feedforward signal.
Proc Feedback (26)

Scaled value of the process feedback signal, range is -100% to 100% of
Process Feedback signal.

Proc Setpoint (27)

Scaled value of the process setpoint source, range is -100% to 100% of
Process Setpoint signal.

Electric Angle (28) Scaled value of the electrical angle of shaft, range is from 0-359 degrees.
Abs Speed (29)

Scaled value (absolute) of actual motor speed, range is 0-Max Motor Speed
P2003.

Velocity (30)

Scaled value (signed) of actual motor speed, range is - Max Motor Speed to
+Max Motor Speed P2003.

Network (31)

Represents the network speed reference, see MN744. Analog 1 holding
register is 40014:40013, Analog 2 holding register is 40016:40015.

Composite Ref (32)

Scaled value of the Composite Reference output, range is -100% to 100%
of composite reference calculation.

Power (kW) (33) Scaling power calculated using nominal output amps and RMS output volts.
Calibrate (34) Produces maximum value of selected analog output type.

MN766

Parameter Descriptions 7-11

Table 7-1 Level 1 Parameter Block Definitions Continued
Block Title
OUTPUT
SETUP
(Continued)

Parameter (Number)
Selection (Value)
ANA OUT1 GAIN (1512)
ANA OUT2 GAIN (1515)

Parameter Name and Description
Preset Value: 100.0
Preset Value: 100.0
Range: 0.0 - 500.0%
Scale factor for analog output (as in Y=Gain*X)

CAL ANA OUT (1516)

Preset Value: 0.0
Range: -100.0% to 100.0%
Scalable output signal used to calibrate output device (-100% to 100% of
Analog Out 1 Type).

AT POS BAND (1517)
for Feedback Only

Preset Value: 10
Range: 1 to 4095 Counts
Load is at target position (|Position-Feedback|) < Band.

MOTOR
CONTROL

1551-1562

Parameters 1551-1562 are used to configure the High Resolution Analog I/O
Expansion Board. See manual MN754 for Configuration details.

CNTL BASE SPEED (1602)

Preset Value: 2500
Range: 30 - 15000 RPM
Speed at which field weakening begins

CUR LOOP FF GAIN (1603)

Preset value: 100.0
Range: 0.0% - 200.0%
Motor model voltage FEEDFORWARD GAIN.

FEEDBACK ALIGN (1631)

Preset Value: 0
Range: 0 - 1

Forward (0) Sets the feedback’s electrical direction in forward rotation.
Reverse (1) Sets the feedback’s electrical direction in reverse rotation.
Sets the feedback’s electrical direction of rotation to match that of the
motor.
FEEDBACK FILTER (1632)

Preset Value: 4
Range: 0 - 7
A larger value provides a more filtered signal but at the cost of reduced
bandwidth.

CURR PROP GAIN (1633)

Preset Value: CALC
Range: 0.00 - 150.00
Sets the current loop proportional gain.

CURR INT GAIN (1634)

Preset Value: 150.00
Range: 0.00 - 3000.00Hz
Sets the current loop integral gain.

SPEED PROP GAIN (1635)

Preset Value: CALC
Range: 0.000 - 1000.000
Sets the speed (velocity) loop proportional gain. Excessive speed prop gain
will cause ringing around the set point. Decreasing the speed prop gain will
result in slower response and decrease the ringing, but will increase the
overshoot.

SPEED INT GAIN (1636)

Preset Value: 10.000
Range: 0.000 - 1000.000Hz
Sets the speed (velocity) loop integral gain.

SPEED DIFF GAIN (1637)

Preset Value: 0.00
Range: 0.00000 - 1.00000
Sets the speed (velocity) loop differential gain.

POSITION GAIN (1638)

Preset Value: 8.0
Range: 0.0 - 1000.0
Sets the position loop proportional gain. Used with Master Pulse Ref/
Follower expansion board (EXBHH007). Not used in 15 preset position
mode.

7-12 Parameter Descriptions

MN766

Table 7-1 Level 1 Parameter Block Definitions Continued
Block Title
MOTOR
CONTROL
(Continued)

Parameter (Number)
Selection (Value)
A.S. PROP GAIN (1639)

Parameter Name and Description
Preset Value: 10.0
Range: 0.0 - 255.0
Sets the anti-saturation proportional gain.

A.S. INT GAIN (1640)

Preset Value: 50.00
Range: 0.00 - 150.00Hz
Sets the anti-saturation integral gain.

FEEDBACK OFFSET (1671)
For Resolver Feedback Only

Preset Value: 46.60°
Range: 0.00 to 360.00°
Feedback offset angle for brushless DC motors.

STATOR L (1672)

Preset Value: CALC
Range: 0.0 to 1000.0 mH
Stator inductance. Value is measured and set during auto tune and used to
tune the current loop gain.

STATOR R (1673)

Preset Value: CALC
Range: CALC
Stator resistance. Value is measured and set during auto tune and used to
tune the current loop gain.

VOLTAGE CONSTANT (1674)

Preset Value: CALC
Range: 0.0 to 6000.0 V/kRPM
Voltage constant of motor. Voltage constant as RMS line to line emf at 1000
RPM.

TRICKLE HEAT AMPS (1678)

Preset Value: 0.0
Range: 0.0 - 50.0% of Motor Rated Amps
Used to provide heating amps in the motor windings while the motor is
stopped to help eliminate condensation within the motor. A value of 0.0
amps in this parameter disables the function. A non-zero value will cause
the amount of amps programmed in this parameter to flow through the
motor windings after the motor is stopped and a 300 second delay. Both the
REV and FWD LEDs on th ekeypad will flash while the timer is counting and
then both LEDs are on solid when trickle current is flowing.

COMMUNICATION

BAUD RATE (1701)

Preset Value: 1
Range: 0 - 4
9600 (0) Baud Rate = 9600
19200 (1) Baud Rate = 19200
38400 (2) Baud Rate = 38400
56000 (3) Baud Rate = 56000
115200 (4) Baud Rate = 115200
Sets the Modbus-RTU communication baud rate.

PARITY (1702)

Preset Value: 0
Range: 0 - 2
None (0) No parity used.
Odd (1) Odd parity used.
Even (2) Even parity used.
Sets Modbus-RTU communication parity.

STOP BITS (1703)

Preset Value: 0
Range: 0 - 1
One (0) One stop bit used.
Two (1) Two stop bits used.
Sets the number of stop bits to use for Modbus-RTU.

MN766

Parameter Descriptions 7-13

Table 7-1 Level 1 Parameter Block Definitions Continued
Block Title
COMMUNICATION
(Continued)

Parameter (Number)
Selection (Value)
DRIVE ADDRESS (1704)

Parameter Name and Description
Preset Value: 1
Range: 1 - 247
Sets the drive address for communication via USB or Modbus-RTU.

OPT CARD RESET (1705)

Preset Value: 0
Range: 0 - 3
Off (0) No Action.

Slot 1 (1) Reset Expansion Board in slot 1.
Slot 2 (2) Reset Expansion Board in slot 2.
Slots 1 & 2 (3) Resets both Expansion boards 1 & 2.
Sends a power up reset command to all expansion boards, slot 1 only, or
slot 2 only.
SECURITY DEFAULT (1706)

Preset Value: 0
Range: 0 - 1
No (0) No Action.

Yes (1) Reset settings.
Restores factory settings to Browser User ID and Password.
BROWSER USER ID (1707)(1708)

Preset Value: baldor
ASCII user ID for the Ethernet Web Browser Option Board if installed.

CUSTOM
MOTOR

BROWSER PASSWORD (1709)
(1710)

Preset Value: baldor

1740-1791

See documentation provided with communications expansion board.

ALIGNMENT CURRENT (1821)

Preset Value: 50.0%
Range: 2.0 to 100.0%

Password for the Ethernet Web Browser Option Board if installed.

Sets the amount of d-axis current, as a percent of Motor Rated Amps,
during alignment of PM motors.
ALIGNMENT TIME (1822)

Preset Value: 5.0
Range: 1.0 to 60.0 seconds
Sets the amount of time used for alignment at motor startup.

7-14 Parameter Descriptions

MN766

7.2 Level 2 Parameters (Advanced Prog, Level 2 Blocks)
Table 7-2 Level 2 Parameter Block Definitions
Block Title
DRIVE
LIMITS

Parameter (Number)
Selection (Value)
OPERATING ZONE (2001)

Parameter Name and Description
Preset Value: 2
Range: 0 - 3

Sets the PWM operating zone to Standard 2.5kHz output carrier frequency
Std Const Trq (0) Constant Torque. Constant Torque allows 175% for 3 seconds and 150% for
60 seconds of peak overload capacity.
Sets the PWM operating zone to Standard 2.5kHz output carrier frequency
Std Var Trq (1) Variable Torque. Variable Torque allows 125% for 1 second and 115% for 60
seconds of peak overload capacity.
Sets the PWM operating zone to Quiet 8.0kHz output carrier frequency
Quiet Const Trq (2) Constant Torque. Constant Torque allows 175% for 3 seconds and 150% for
60 seconds of peak overload capacity.
Sets the PWM operating zone to Quiet 8.0kHz output carrier frequency
Quiet Var Trq (3) Variable Torque. Variable Torque allows 125% for 1 second and 115% for 60
seconds of peak overload capacity.
MIN OUTPUT SPEED (2002)

Preset Value: 0
Range: 0 - MAX Speed RPM
Sets the minimum motor speed in RPM. During operation, the motor speed
will not decrease below this value except for motor starts or during dynamic
braking to a stop.

MAX OUTPUT SPEED (2003)

Preset Value: 2500
Range: 30.0 - 15,000 RPM
Sets the maximum motor speed in RPM.

PWM FREQUENCY (2004)

Preset Value: 8000
Range: 5000 - 16000Hz
The frequency that the output transistors are switched. PWM (pulse width
modulation) frequency is also referred to as “Carrier” frequency. PWM
should be as low as possible to minimize stress on the output transistors
and motor windings. It is recommended that the PWM frequency be set
to approximately 15 times the maximum output frequency of the control.
Ratios less than 15 will result in non-Sinusoidal current waveforms.

CURR RATE LIMIT (2005)

Preset Value: 0.004
Range: 0.000 - 10.000 seconds
Limits the rate of torque change in response to a torque command. This
parameter sets the time in seconds to change the output torque by 1 times
motor rated torque.

PEAK CURR LEVEL (2006)

Preset Value: CALC
Range: 0 - Peak Rated Current
Sets maximum motor current level for operation.

REGEN TORQ LIMIT (2007)

Preset Value: CALC
Range: 0.0 - CALC (motor amps)
Sets the maximum motor current (not including MAG current allowed during
regen.

DRIVE
CONFIG

SPEED UNITS (2101)

Preset Value: 1
Range: 0 - 1
Hz (0) Sets units to Frequency, Hz.
RPM (1) Sets units to RPM.

MN766

Parameter Descriptions 7-15

Table 7-2 Level 2 Parameter Block Definitions Continued
Block Title
DRIVE
CONFIG
(Continued)

Parameter (Number)
Selection (Value)
LANGUAGE SELECT (2102)

Parameter Name and Description
Preset Value: 0
Range: 0 - 1

English (0) Sets English as displayed text.
Sets "OTHER", (Spanish, German, Italian, French, or Portuguese) English
and one language can be stored (Spanish, German, Italian, French and
Other (1) Portuguese). Standard firmware allows English and Spanish. For other
languages, language tables must be loaded into the drive’s language flash
area.
FACTORY SETTINGS (2103)

Preset Value: 0
Range: 0 - 1

No (0) No Action.
Yes (1)
SECURITY (2105)

Restores factory settings for all parameters. (Overwrites all stored values for
all four parameter tables).
Preset Value: 0
Range: 0 - 3

Off (0) Security not enabled.
Local (1) Security enabled for keypad only.
Network (2) Security enabled for Network only.
Total (3) Security enabled for both Keypad and Network.
Enables Security.
ACCESS TIMEOUT (2106)

Preset Value: 5.0
Range: 1.0 - 600.0 seconds
If security is enabled and program mode is entered, the access code must
be correctly entered. After parameters are changed and program mode
exited this timer begins to timeout. If program mode is accessed after
timeout, the security code must be entered a second time.

ACCESS CODE (2107)

Preset Value: 9999
Range: 0 - 9999
Sets security code for login required to access locked parameters.

ACTIVE PARAM TBL (0052)

Preset Value: 0
Range: 0 - 3
T1 (0) Table 1 is used as active parameter set.
T2 (1) Table 2 is used as active parameter set.
T3 (2) Table 3 is used as active parameter set.
T4 (3) Table 4 is used as active parameter set.
Note: This parameter is not actually in the Level 2 Blocks. It is Parameter
0052 in the MONITOR block if using Workbench.

CLEAR FAULT LOG (2108)

Preset Value: 0
Range: 0 - 1
No (0) No Action.
Yes (1) Deletes all fault log entries and trace values.

7-16 Parameter Descriptions

MN766

Table 7-2 Level 2 Parameter Block Definitions Continued
Block Title
DRIVE
CONFIG
(Continued)

Parameter (Number)
Selection (Value)
POWER INPUT (2110)

Parameter Name and Description
Preset Value: 0
Range: 0 - 3

Single Phase (0)

The output values are derated for single phase operation.
Note: For three phase power input, if a phase is lost this parameter will
automatically be changed to single phase and the control will automatically
be derated for single phase operation.

Selected when only DC input power (master) is available. Do not choose if
Common Bus Slave (1) AC power is connected. Common bus setting disables precharge and soft
start features of the control.
Three Phase (2) Standard operation.
Common Bus Master (3)

Selected for special installations, three phase with common bus slave
support.
The Power base senses the control power base (single or three phase). If
connecting a three phase control to a single phase power source, change
value from 2 to 0 to avoid “Loss of Phase” trips.

EXECUTE MACRO (2112)

Preset Value: 0
Range: 0 - 5
No (0) Do not execute macro.
M1 (1) Execute Macro M1.
M2 (2) Execute Macro M2.
M3 (3) Execute Macro M3.
M4 (4) Execute Macro M4.
M5 (5) Execute Macro M5.
Executes the selected macro one time. A macro is a list of parameter
numbers and values that when executed set the respective parameters in
the list to the predefined values.

UNDO MACRO (2113)

Preset Value: 0
Range: 0 - 1
No (0) Don’t undo macro.
Value in the parameter Macro Status (P116) is read and that macro is
Yes (1) undone
(factory settings are restored for values modified by that macro).

TORQ ENABLE SEQ (2114)

Preset Value: 0
Range: 0 - 1

Torque On Enable (0) Regulates motor torque any time the drive is enabled.
Torque On Command (1)

Regulates motor torque only after the drive has received a Run Forward or
Run Reverse command.
This parameter determines whether the drive starts regulating motor torque
immediately upon closure of the drive enable input (J2-8) or only after the
drive receives a forward/reverse command input.

MN766

Parameter Descriptions 7-17

Table 7-2 Level 2 Parameter Block Definitions Continued
Block Title
DRIVE
PROTECT

Parameter (Number)
Selection (Value)
EXTERNAL TRIP (2201)

Parameter Name and Description
Preset Value: 0
Range: 0 - 1

Off (0) External Trip is Disabled.
On (1)
FOLLOWING ERROR (2202)

External Trip is enabled. If a normally closed contact at J2-16 is opened, an
External Trip fault will occur and cause the drive to shut down.
Preset Value: 0
Range: 0 - 1

Off (0) Control ignores “At Speed Error” from the process.
Control monitors the following error from the process. If the process
On (1) speed is outside the range set in the Level 1 Output block, At Speed Band
parameter, the drive will fault and will disable.
TORQUE PROVING (2203)

Preset Value: 0
Range: 0 - 1
Off (0) Torque Proving disabled.
On (1) Provides Torque Proving at start up to establish motor connections.

FEEDBACK LOSS (2204)

Preset Value: 0
Range: 0 - 1
Off (0) Loss of feedback signal is ignored.
On (1) Loss of feedback signal produces a trip condition to disable the drive.

OVERLOAD (2206)

Preset Value: 0
Range: 0 - 2
Fault (0) Drive will fault and disable PWM to motor if overload capability is exceeded.
Foldback (1)
Hold (2)

Drive attempts to reduce current to 80% of Drive rated current so that time
remaining can count back up.
Drive attempts to reduce current to 100% of drive rated current so that time
remaining can hold at present value.
Sets how the control handles I2T power overloads. When an overload occurs
it will either Fault, Foldback, or Hold based on the control output AMPS.

OVER TEMPERATURE (2210)

Preset Value: 1
Range: 0 - 1

When control temperature reaches 80°C (standard or 90°C quiet mode),
output is derated by 30% (current limiting) and operation is allowed at the
Derate (0) reduced value. Operation at full current is allowed when control temperature
decreases to 70°C. If control temperature reaches 85°C, control trips on
fault.
Fault (1) When control temperature reaches 85°C, control trips on fault.
PWR DOWN OPTIONS (2211)

Preset Value: 0
Range: 0 - 1

Fault (0) If Control is enabled, it will trip on a fault; (disable) while powering down.
Ride Through (1)
CNTL STP BUS LVL (2212)

Control will decelerate attempting to maintain DC Bus voltage and continue
operation.
Preset Value: CALC
Range: 200 to 800V
Active during a power loss ride-through. Sets the DC bus level at which a
controlled stop may be triggered.

CNTL STOP DELAY (2213)

Preset Value: 1.0
Range: 0.0 to 3600.0 seconds
Delay time required after a controlled stop before drive enabled.

Kp RIDE THROUGH (2214)

Preset Value: 10.0000
Range: 0 to 1000.0000
Proportional gain of PI controller for pwer loss ride through.

7-18 Parameter Descriptions

MN766

Table 7-2 Level 2 Parameter Block Definitions Continued
Block Title
DRIVE
PROTECT
(Continued)

Parameter (Number)
Selection (Value)
Ki RIDE THROUGH (2215)

Parameter Name and Description
Preset Value: 0
Range: 0 to 1000.0000
Integral gain of PI controller for pwer loss ride through.

MISCELLANEOUS

AUTO RESTART (2301)

Preset Value: 1
Range: 0 - 3
If set to Manual and a run command (enable signal & FWD or REV
command) is present at power up, the motor will not run. The run command
must be removed then reapplied to start operation. The run command
refers to the enable plus direction (FWD or REV) signals. Restart after
Fault - If a fault occurs during operation, the control must be reset and the
Manual (0)
run command must be removed then reapplied to start operation. Note: If
Restarts/Hr (P2302) is zero, the control must be manually reset. If Restarts/
Hr (P2302) is non-zero, the control will automatically attempt to reset the
fault but will not restart until the run command is removed then reapplied to
start operation.

If a run command (enable signal & FWD or REV command) is present at
At Powerup (1) power up, the control will automatically start. Auto restarts enabled at power
up but disabled after a fault.
If a fault occurs during operation, the control will automatically reset (after
the restart delay time) to resume operation if the Restarts/Hr (P2302) is set
After Fault (2)
to a non zero value. Auto restarts disabled at power up but enabled after a
fault.
Both (3)
RESTARTS/HOUR (2302)

Auto restarts active at power up and after faults. 3 Wire modes, AUTO start
after a fault or loss of power will not occur because the momentary contacts
are open and the run command must again be applied. The run command
refers to the enable plus direction (FWD or REV) lines.
Preset Value: 3
Range: 0 - 10
The maximum number of automatic restart attempts before requiring a
manual restart. After one hour without reaching the maximum number of
faults or if power is turned off and on again, the fault count is reset to zero.

RESTART DELAY (2303)

Preset Value: 3
Range: 0 - 3600 seconds
Sets the time delay after a fault occurs before a fault reset and automatic
restart are attemped. If the fault reset is successful, the restart will occur. If
not successful, a new delay occurs. Useful to allow sufficient time to clear a
fault condition before restart is attempted.

PWM TECHNIQUE (2304)

Preset Value: 1
Range: 0 - 1

Space Vector (0) Utilizes Vector Orientation to determine pulse firing.
Sine Triangle (1)

Utilizes Sine/Triangle Waveform Intersect technique to determine pulse
widths.
Sets the method used to generate the motor voltage PWM signal.

COST OF ENERGY (2305)

Preset Value: 0.10
Range: 0.00 - 99999.00$/KWH
Sets the billing cost per KWH charged by the local power utility.

RESET ENERGY (2306)

Preset Value: 0
Range: 0 - 1
No (0) No Action.
Yes (1) Resets the energy counter (in power base of the control).

MN766

Parameter Descriptions 7-19

Table 7-2 Level 2 Parameter Block Definitions Continued
Block Title
MISCELLANEOUS
(Continued)

Parameter (Number)
Selection (Value)
HOMING SPEED (2307)

Parameter Name and Description
Preset Value: 90
Range: 0 - MAX Speed RPM
This parameter sets the speed that the motor shaft will rotate in the forward
direction to “Home” position when the home input switch is closed.
Available only in modes that have a homing (orient) input. For Bipolar and
Network Modes, the speed and ramp rates during this final positioning are
set by Preset Speed 1 and ACC/DEC Group 2 respectively.

HOMING OFFSET (2308)

Preset Value: 1024
Range: -9999 to 20000 counts (Range shown is limited by keypad display.
Value in MINT is -20000 to 20000).
This parameter sets the number of feedback counts past home at which the
motor will stop. Feedback pulses are 4 times the number of feedback lines
per revolution. The recommended minimum number is 100 feedback counts
to allow for deceleration distance to allow the motor to stop smoothly.
Example: The motor must stop one complete revolution past the home
marker position. Note: Homing direction always begins in the drive forward
direction. The shaft will continue to rotate in either direction to the user
defined ±offset value (P2308).

FILTER TYPE (2309)

Preset Value: 0
Range: 0 - 3
None (0) Sets the auxiliary filter to None.
Low Pass (1) Sets the auxiliary filter to Low Pass.
High Pass (2) Sets the auxiliary filter to High Pass.
Notch (3) Sets the auxiliary filter to Notch.

FILTER SOURCE (2310)

Preset Value: 0
Range: 0 - 9
None (0) Sets the auxiliary filter to None.

Raw Speed (1) Sets the auxiliary filter to Raw Speed.
Torque (2) Sets the auxiliary filter to Torque Loop.
Analog In1 (3) Sets the auxiliary filter to Analog In1.
Analog In2 (4) Sets the auxiliary filter to Analog In2.
Composite Ref (5) Sets the auxiliary filter to Composite Reference.
Opt1 Ana In1 (6) Sets the auxiliary filter to Opt1 Ana In1.
Opt1 Ana In2 (7) Sets the auxiliary filter to Opt1 Ana In2.
Opt2 Ana In1 (8) Sets the auxiliary filter to Opt2 Ana In1.
Opt2 Ana In2 (9) Sets the auxiliary filter to Opt2 Ana In2.
FILTER DEST (2311)

Preset Value: 0
Range: 0 - 6
None (0) Sets the Filter Destination, (Output), to None.

Speed Loop (1) Sets the Filter Destination, (Output), to Speed Loop.
Torque Loop (2) Sets the Filter Destination, (Output), to Torque Loop.
Speed FFWD (3) Sets the Filter Destination, (Output), to Speed Forward.
Process FBK (4) Sets the Filter Destination, (Output), to Process Feedback.
Process FFWD (5) Sets the Filter Destination, (Output), to Process Feedforward.
Process SP (6) Sets the Filter Destination, (Output), to Process Setpoint.
FILTER CUTOFF (2312)

Preset Value: 0.00
Range: 0.00 - 1000.00Hz
Sets the cutoff frequency of the auxiliary filter (a low value = slower
response).

7-20 Parameter Descriptions

MN766

Table 7-2 Level 2 Parameter Block Definitions Continued
Block Title
MISCELLANEOUS
(Continued)

Parameter (Number)
Selection (Value)
NOTCH CNTR FREQ (2313)

Parameter Name and Description
Preset Value: 0.00
Range: 0.00 - 500.00Hz
Sets the center frequency for the notch filter (if Filter Type=Notch).

NOTCH BAND (2314)

Preset Value: 0.00
Range: 0.00 - 200.00Hz
Sets the frequency band of the notch filter (if Filter Type=Notch).

MOTOR
DATA

MOTOR RATED VOLT (2401)

Preset Value: CALC
Range: Determined by drive voltage rating and DC BUS value
Nameplate value for Motor Rated Voltage.

MOTOR RATED AMPS (2402)

Preset Value: CALC
Range: 0 - MAX AMPS
The rated current of the motor (listed on the motor nameplate).

MOTOR RATED SPD (2403)

Preset Value: 1800
Range: 10 - 30000 RPM
The rated speed of the motor (listed on the motor nameplate).

ENCODER COUNTS (2408)
Only available in Closed Vector
mode with encoder feedback.
Ignore for Open Vector and V/F
modes. USE DEFAULT SETTINGS
ONLY.

Preset Value: LEAVE AT DEFAULT SETTING
Range: 50 - 20000 PPR

FEEDBACK SOURCE (2409)

Preset Value: LEAVE AT DEFAULT SETTING
Range: 0 - 3

The number of encoder feedback counts in lines per revolution.

None (0) No encoder option board.
Option Slot1 (1) Feedback option board location is Option Slot1.
Option Slot2 (2) Feedback option board location is Option Slot2.
Daughter FDBK (3) Feedback option board location is Daughter FDBK.
ENCODER TYPE (2410) USE
DEFAULT SETTINGS ONLY

Preset Value: LEAVE AT DEFAULT SETTING
Range: 0 - 1

Single (0) Sets the encoder type to single ended encoder selection
Differential (1) Sets the encoder type to differeential encoder selection
RESOLVER SPEED (2411)

Preset Value: 1
Range: 0 - 10
The speed of the resolver, if a resolver is used for feedback. (Parameter is
displayed when resolver expansion board is installed).

MOTOR POLE PAIRS (2413)

Preset Value: 2
Range: 1 - 100
The number of motor poles/2. Factory setting is 2 pole pairs. The values
shown here are for standard Baldor BSM motors.
NUMBER OF
MOTOR
POLE PAIRS
BSM63, BSM80
2
BSM90, BSM100
4
BSM4F, BSM6F, BSM8F
4

CALC MOTOR MODEL (2414)

Preset Value: 0
Range: 0 - 1

No (0) No presets are calculated.
Yes (1) Loads preset values into memory that are required to perform auto tune.

MN766

Parameter Descriptions 7-21

Table 7-2 Level 2 Parameter Block Definitions Continued
Block Title
MOTOR
DATA
(continued)

Parameter (Number)
Selection (Value)
REVERSE ROTATION (2415)

Parameter Name and Description
Preset Value: 0
Range: 0 - 1

Off (0) Standard rotation not changed.
On (1)

Control output phase change to reverse rotation direction without motor
wiring change.
Reverse direction of motor rotation without rewiring the motor or feedback
wires.
If the drive is being operated with “Control Type” (P1601), set to “Closed
Vector”, then the feedback align procedure must be executed after changing
this parameter.
Note: In position mode, if the feedback alignment parameter is changed,
the motor will continue to rotate in the same direction for a given position
reference. However, if the feedback wires are swapped, motor rotation will
reverse.

BRAKE
ADJUST

RESISTOR OHMS (2501)

Preset Value: CALC
Range: 30.0 - 255.0Ω
The dynamic braking resistor value in ohms. Refer to dynamic braking
manual for additional information.

RESISTOR WATTS (2502)

Preset Value: CALC
Range: 0 - 999999W
The dynamic braking resistor watts rating.

RESISTOR TTC (2503)

Preset Value: CALC
Range: 20 – 3600 seconds
Sets the time for heat dissipation for the dynamic braking resistor. If 2X
watts is dissipated continuously “Regen R Fault” will occur in the time set
by this parameter. If 3x watts is dissipated continuously, “Regen R Fault” will
occur in half the time set by this parameter.

PROCESS
CONTROL

PROCESS TYPE (2601)

Preset Value: 0
Range: 0 - 2
None (0) PID is disabled, however feedforward is always available.

Forward Acting (1)

The process error computed as: PE = (Set Point) - (Feedback). Useful when
feedback increases as motor speed increases.

Reverse Acting (2)

The process error computed as: PE =(Feedback) - (Set Point). Useful when
feedback decreases as motor speed increases.
Sets the type of PID control. “End Of Param Block” is displayed if P1401 is
not set to Process Control mode.

SETPOINT ADJ LIM (2602)

Preset Value: 100.0
Range: 0.0 - 100.0%
Set as a percent of motor speed. It limits speed corrections due to process
error.

7-22 Parameter Descriptions

MN766

Table 7-2 Level 2 Parameter Block Definitions Continued
Block Title
PROCESS
CONTROL
(Continued)

Parameter (Number)
Selection (Value)
PROC FEEDBACK (2603)

Parameter Name and Description
Preset Value: 0
Range: 0 - 10

None (0) No feedback assigned.
Setpoint Cmd (1) Setpoint command value used for feedback.
Loc Speed Ref (2) Local speed reference used for feedback.
Analog In1 (3) Analog Input 1 signal used for feedback.
Analog In2 (4) Analog Input 2 signal used for feedback.
Network (5) Network value used for feedback.
Composite Ref (6) Output of Composite Ref signal used for feedback.
Opt1 Ana In1 (7) Option 1, Analog Input 1 used for feedback.
Opt1 Ana In2 (8) Option 1, Analog Input 2 used for feedback.
Opt2 Ana In1 (9) Option 2, Analog Input 1 used for feedback.
Opt2 Ana In2 (10) Option 2, Analog Input 2 used for feedback.
Sets the type of signal used for the process feedback signal.
SETPOINT SOURCE (2604)

Preset Value: 0
Range: 0 - 10

None (0) Source of Process Loop Setpoint is not defined.
Setpoint Cmd (1) Setpoint command value used for Setpoint.
Loc Speed Ref (2) Local speed reference used for Setpoint.
Analog In1 (3) Analog Input 1 signal used for Setpoint.
Analog In2 (4) Analog Input 2 signal used for Setpoint.
Network (5) Network value used for Setpoint.
Composite Ref (6) Output of Composite Ref signal used for Setpoint.
Opt1 Ana In1 (7) Option 1, Analog Input 1 used for Setpoint.
Opt1 Ana In2 (8) Option 1, Analog Input 2 used for Setpoint.
Opt2 Ana In1 (9) Option 2, Analog Input 1 used for Setpoint.
Opt2 Ana In2 (10) Option 2, Analog Input 2 used for Setpoint.
Sets the source input signal type to which the process feedback will be
compared. If “Setpoint CMD” is selected, the fixed value of the set point is
entered in the Setpoint Command parameter value.
SETPOINT COMMAND (2605)

Preset Value: 0.0
Range: -100.0% to +100.0%
Sets the value as a percentage of the process feedback signal; the control
will try to maintain by adjusting motor speed. This is only used when the
Setpoint Source is a fixed value “Setpoint CMD” under Setpoint Source.

PROC ERR TOL (2606)

Preset Value: 10.0
Range: 0.0 - 100.0%
The band within which the Opto or Relay Output is active (turned ON)
indicating the process is within the desired range.

PROC PROP GAIN (2607)

Preset Value: 1.0000
Range: 0.0000 - 1000.0000
Sets the PID loop proportional gain. Determines how much adjustment to
motor speed is due to process error.

PROC INTG GAIN (2608)

Preset Value: 0.0000
Range: 0.0000 - 1000.0000
Sets the PID loop Integral gain. Determines how quickly the motor speed is
adjusted to correct long term error.

MN766

Parameter Descriptions 7-23

Table 7-2 Level 2 Parameter Block Definitions Continued
Block Title
PROCESS
CONTROL
(Continued)

Parameter (Number)
Selection (Value)
PROC INTG CLAMP (2609)

Parameter Name and Description
Preset Value: 100.0
Range: 0.0 - 100.0%
Sets the level of the Integrator clamp as a percentage of maximum motor
speed.

PROC DIFF GAIN (2610)

Preset Value: 0.0000
Range: 0.0000 - 1000.0000
Sets the PID loop differential gain. This determines how much adjustment to
motor speed is made for transient error.

PROFILE ADJUST (2611)

Preset Value: 0
Range: 0 - 1
Off (0) No adjustment is made.
On (1)

PROFILE ADJ BAND (2612)

ACC/DEC group is selected based upon comparing process error to Profile
Adjust Band (P2612).
Preset Value: 50.0
Range: 0 - 200.0%
Active when Profile Adjust (P2611) is ON. If process error is within this band,
ACC/DEC Group 1 is used. If process error is outside this band, ACC/DEC 2
is used. Useful when the PID’s response needs to differ when process error
is small as compared to when it is large.

PROC SLEEP BAND (2613)

Preset Value: 0.0
Range: 0 - 100.0%
Non-zero - Enables process PID sleep mode. When Process error remains
within this band for 5 seconds, sleep mode is active (control is disabled,
motor coasts). If at any time the process error moves out of this band, sleep
mode is terminated and normal PID operation is resumed.
Zero - Disables sleep mode.

PROC OUT FILTER (2614)

Preset Value: 0.00
Range: 0.0 - 100.0 seconds
Sets the amount of filtering for the PID process output.

PROC OUT OFFSET (2615)

Preset Value: 0.0
Range: -100.0 - 100.0%
Sets the amount of offset for the PID process output.

PROC OUT GAIN (2616)

Preset Value: 100.0
Range: 0.0 - 200.0%
Sets the amount of gain for the PID process output.

SKIP
FREQUENCY

SKIP FREQ 1 (2701)
SKIP FREQ 2 (2703)
SKIP FREQ 3 (2705)

Preset Value: 0 RPM
Range: 0 - 2500
Sets the center frequency on the band to skip or treat as a deadband. Three
bands can be defined independently or the three values can be seleted to
skip one wide band.

SKIP BAND 1 (2702)
SKIP BAND 2 (2704)
SKIP BAND 3 (2706)

Preset Value: 0 RPM
Range: 0 - 2500
Sets the span of the band centered on the Skip Frequency. Example: If “Skip
Freq 1” (P2701) is set to 20 RPM and the “Skip Band 1” (P2702) is set to 5
RPM, continuous operation is not in the deadband of 15 to 20 RPM.

AUTO TUNE ANA OFFSET TRIM (2901)

Preset Value: 0
Range: 0 - 1
No (0) No action.
Yes (1)

7-24 Parameter Descriptions

Measures analog offset for all analog inputs. Set analog inputs to zero
before executing.

MN766

Table 7-2 Level 2 Parameter Block Definitions Continued
Block Title

Parameter (Number)
Selection (Value)

AUTO TUNE ONE-STEP TUNING (2902)
(Continued)

Parameter Name and Description
Preset Value: 0
Range: 0 - 1

No (0) No action.
Yes (1)
STATOR R1 TUNE (2903)

Performs one step auto tune. (Prompts for “Press Enter” before a rotational
test is performed).
Preset Value: 0
Range: 0-1

No (0) No action
Yes (1)
CUR. LOOP TUNE (2906)

Measures Stator Resistance. Stationery test will not cause motor shaft
rotation.
Preset Value: 0
Range: 0 - 1

No (0) No action.
Yes (1) Tunes the current controller loop.
FLUX CUR. TUNE (2907)

Preset Value: 0
Range: 0 - 1
No (0) No action.
Yes (1) Tunes the flux controller loop. This is a rotational test.

FEEDBACK TEST (2908)

Preset Value: 0
Range: 0 - 1
No (0) No action.
Yes (1) Checks and adjusts for feedback alignment. This is a rotational test.

SPEED LOOP TUNE (2910)

Preset Value: 0
Range: 0 - 1
No (0) No action.
Yes (1) Tunes the speed controller loop. This is a rotational test.

MN766

Parameter Descriptions 7-25

7.3 Level 3 Parameters (Advanced Prog, Level 3 Blocks)
Table 7-3 Level 3 Parameter Block Definitions
Block Title
PROFILE
RUN

Parameter (Number)
Selection (Value)
NUMBER OF CYCLES (3001)

Parameter Name and Description
Preset Value: 0
Range: 0 - 255
Sets the number of cycles that the profile will automatically run before
stopping. “End Of Param Block” is displayed if P1401 is not set to Profile
Run mode.

PR RESTART MODE (3002)

Preset Value: 0
Range: 0 - 1

Restart (0) If interrupted, profile will start from the first step.
Continue (1) If interrupted, profile will start from current step.
Sets the restart mode if Profile Run is interrupted.
SPEED CURVE 1 (3003)
SPEED CURVE 2 (3005)
SPEED CURVE 3 (3007)
SPEED CURVE 4 (3009)
SPEED CURVE 5 (3011)
SPEED CURVE 6 (3013)
SPEED CURVE 7 (3015)

Preset Value: 0
Range: 0 - 3

FWD-Group1 (0) FWD-ACC/DEC Group1
REV-Group1 (1) REV-ACC/DEC Group1
FWD-Group2 (2) FWD-ACC/DEC Group2
REV-Group2 (3) REV-ACC/DEC Group2
Speed for curve is set by the value of the correlating Preset Speed.
PROFILE TIME 1 (3004)
PROFILE TIME 2 (3006)
PROFILE TIME 3 (3008)
PROFILE TIME 4 (3010)
PROFILE TIME 5 (3012)
PROFILE TIME 6 (3014)
PROFILE TIME 7 (3016)

Preset Value: 0.00
Range: 0 -99999.00 seconds

Sets the amount of time Profile Run stays at a preset speed. Time starts
when speed is within the At Speed Band P1506. ACC/DEC times are not
included. A setting of zero causes an immediate transition to the next speed
segment after the current segment is within the speed band. (See also
1506.)
PULSE
FOLLOWER

MASTER PPR (3101)

Preset Value: 1024
Range: 50 - 20000 counts
The number of encoder pulses per revolution of the master encoder. (See
also MN755.) “End Of Param Block” is displayed if #1401 is not set to Pulse
Follower mode or if EXBHH007 is not installed.

INPUT VOLTS (3102)

Preset Value: 0
Range: 0 - 1
5V (0) Encoder operating voltage is 5V.
12V (1) Encoder operating voltage is 12V.

INPUT TYPE (3103)

Preset Value: 1
Range: 0 - 2
None (0) No encoder input signal to the EXBHH007 expansion board.
Quadrature (1) Quadrature encoder input signal to the EXBHH007 expansion board.
Speed (2) Speed encoder input signal to the EXBHH007 expansion board.

7-26 Parameter Descriptions

MN766

Table 7-3 Level 3 Parameter Block Definitions Continued
Block Title
PULSE
FOLLOWER
(Continued)

Parameter (Number)
Selection (Value)
TRACK MODE (3104)

Parameter Name and Description
Preset Value: 0
Range: 0 - 2

Velocity Following (0)

Increment/Decrement changes the Rx Ratio Output by the value of the
increment step parameter on the fly, and follows the velocity of the master
(no position loop). The present position gain parameter disabled (internally
set to 0).

Increment/Decrement changes the Rx Ratio Output on the fly, and follows
Position Following (1) the position of the master (position loop enabled internally). The position
gain parameter active at present value.
Increment/Decrement adds or takes away counts and position loop is
enabled internally. In other words this adds/subtracts counts to the position
register when it is closed and then returns to normal following when it
Position Sync (2) is opened. This is used to take the slack out of the web should it slip. It
doesn’t change the ratio so when the slip of the material is corrected, the
normal following ratio is resumed. The position gain parameter active at
present value.
INCREMENT STEP (3105)

Preset Value: 1
Range: 1 - 1024
Output portion of the selected I:O ratio or absolute position is changed by
this.

RX RATIO INPUT (3106)

Preset Value: 1024
Range: 1 - 1048576
Receive Input Ratio or the received counts input divisor.

RX RATIO OUT 1 (3107)
RX RATIO OUT 2 (3108)
RX RATIO OUT 3 (3109)
RX RATIO OUT 4 (3110)

Preset Value: 1024
Range: 1 - 1048576

Received counts output multiplier.
OUTPUT TYPE (3111)

Preset Value: 0
Range: 0 - 1

Quadrature (0) Quadrature encoder output signal from the EXBHH007 expansion board.
Speed (1) Speed encoder output signal from the EXBHH007 expansion board.
TX RATIO INPUT (3112)

Preset Value: 1024
Range: 1 - 1048576
Retransmitted input count ratio or retransmitted input counts divisor.

TX RATIO OUTPUT (3113)

Preset Value: 1024
Range: 1 - 1048576
Retransmitted output count ratio or retransmitted output counts output
multiplier.
MPR/F Expansion Board
From Master Scale
Scale
Encoder
Rx
Rx
Rx Ratio Input
Rx Ratio Output
Tx Ratio Input
Tx Ratio Output
Buffered Encoder
Output

VS1 Control
Rx Out

Scale
Tx

Position
Processor

Tx
Scale

Example: Master Encoder=1024, Buffered Encoder Output = 1024 (Desired)
Rx Ratio In = 1024, Rx Ratio Out = 2048 Rx Out to H2 Control = 2048 Tx
Ratio In = 2048, Tx Ratio Out = 1024 Buffered Encoder Output = 1024
MN766

Parameter Descriptions 7-27

Table 7-3 Level 3 Parameter Block Definitions Continued
Block Title
PULSE
FOLLOWER
(Continued)

Parameter (Number)
Selection (Value)
SAVE RX OUT RATI (3114)

Parameter Name and Description
Preset Value: 0
Range: 0 - 1

No (0) Does not save values to non-volatile memory.
Yes (1) Saves values to non-volatile memory.
Determines whether or not receive output ratios are saved to non-volatile
memory so that they are retained upon loss of drive power.
CUSTOM
UNITS

MAX DEC PLACES (3201)

Preset Value: 1
Range: 0 - 5
0 Zero decimal places for the Custom Units display.
1 One decimal place for the Custom Units display.
2 Two decimal places for the Custom Units display.
3 Three decimal places for the Custom Units display.
4 Four decimal places for the Custom Units display.
5 Five decimal places for the Custom Units display.
The number of decimal places for the Custom Units display.

VALUE AT SPEED (3202)

Preset Value: 0.0: 0RPM
Range: 0.0 - 9999999.0 (X.X: YRPM)
Sets the desired output rate per RPM of motor speed for the Custom Units
display. This parameter provides scaling. Normal status display used until
“y” is set to a non-zero value. The value “X.X” is displayed at “Y” RPM.
Note that “Y” RPM is programmed in parameter P3204, AT SPEED VALUE,
when using Mint WorkBench.

UNITS OF MEASURE (3203)

Preset Value: Cust
Range: ASCII & Graphic Characters
Allows user specified units of measure to be displayed for the Custom
Units display. Characters are selected from display using  and  keys.
More characters are available (press MORE “F1” on keypad) for additional
characters.

PRESET
POSITIONS

PRESET REVs 2 (3301)
PRESET REVs 3 (3302)
PRESET REVs 4 (3303)
PRESET REVs 5 (3304)
PRESET REVs 6 (3305)
PRESET REVs 7 (3306)

Preset Value: 1:0000
Preset Value: 2:0000
Preset Value: 3:0000
Preset Value: 4:0000
Preset Value: 5:0000
Preset Value: 6:0000
Range: (-49999 to 49999) : (-4095 to 4095)
Sets integral number of revolutions for preset number position ((2 (3301)
through 7 (3306)). Preset position number ((2 (3301) through 7 (3306)) is
an absolute move relative to the home position. Only available or active if
the Master Pulse Reference/Isolated Pulse Follower EXB (EXBHH007) is
installed.
Only displayed when Level 1, Input Setup, Operating Mode parameter
P1401 is set to “Preset Position”.

7-28 Parameter Descriptions

MN766

Table 7-3 Level 3 Parameter Block Definitions Continued
Block Title
PRESET
POSITIONS
(Continued)

Parameter (Number)
Selection (Value)
PRESET REVs 8 (3307)
PRESET REVs 9 (3308)
PRESET REVs 10 (3309)
PRESET REVs 11 (3310)
PRESET REVs 12 (3311)
PRESET REVs 13 (3312)
PRESET REVs 14 (3313)
PRESET REVs 15 (3314)

Parameter Name and Description
Preset Value: 7:0000
Preset Value: 8:0000
Preset Value: 9:0000
Preset Value: 10:0000
Preset Value: 11:0000
Preset Value: 12:0000
Preset Value: 13:0000
Preset Value: 14:0000
Range: (-49999 to 49999) : (-4095 to 4095)
Sets integral number of revolutions for preset position number ((8 (3307)
through 15 (3314)). Preset position number ((8 (3307) through 15 (3314)) is
an incremental move relative to the present position. Only available or active
if the Master Pulse Reference/Isolated Pulse Follower EXB (EXBHH007) is
installed.
Only displayed when Level 1, Input Setup, Operating Mode parameter
P1401 is set to “Preset Position”.

POS PROP GAIN (3329)

Preset Value: 000.1000
Range 000.0000 to 100.0000
Proportional gain of the PID control loop used during preset position
moves. Only available or active if the Master Pulse Reference/Isolated Pulse
Follower EXB (EXBHH007) is installed.
Only displayed when Level 1, Input Setup, Operating Mode parameter
P1401 is set to “Preset Position”.

POS INTG GAIN (3330)

Preset Value: 000.0000
Range 000.0000 to 100.0000
Integral gain of the PID control loop used during preset position moves. Only
available or active if the Master Pulse Reference/Isolated Pulse Follower
EXB (EXBHH007) is installed.
Only displayed when Level 1, Input Setup, Operating Mode parameter
P1401 is set to “Preset Position”.

POS INTG CLAMP (3331)

Preset Value: 10%
Range 000.0 to 100.0%
Clamp used to prohibit windup by limiting the integral value of the PID
position control loop. Only available or active if the Master Pulse Reference/
Isolated Pulse Follower EXB (EXBHH007) is installed.
Only displayed when Level 1, Input Setup, Operating Mode parameter
P1401 is set to “Preset Position”.

POS DIFF GAIN (3332)

Preset Value: 0.0000
Range 000.0000 to 100.0000
Differential gain of the PID control loop used during preset position moves.
Only available or active if the Master Pulse Reference/Isolated Pulse
Follower EXB (EXBHH007) is installed.
Only displayed when Level 1, Input Setup, Operating Mode parameter
P1401 is set to “Preset Position”.

POS MAX ADJUST (3333)

Preset Value: 10%
Range 000.0 to 100.0%
Maximum percentage that the position loop can adjust the speed due
to following error. Only available or active if the Master Pulse Reference/
Isolated Pulse Follower EXB (EXBHH007) is installed.
Only displayed when Level 1, Input Setup, Operating Mode parameter
P1401 is set to “Preset Position”.

POS FILTER (3334)

Preset Value: 10.0 Hz
Range 0.1 to 500.0 Hz
Low pass filter on the output of the position loop. Only available or active
if the Master Pulse Reference/Isolated Pulse Follower EXB (EXBHH007) is
installed.
Only displayed when Level 1, Input Setup, Operating Mode parameter
P1401 is set to “Preset Position”.

MN766

Parameter Descriptions 7-29

Table 7-3 Level 3 Parameter Block Definitions Continued
Block Title
PLC MODE

Parameter (Number)
Selection (Value)
PLC CONFIG 1 through
PLC CONFIG 30 (3401 - 3430)

Parameter Name and Description
Preset Value: 000.128.000.000
Range: 0 to 255.255.255.255
30 PLC statements that define the 32 bit word format and structure as:
Parameter Number Format = DDD.CCC.BBB.AAA
Where:
DDD = bits 31-24 Byte 3
CCC = bits 23-16 Byte 2
BBB = bits 15-8 Byte 1
AAA = bits 7-0 Byte 0
Parameter No.
PS3401 - 3430

Hex Byte 3

Example: P3401 = 051.000.000.020
051 = Digital Input 1 (see Chapter 10)
000 = OR (see Chapter 10)
000 = False (see Chapter 10)
020 = Forward (see Chapter 10)

Hex Byte 2

Hex Byte 1

Hex Byte 0

Condition ID
Logical Operator ID
Condition ID
Action ID
MSD
LSD
(see Chapter 10) (see Chapter 10) (see Chapter 10) (see Chapter 10)

See also Chapter 10.
COMPARE A PARAM (3431)
COMPARE B PARAM (3433)

Preset Value: 0
Range: 00000 to 10000
Comparator parameters provide a way to monitor real-time signals
within the drive and apply them to the PLC Mode’s logic. The setting of
these parameters is the number of the parameter to be monitored by the
comparator. They may be used on the condition definition side of the PLC
Mode’s logic. (See Chapter 10).

COMPARE A CNST1 (3432)
COMPARE B CNST1 (3434)

Preset Value: 0.00%
Range: 0.00 to 200.00%
See Chapter 10.

COMPARE A CNST2 (3435)
COMPARE B CNST2 (3436)

Preset Value: 0.00%
Range: -100.00 to 100.00%
See Chapter 10.

TIMER A DURATION (3440)
TIMER B DURATION (3441)
TIMER C DURATION (3442)
TIMER D DURATION (3443)

Preset Value: 0.00
Range: 0.00 to 999999.00 seconds

See Chapter 10.
COMP REF

PARAM A NUMBER (3501)
PARAM B NUMBER (3503)

Preset Value: 0
Range: 00000 to 10000
Holds number to the second parameter used in the reference. See Chapter
11.

PARAM A FUNCTION (3502)
PARAM B FUNCTION (3504)

Preset Value: 0
Range: 0 - 9

Zero (0)
Identity (1)
Absolute Value (2)
Invert (3)
Square (4)
Square Root (5)
Sine (6)
Cosine (7)
Ramp Generator (8)
Freq Generator (9)
Mathematical function applied to the first (A) and second (B) parameter. See
Chapter 11.
7-30 Parameter Descriptions

MN766

Table 7-3 Level 3 Parameter Block Definitions Continued
Block Title
COMP REF
(Continued)

Parameter (Number)
Selection (Value)
OPERATOR (3505)

Parameter Name and Description
Preset Value: 0
Range: 0 - 5

Sum (0)
Difference (1)
Multiply (2)
Divide (3)
Maximum (4)
Minimum (5)
The mathematical operator applied to the first and second parameters. See
Chapter 11.
FUNCTION (3506)

Preset Value: 1
Range: 0 - 9
Zero (0)
Identity (1)

Absolute Value (2)
Invert (3)
Square (4)
Square Root (5)
Sine (6)
Cosine (7)
Ramp Generator (8)
Freq Generator (9)
Mathematical function applied after the operator. See Chapter 11.
PARAM A GAIN (3507)
PARAM B GAIN (3508)

Preset Value: 1.000
Preset Value: 1.000
Range: -1000.000 to 1000.000
Provides numerical scaling for parameter A and B. See Chapter 11.

MN766

Parameter Descriptions 7-31

Table 7-3 Level 3 Parameter Block Definitions Continued
Block Title

Parameter (Number)
Selection (Value)

RTC
FEATURES

RTC ACTION 1 (3601)
RTC ACTION 2 (3602)

Parameter Name and Description
Preset Value: 0
Range: 0 - 23

None (0)
D.Out1 On (1)
D.Out1 Off (2)
D.Out2 On (3)
D.Out2 Off (4)
R.Out1 On (5)
R.Out1 Off (6)
R.Out2 On (7)
R.Out2Off (8)
Increment (9)
Decrement (10)
Reset (11)
D.Out1 On/IncP107 (12)
D.Out1 Off/IncP107 (13)
D.Out1 On/DecP107 (14)
D.Out1 Off/DecP107 (15)
D.Out1 On/Reset (16)
D.Out1 Off/Reset (17)
R.Out1 On/IncP107 (18)
R.Out1 Off/IncP107 (19)
R.Out1 On/DecP107 (20)
R.Out1 Off/DecP107 (21)
R.Out1 On/Reset (22)
R.Out1 Off/Reset (23)
First action taken as a result of an edge from the RTC. See Chapter 12.
Second action taken as a result of an edge from the RTC. See Chapter 12.
RTC MESSAGE 1 (3603)
RTC MESSAGE 2 (3604)

Preset Value: 0
Range: 0 - 8
None (0)

Clean Filter (1)
Change Filter (2)
Apply Oil/Lube (3)
Lube Mtr. Brngs (4)
Service Drive (5)
Service Coolant (6)
Service Heating (7)
RTC Alarm (8)
First message sent as a result of an edge from the RTC. See Chapter 12.
Second message sent as a result of an edge from the RTC. See Chapter 12.

7-32 Parameter Descriptions

MN766

Table 7-3 Level 3 Parameter Block Definitions Continued
Block Title
RTC
FEATURES
(Continued)

Parameter (Number)
Selection (Value)
ACT1 QUALIFIER (3605)
ACT2 QUALIFIER (3606)

Parameter Name and Description
Preset Value: 0
Range: 0 - 6

Once (0)
Second (1)
Minute (2)
Hourly (3)
Daily (4)
Monthly (5)
Yearly (6)
Schedule qualifier for the RTC action 1. See Chapter 12.
Schedule qualifier for the RTC action 2. See Chapter 12.
MSG1 QUALIFIER (3607)
MSG2 QUALIFIER (3608)

Preset Value: 0
Range: 0 - 6
Once (0)

Second (1)
Minute (2)
Hourly (3)
Daily (4)
Monthly (5)
Yearly (6)
Schedule qualifier for the RTC message 1. See Chapter 12.
Schedule qualifier for the RTC message 2. See Chapter 12.
ACT1 DATE/TIME (3609)
ACT2 DATE/TIME (3610)

Preset Value: 01 January 2000, 00:00:00
Range: 01 January 2000, 00:00:00 - 31 December 2063, 23:59:59
Schedule qualifier for the RTC message 1. See Chapter 12.
Schedule qualifier for the RTC message 2. See Chapter 12.

MSG1 DATE/TIME (3611)
MSG2 DATE/TIME (3612)

Preset Value: 01 January 2000, 00:00:00
Range: 01 January 2000, 00:00:00 - 31 December 2063, 23:59:59
Date and Time for RTC message 1. See Chapter 12.
Date and Time for RTC message 2. See Chapter 12.

RTC COUNTER MAX (3630)

Preset Value: 60
Range: 00000 - 99999
See Chapter 12.

DST SELECT (3631)

Preset Value: 0
Range: 0 - 2
Off (0) Daylight Saving Time select. DST not used.
U.S.A. (1) Daylight Saving Time select. DST for U.S.A.
E.U. (2) Daylight Saving Time select. DST for E.U.
See Chapter 12.

MN766

Parameter Descriptions 7-33

7-34 Parameter Descriptions

MN766

Chapter 8
Customizing Your Application
8.1 Manually Tuning the Control
Explanation of Closed Loop Block Diagrams
Control systems are usually represented by a series of interconnected blocks. The blocks represent the individual functions
of the system. The blocks are interconnected by a series of lines, which represent the variable or quantity involved with
directional arrows showing the direction of information flow. See Figure 8-1.

Figure 8-1 Block Diagram of a Closed Loop System
Summing Junction
(error detector)

2
Input Command
(Desired Value)

Error
Signal
Output

Power Input

Load Disturbance

4
3

Control

Motor

Controlled
Variable

Feedback

Measuring
Means

Controlled Variable

Any closed loop system can be divided into four basic operations:
1. Measurement of the controlled variable. The controlled variable can be velocity, torque, etc. This measuring means is
accomplished using a sensor that converts the variable to an electrical signal that is compatible with the control inputs,
usually voltage or current. This signal now represents the controlled variable (Feedback).
2. Determination of the error. The summing junction compares the measured value of the controlled variable (Feedback
Input) with the Input Command (desired value) and generates an error signal. The operation is a simple mathematical
subtraction operation as follows:

Error Signal ( ε ) = Input Command - Feedback

3. The error signal is then used by the control to change the motor speed or torque.
4. The motor speed or torque is then used to reduce the error signal by driving the control, and the final controlled variable,
so that the actual value of the controlled variable approaches the Input Command value or desired value. It should be
noted that closed loop control systems are error actuated. In other words, an error must be present before the system
will try to correct for it.
Definition of Input Command (Desired Value)
The Input Command is the input signal set by the operator. This can represent speed or torque level.
Definition of Feedback
Feedback is the signal which represents the actual measured value from the controlled variable. This can represent a
pressure, flow, speed, torque, level or temperature sensor. This input is usually a sensor voltage or current representing the
measured value.
Definition of Error
Error is the result of subtracting the Input Command and Feedback signals.
Error is mathematically defined as:

MN766

Error Signal ( ε ) = Input Command - Feedback

Customizing Your Application 8-1

Definition of “P” (Proportional Gain)
Proportional Gain is the amplification that is applied to the process error signal, which will result in a particular control
output.
Proportional Gain is mathematically defined as;

A out = K p

Where:
A out = Control output

K p = Proportional gain

= Error signal = (Input Command - feedback)

In Figure 8-2 we see that the amplitude of the output of the control is dependent on the error,
multiplied by the proportional gain.
For a given amount of error, the greater the proportional gain, the greater the output.
It is also true that, for a given amount of proportional gain, the greater the error, the greater the
output.

Figure 8-2 Block Diagram of the P Element
Summing Junction
(error detector)

Input
Command

Error
Signal
Output

Feedback
Input

Power Input

A out

Kp ε

Control

Motor

Controlled
Variable

Feedback
Measuring
Means

8-2 Customizing Your Application

Load Disturbance

Controlled Variable

MN766

Definition of “I” (Integral Gain)
Integral Gain (like Proportional Gain) is amplification of the process error signal, but is time dependent. If a steady state
error exists for long periods of time, it is known as an offset. Integral gain compensates for this long term error or offset.
Generally speaking, if you were to use only proportional control in a process, the control output would never get the
controlled variable exactly equal to the input command. You would always have some small amount of error. This is often
called offset. The Integral term senses this long term offset, and corrects the control output to reduce the effect of offset.
Integral Gain is mathematically defined as:

Where:
A out = Controller output
K i = Integral gain
= Integrator symbol

A out

= Process error signal = (setpoint - feedback)
t

= Change in time

This formula states that a given control output (A out ) is equal to integral gain ( Ki ), multiplied by
the integral ( ) of the error (ε ), multiplied by the change ( ) in time ( t ). Simply, an Integrator loop
is used and error is accumulated over time (or integrated), and integral gain is used to reduce
long term error. Figure 8-3 shows this process.

Figure 8-3 Block Diagram of the I Element

Summing Junction
(error detector)

Input
Command
Feedback
Input

Error
Signal
Output

Power Input

A out

Control

Motor

Controlled
Variable

Feedback
Measuring
Means

MN766

Load Disturbance

Controlled Variable

Customizing Your Application 8-3

To illustrate the concept of offset, refer to the following waveform. When the feedback has stabilized, it is not equal to input
command. In this case, the difference between the input command and the feedback is the offset. Note that the integral gain
is set to zero.
Input Command
Feedback

Offset

Gain Settings:
Proportional gain = 25
Integral gain = 0.00

(Oscilloscope set to:
vertical = 1 V/division
horizontal = 1.0 sec/division)

The next waveform illustrates what happens when the proportional gain is increased from 25 to 100. An increase in the
proportional gain causes the controlled variable to respond more quickly as indicated by the feedback signal.
Input Command
Feedback

Offset

Process Gain Settings:
Proportional gain = 100
Integral gain = 0.00

(Oscilloscope set to:
vertical = 1 V/division
horizontal = 1.0 sec/division

The next waveform illustrates what happens to the system offset when we apply integral gain. With the addition of integral
gain (2.00 Hz), the system offset is reduced to zero.
Setpoint Command
Process Feedback

Process Gain Settings:
Proportional gain = 100
Integral gain = 2.00

(Oscilloscope set to:
vertical = 1 V/division
horizontal = 1.0 sec/division)

8-4 Customizing Your Application

MN766

Manually Tuning the Control
In some applications the drive cannot be accurately auto-tuned. In these cases it is necessary to calculate the values
needed to tune the drive and manually enter these calculated parameter values.
Current Prop Gain Parameter
This parameter (P1633) is located in the Level 1, Motor Control Block. The Current Prop Gain parameter is normally
autotuned when motor inductance is not known. Where autotuning can’t be used, the proper manual setting for the
proportional gain can be calculated by:

Current PROP Gain

[740 x L x (A/V)]
VAC

Where:
L
= Line to neutral inductance of the motor in mH
VAC = Nominal line Volts
A/V = The Amps/Volt scaling of the current feedback
Motor line to neutral inductance can be obtained either from the motor manufacturer or by
measuring the line-to-line inductance and dividing by two.
The A/V scaling for the control can be found in the diagnostic information located in the DISPLAY
MODE.
For most applications setting the Current Prop Gain parameter to a value of 60 will yield adequate
performance.

Current Int Gain Parameter
The Current Int Gain parameter (P1634) located in the Level 1 Motor Control Block is factory preset at 250 Hz. This setting is
suitable for essentially all systems. DO NOT CHANGE WITHOUT FACTORY APPROVAL.
Speed Prop Gain Parameter
The Level 1 Motor Control Block Speed Prop Gain parameter (P1635) factory setting is 1.00. This gain may be increased
or decreased to suit the application. Increasing the Speed Prop Gain parameter will result in faster response, excessive
proportional gain will cause overshoot and ringing. Decreasing the Speed Prop Gain parameter will cause slower response
and decrease overshoot and ringing caused by excessive proportional gain.
Speed Int Gain Parameter
The Level 1 Motor Control Block Speed Int Gain parameter (P1636) is set to 1.00 Hz and may be set at any value from zero
to 50.00 Hz. Setting the Speed Int Gain parameter to 0 Hz removes integral compensation. This results in a proportional loop
only. This selection is ideal for systems where overshoot must be avoided and substantial stiffness (ability of the control to
maintain commanded speed despite varying torque loads) is not required.
Increasing values of the Speed Int Gain parameter increases the low frequency gain and stiffness of the control. An
excessive integral gain setting will cause overshoot for transient speed commands and may lead to oscillation. If the Speed
Prop Gain parameter and the Speed Int Gain parameter are set too high, an overshoot condition can also occur.
To manually tune the control, the following procedure is used:
1. Set the speed Int Gain parameter = 0 (remove integral gain).
2. Increase the Speed Prop Gain parameter setting until adequate response to step speed commands is attained.
3. Increase the Speed Int Gain parameter setting to increase the stiffness of the drive, or ability to maintain speed with
dynamic load changes.
Note: It is convenient to monitor speed step response with a strip chart recorder or storage oscilloscope connected to
J1-6 or J1-7 with Level 1, Output Block Analog Out1 Signal (P1511) or Analog Out2 Signal (P1514) set to ABS
SPEED, 0 VDC = zero speed. See Chapter 5 for analog outputs.

MN766

Customizing Your Application 8-5

8-6 Customizing Your Application

MN766

Chapter 9
Troubleshooting
The VS1SD continuously monitors its status and operation. When a fault occurs, the event and drive status is captured to
help you troubleshoot problems. The following are designed to help in troubleshooting:
• LEDs on the keypad indicate status (Stop, FWD, REV, Jog)
• Fault Codes displayed on the keypad display as they occur
• A log of these faults and the time each occurred is kept in the Event Log
• A trace log for each event stored in the Event log

9.1 Event Log
From the Menu display screen, select Event Log and press enter. If an error is displayed during operation, press the “Help”
key to learn more about the error. If more than one error was logged, access the Event Log and examine each error Entry at
the time of the event to learn more about the error.
Description

Action
Status Display

Display

After power up the display shows
the Status screen.

FWD

STATUS
159.5V
6.2A
DIAG

Press Menu

Displays top level menu options.

Comments
LOCAL

600RPM
20.00HZ
600r

Displays error name,
Entry # and time the
error occurred.
LOW INITIAL BUS
0
Date
Entry #
0-9

EV. LOG

Time

DD/MM/YY HH:MM:SS

Press or to move cursor over
the “EVENT LOG” selection.

STATUS
BASIC PARAMS
ADVANCED PROG
EVENT LOG
DIAGNOSTICS
DIAG

Event Log Display

MAIN

Press Enter to view the event log.
BACK

STOP

LOCAL

LOW INITIAL BUS
4-Jul-06
09:35:00

STATUS

Press

to view next entry.

Press F2 to display Trace menu.
Press F1 to return to Status menu.

TRACE

Trace
Input states, Output states, various voltage and current values etc. can be viewed to help understand the cause of the fault
condition. Each event in the Event log has its own Fault Trace displays that were captured when that event occurred. Scroll
through the event log to the event you wish to investigate.
Trace Displays

Action
Event Log Display

Description
Press or
to scroll to the
event you want to investigate.

EV. LOG
3

Fault Trace Display

The Fault Latch word is displayed.

Comments

STOP

Press F2 (or press Enter) to show
the fault Trace for the event.

LOCAL

LOW INITIAL BUS
4-Jul-06
09:42:00

STATUS

TRACE

EV. LOG

FAULT TRACE

0x=Hexadecimal
0b=Binary

T0003

Press

to view next entry.

This is a hex value.

FAULT LATCH
0x0000
STATUS

MN766

Display

BACK

The T0003 indicates the Fault
Trace for event 3 of the event log
is displayed.

Troubleshooting 9-1

FAULT LATCH Word Interpretation
Hexadecimal

Binary

0000

0000 0000 0000 0000

No Fault

Description

0001

0000 0000 0000 0001

Motor Phase U upper Transistor

0002

0000 0000 0000 0010

Motor Phase U lower Transistor

0004

0000 0000 0000 0100

Motor Phase V lower Transistor

0008

0000 0000 0000 1000

Motor Phase V upper Transistor

0010

0000 0000 0001 0000

Motor Phase W lower Transistor

0020

0000 0000 0010 0000

Motor Phase W upper Transistor

0040

0000 0000 0100 0000

Brake Desaturation Fault

0080

0000 0000 1000 0000

Brake IGBT Fault

0100

0000 0001 0000 0000

Not Used

0200

0000 0010 0000 0000

Not Used

0400

0000 0100 0000 0000

Ground Fault

0800

0000 1000 0000 0000

Over Current Fault (Active Low)

1000

0001 0000 0000 0000

Pulse by Pulse fault on Motor Phase 1

2000

0010 0000 0000 0000

Pulse by Pulse fault on Motor Phase 2

4000

0100 0000 0000 0000

Pulse by Pulse fault on Motor Phase 3

8000

1000 0000 0000 0000

Inverter Desaturation Fault

Trace Displays Continued

Action
Fault Trace Display

Description

Display

The Alarm Latch word is also
displayed. The T0003 indicates
the Fault Trace for event 3 of the
event log is displayed.

Comments

FAULT TRACE

EV. LOG

ALARM LATCH
0x0000
STATUS

T0003

Press

to view next entry.

This is a hex value.
BACK

ALARM LATCH Word Interpretation

9-2 Troubleshooting

Hexadecimal

Binary

Description

0000

0000 0000 0000 0000

No Alarm

0001

0000 0000 0000 0001

Fan Alarm

0002

0000 0000 0000 0010

Motor Over Temperature

0004

0000 0000 0000 0100

Phase Loss

0008

0000 0000 0000 1000

Line Loss

0010

0000 0000 0001 0000

Line Sag

0020

0000 0000 0010 0000

Power Supply Alarm

0040

0000 0000 0100 0000

Not Used

0080

0000 0000 1000 0000

Powerbase in pulse-by-pulse limiting

0100

0000 0001 0000 0000

Not Used

0200

0000 0010 0000 0000

Not Used

0400

0000 0100 0000 0000

Not Used

0800

0000 1000 0000 0000

Not Used

1000

0001 0000 0000 0000

Not Used

2000

0010 0000 0000 0000

Not Used

4000

0100 0000 0000 0000

Not Used

8000

1000 0000 0000 0000

Not Used
MN766

Trace Displays Continued
Action
Fault Trace Display

Description

Display

Third word in the event trace is
the Voltage reference for the
Analog to Digital Converter.

Next is the Voltage measurement
of the Internal 24V power supply
for the Opto Inputs and Outputs.

Next is the status of the nine
Digital Input signals.
J2-8 (Enable) left most digit=1.
J2-16 (DIN#8) right most digit=0.

Next is the status of the Digital
Output signals. The below table
indicates the function of each of
the 8 bits.

T0003

to view next entry.

Press

to view next entry.

Press

to view next entry.

24 V REF
0.0 V
T0003

BACK

FAULT TRACE

EV. LOG

USER INPUTS
100000000

This is a bit display not a hex
value.

T0003

BACK

FAULT TRACE

EV. LOG

DIGITAL OUTPUTS
00000000
STATUS

T0003

Digital Output Display

MN766

BACK

FAULT TRACE

EV. LOG

STATUS

Fault Trace Display

Press

ADC CURRENT REF
0.000 V

STATUS

Fault Trace Display

FAULT TRACE

EV. LOG

STATUS

Fault Trace Display

Comments

Press

to view next entry.

This is a bit display not a hex
value.
BACK

Description

Hexadecimal

Binary

0000 0000

No Fault

0000 0001

Actual Speed is less than Zero Speed Band

0000 0010

Main SCR enable (active low)

0000 0100

Dynamic Brake active

0000 1000

Soft start (pre-charge) relay active

0001 0000

Relay Output 2 (J3-28, 29, 30) active

0010 0000

Relay Output 1 (J3-25, 26, 27) active

0100 0000

Digital Output 2 (J2-19, 20) active

1000 0000

Digital Output 1 (J2-17, 18) active

Troubleshooting 9-3

Trace Displays Continued

Action
Fault Trace Display

Description
Next is the voltage present at
Analog Input 1.

Display
EV. LOG

Comments
Press

to view next entry.

Press

to view next entry.

Press

to view next entry.

Press

to view next entry.

Press

to view next entry.

FAULT TRACE Press

to view next entry.

Press

to view next entry.

Press

to view next entry.

FAULT TRACE

ANA INPUT 1
0.0 V
STATUS

Fault Trace Display

Next is the voltage present at
Analog Input 2.

T0003

EV. LOG

BACK

FAULT TRACE

ANA INPUT 2
0.0 V
STATUS

Fault Trace Display

Next is the Speed Reference
Setting.

T0003

EV. LOG

BACK

FAULT TRACE

SPEED REF
0 RPM
STATUS

Fault Trace Display

Next is the AC output current on
phase 1.

T0003

EV. LOG

BACK

FAULT TRACE

PH1 CURRENT
0.0 A
STATUS

Fault Trace Display

Next is the AC output current on
phase 2.

T0003

BACK

FAULT TRACE

EV. LOG

PH2 CURRENT
0.0 A
STATUS

Fault Trace Display

Next is the AC output current on
phase 3.

T0003

EV. LOG

BACK

PH3 CURRENT
0.0 A
STATUS

Fault Trace Display

Next is the Motor Current.

T0003

EV. LOG

BACK

FAULT TRACE

MOTOR CURRENT
0.0A
STATUS

Fault Trace Display

Next is the Motor Torque.

T0003

EV. LOG

BACK

FAULT TRACE

MOTOR TORQUE
0.0 NM
STATUS

9-4 Troubleshooting

T0003

BACK

MN766

Trace Displays Continued

Action
Fault Trace Display

Description
Next is the Motor Voltage.

Display

Comments

EV. LOG Display FAULT TRACE

Press

to view next entry.

Press

to view next entry.

Press

to view next entry.

Press

to view next entry.

Press

to view next entry.

Press

to view next entry.

MOTOR VOLTS
0.0V
STATUS

Fault Trace Display

Next is the Motor Speed.

EV. LOG

T0003

BACK

FAULT TRACE

MOTOR SPEED
0 RPM
STATUS

Fault Trace Display

Next is Bus Voltage.

EV. LOG

T0003

BACK

FAULT TRACE

BUS VOLTAGE
0.0 V

Fault Trace Display

The control heatsink temperature.

EV. LOG

FAULT TRACE

DRIVE TEMP
0.0 °C
STATUS

Fault Trace Display

The fault code for the event.

EV. LOG

T0003

BACK

FAULT TRACE

FAULT LATCH
0x0000
STATUS

Fault Trace Display

The alarm code for the event.

EV. LOG

T0003

BACK

FAULT TRACE

ALARM LATCH
0x0000
STATUS

Fault Trace Display

T0003

BACK

Press Enter or F2 to return to the
event log.

EV. LOG
END OF
FAULT TRACE
STATUS

MN766

BACK

Troubleshooting 9-5

9.2 Diagnostic Information
After power up, select the Diagnostic Menu to see information from the diagnostic displays.
Description

Action
Press Menu

Display

Displays top level menu options.

Comments

to display next Displays active operating mode
settings.

DIAG

STOP

Press
group.

to display next Bit display of digital inputs,
outputs and the voltage present at
the internal 24V supply terminals.
Note: Example display shows that
the drive enable terminal
(J2-8) is on and that
Relay Out 2 is on.
to display next

DIAG

STATUS

MAIN

STOP

LOCAL

0r
STOP

DIAG

STATUS

to display next

STOP

DIAG

LOCAL

MAIN

STOP

LOCAL

SHH-1.21

STATUS

to display next

Displays:
Power Base ID number
EE Firmware version
FPGA firmware version

to display next Displays real time clock values
(date and time) and total run time
since installation.
Press ENTER to set date and
time.

9-6 Troubleshooting

9.6A
16.8A
MAIN

STOP
LOCAL
DIAG
POWER BASE VERSION
ID
0x000A2003
EE VER
0x00000001
FPGA VER
0x00000A02
STATUS

Press
group.

MAIN

3HP
240.0V
4.0A/V

RATED CURRENT
RATED PK CU

Press
group.

LOCAL

SHH-1.21

RATED HP
RATED VOLTS
RATED A/V
Press
group.

MAIN

PROC CONTROL PID
0.00HZ 0.0FF
0.0SP 0.0FB
STATUS

Displays software version, hp,
volts and Amp/Volt ratings.

Press F2 to return to main menu.

DIGITAL I/O
INPUTS
100000000
OUTPUTS
0001
USER 24V
24.9V

Output Frequency,% Feedforward
% Setpoint, % Feedback

Diagnostic Display

LOCAL

OPERATING MODE
Keypad
Speed
AC Servo

STATUS

Press
group.

Press Enter to view diagnostic
information.

BACK

STATUS

Press
group.

Press
or to move cursor over
the “DIAGNOSTICS” selection.

STATUS
BASIC PARAMS
ADVANCED PROG
EVENT LOG
DIAGNOSTICS

DIAG

0r
STOP

MAIN
LOCAL

REAL TIME CLOCK
Jan 1, 2009
22:07:35
RUN TIMER
474.1HR

STATUS

MAIN

Press F1 to return to STATUS screen.
Press
or
to go to the next or
previous Diagnostic screen.
Press F2 to return to main menu.
Press F1 to return to STATUS screen.
Press
or
to go to the next or
previous Diagnostic screen.
Press F2 to return to main menu.
Note: This screen does not appear
unless P1401 is set to
Process Control.
Press F1 to return to STATUS screen.
or to go to the next or
Press
previous Diagnostic screen.
Press F2 to return to main menu.
Press F1 to return to STATUS screen.
or to go to the next or
Press
previous Diagnostic screen.
Press F2 to return to main menu.
Press F1 to return to STATUS screen.
Press or
to go to the next or
previous Diagnostic screen.
Press F2 to return to main menu.
Press F1 to return to STATUS screen.
0x=Hexadecimal
0b=Binary
Press
to go to the next or
or
previous Diagnostic screen.
Press F2 to return to main menu.
Press F1 to return to STATUS screen.

MN766

Diagnostics Information Continued
Action
Press
group.

to display next

Displays energy cost (based on
parameter P2305 value).

STOP

DIAG

to display next

Diagnostic Analog Input values
display.

DIAG

to display next

Diagnostic Analog Output values
display.

MAIN

STOP

LOCAL

ANALOG INPUTS
ANA IN1
1.3v
ANA IN2
0.0v
STATUS

Press
group.

LOCAL

ENERGY
0.00KW
EST POWER
0.0KWH
EST ENERGY
0.0$
EST COST
STATUS

Press
group.

Comments

Display

Description

DIAG

MAIN

STOP

LOCAL

ANALOG OUTPUTS
ANA OUT1
ANA OUT2

0.0V
0.0V

STATUS

Press
group.

to display next

Full revolutions and feedback
counts are displayed.

DIAG

to display next

Diagnostic installed Option Card
identification display.

to display next

Displays keypad software version.
(Note that this is not the same
as the drive control firmware.)

Press
group.

to display next Displays Composite Reference
values.

Press
group.

to display next
DC Bus Voltage
Drive Heatsink Temperature
% Drive Overload (remaining)

Press
group.

to display next

STOP

LOCAL

MAIN

STOP

LOCAL

Press F2 to return to main menu.

0r
STOP

MAIN
LOCAL

MAIN

STOP

LOCAL

DRIVE

BUS VOLTAGE
DRIVE TEMP
DRIVE O/L L

333.9V
26.1C
100.0%
0r

MAIN

STOP

LOCAL

MOTOR

MOTOR VOLTAGE
MOTOR CURRENT
MOTOR O/L L
0r

Press F2 to return to main menu.
Press F1 to go to Status screen.
Press
to go to the next or
or
previous Diagnostic screen.
Press F2 to return to main menu.
Press F1 to go to Status screen.
or
Press
to go to the next or
previous Diagnostic screen.
Press F2 to return to main menu.

1.1X

COMPOSITE REF
COMPONENT A
0.00%
COMPONENT B
0.00%
REFERENCE
0.00%

STATUS

MN766

MAIN

KEYPAD SOF

DIAG
Motor Voltage
Motor Current
% Motor Overload (remaining)

KEYPAD VERSION

STATUS

Press
to go to the next or
or
previous Diagnostic screen.

Press or to go to the next or
previous Diagnostic screen.

DIAG

Press F1 to go to Status screen.

LOCAL

OPTION BOARDS
OPTION 1
ETHERNET
OPTION 2
MASTER PF
RESOLVER
FEEDBACK

STATUS

Press F2 to return to main menu.

STOP

DIAG

Press or
to go to the next or
previous Diagnostic screen.

Press F1 to go to Status screen.

POSITION COUNTER
REVOLUTION
0
COUNTS
0CNT
SPEED MEAS
0

STATUS

Press F1 to go to Status screen.

MAIN

STATUS

Press
group.

Press F2 to return to main menu.

STATUS

Press
group.

or to go to the next or
Press
previous Diagnostic screen.

333.9V
4.8A
100.0%
MAIN

Press F1 to go to Status screen.
or
Press
to go to the next or
previous Diagnostic screen.
Press F2 to return to main menu.
Press F1 to go to Status screen.
Press
to go to the next or
or
previous Diagnostic screen.
Press F2 to return to main menu.
Press F1 to go to Status screen.
Press
to go to the next or
or
previous Diagnostic screen.
Press F2 to return to main menu.
Press F1 to go to Status screen.

Troubleshooting 9-7

9.3 Fault Messages
Table 9-1 Fault Messages (Alphabetical by Keypad Text)
Keypad Text

Type

Fault
Number

AC Input High

Fault

Check AC Input Line Voltage.

ADC Calibr Fault

Fault

ADC Calibration Voltages Out of Range. Check analog input wiring for noise. If
problem persists, contact factory for further assistance.

Alignment Error

Fault

121

Drive fault to protect from starts without the control being Feedback Tested.

Apply Oil/Lub

Alarm

Triggered from RTC Module.

Aux Filter Setup

Alarm

Incorrect setup. Filter Source should be set to "Raw Speed" when destination is
set to SpeedLoop.

Brake Over Temp

Alarm

Dynamic brake has overheated, check sizing or increase ohms setting for
brake.

Brk Desat

Fault

Dynamic brake de-saturation has occurred. Check that dynamic brake resistor
is properly connected to R1 and R2.

Bus Transient

Fault

Transient causing unbalanced bus capacitor voltage; cycle power to reset fault.
A line surge or bus capacitor failure has resulted in an unbalanced voltage
condition as determined by a bus voltage monitoring circuit.

Change Filter(s)

Alarm

Triggered from RTC Module.

Clean Filter(s)

Alarm

Triggered from RTC Module.

Configuration

Fault

Some drive feature or option has failed initial startup tests; parameter(s) out of
range after download of improper parameter file settings.

Control EE

Fault

Problem reading EEPROM on the control board, contact Baldor for service.

Control EE

Fault

Problem writing fault log to control board EEPROM, contact Baldor for service.

Description

Control EE

Fault

Problem writing the header record to the control board EEPROM, contact
Baldor for service.

Control EE

Fault

Problem writing a parameter to the control board EEPROM, contact Baldor for
service.

Conv Over Temp

Alarm

Converter has overheated, decrease loading; check for proper air flow; check
for elevated ambient temperature.

Current Ref

Fault

Reference volt for current readings out of tolerance. Contact Baldor for service.

Current Sense

Fault

Motor current sensor(s) out of tolerance; cycle power to drive; if problem
persists contact factory.

DC Bus High

Fault

DC Bus V over 405/810/1000V for 230V/460V/575V units. Check for high input
line voltage; increase decel rates; check for correct brake resistor on R1/R2.

DC Bus Low

Alarm

DC Bus V below 220/440/550V for 230V/460V/575V units. Check for low input
line voltage; increase accel rate; verify B+ to B- voltage; verify proper brake
resistor.

DC Pk Overvolt

Fault

Bus peak voltage rating exceeded. Check AC input lines; sizing of dynamic
brake; insure that input does not have power factor correction capacitors or
other source of transients.

Desaturation

Fault

Output current exceeds desaturation limit. Check motor and connections for
short circuit; verify proper motor load; increase acc/dec; check for conductive
debris inside drive.

Download

Fault

Parameter download from keypad or network has failed. Verify parameter set
compatibility.

Drive Disabled

Alarm

Motion command given with drive disabled. Check drive enable input.

Drive Enabled

Alarm

Drive enabled during parameter download. Drive must remain disabled until
completion of parameter download.

Drive Low Temp

Fault

Heat sink Temperature is lower than allowed. Space heater may be required in
cabinet.

Drive Over Tmp

Alarm

Heatsink temp exceeded 85/950 C. Verify ambient does not exceed 45°C.
Clean fans and heatsink. Add cabinet cooling if ambient is too high.

9-8 Troubleshooting

MN766

Table 9-1 Fault Messages Continued
Keypad Text

Type

Fault
Number

Dyn Brake Desat

Fault

Dynamic braking current limit exceeded. Check for shorted braking resistor
circuit or for brake resistor with an ohmic value below the allowed limit for the
drive. Check for a short between R1 or R2 and B-.

Encoder Loss

Fault

Feedback device detected but has poor or no signal. Check feedback wiring;
verify shielding, grounding and bonding practices.

Excess Faults/Hr

Alarm

The allowed number of faults/hour has been exceeded.

External Trip

Fault

J1-16 is open. Check remote connection on J1-16. Occurs only when external
fault parameter is turned ON.

Fan Loss

Alarm

Fan circuit is seeing low current or over current. Verify that fan is not blocked
and is connected properly.

Flt Log Mem Fail

Fault

Problem reading fault log from control board EEPROM, contact Baldor for
service.

Following Error

Fault

Speed error beyond Set Speed Band parameter. Verify motor is not overloaded;
increase Set Speed Band.
Ground currents in output of control. Due to shorts to ground or excessive
leakage current to ground. Disconnect motor, meg motor for insulation leakage
to ground; check motor leads for shorts to ground; replace motor leads with
lower capacitance cable or shorten leads if possible; consider the usage of load
reactor.

Ground Fault

Fault

Description

High Line

Alarm

102

Power grid voltage too high, check power base rating, check input lines.

IGBT Thermal

Fault

IGBT thermal overload. Check motor loading. Allow time to cool.

Initial Pos

Alarm

The initial position reading could not be read or is out of expected range. Check
motor feedback wiring. Verify proper wiring, grounding and bonding.

Internal Config

Fault

An internal firmware configuration occurred, contact Baldor for service.

Invalid FB Sel

Alarm

Feedback board not installed in selected slot. Select an Encoder/Resolver
board as feedback source. Verify selection of correct slot for motor feedback.

Invalid Res Sel

Alarm

The feedback source selected is not a resolver board. If resolver feedback
utilized, ensure installed feedback board is for resolver feedback. Verify
selection of correct slot for motor feedback.

Line Loss

Alarm

All 3 input phases lost. Check input circuit breaker, fuses or input contacts

Line Regen

Fault

This fault code is not used. If it occurs, contact Baldor for service

Line Sag

Alarm

All 3 phase input lines have sagged below 70% of nominal. Check input line
quality; check line impedance; check for excessive loading on power system.

Logic Supply

Fault

Internal logic power supply has dropped below 24V threshold. Replace Power
Supply.

Low Initial Bus

Fault

Bus volt below 200/400/500V on 230/460/575V units at power up. Check input
line voltage; check for proper resistor on R1/R2; check for open circuit on TH1TH2 Terminals.

Low Line

Alarm

101

Power grid voltage too low. Check power base rating; check input connections;
ensure input voltage is within drive specification.

Lower U Gate

Fault

Transistor #1 failed to fire or misfired. Verify IGBT is not shorted. Verify no
debris has fallen into drive. Check wiring between drive and motor. Verify motor
windings are not shorted.

Lower V Gate

Fault

Transistor #2 failed to fire or misfired. Verify IGBT is not shorted. Verify no
debris has fallen into drive. Check wiring between drive and motor. Verify motor
windings are not shorted.

Lower W Gate

Fault

Transistor #3 failed to fire or misfired. Verify IGBT is not shorted. Verify no
debris has fallen into drive. Check wiring between drive and motor. Verify motor
windings are not shorted.

Macro Cmd Failed

Fault

Macro command execution failure. Verify that macro file is correct.

Macro Cmd Inval

Fault

Macro command found is invalid. Verify that macro file is correct.

Macro Read

Fault

Macro record read failed. Recompile file and download to drive again.

MN766

Troubleshooting 9-9

Table 9-1 Fault Messages Continued
Keypad Text

Type

Fault
Number

Macro Rec Length

Fault

Macro record length is invalid. Recompile file and download to drive again.

Memory

Fault

Option card problem, memory failure, contact Baldor for service.

Motor Overload

Fault

Motor thermal connection at TH1-TH2 open circuit. Motor overheated due to
excess load; Ohm connections at TH1-TH2.

Motor Overload

Fault

Motor overloaded. Check motor load. Verify motor rated amps parameter.

Motor Ovrtmp

Alarm

Motor has overheated. Check motor cooling system or blocked air flow; check
thermal switch on TH1-TH2 circuit; reduce load on motor.

Network Timeout

Fault

Forced network fault. Loss of network communications; watchdog timer
expired; user program timing problems.

New Base ID

Fault

Control board detected new or a different power base. Press RESET to
clear. Factory settings will be restored. Verify all settings and setup custom
parameters.

No Fault

Fault

No Fault Exists.

NV memory Fail

Fault

Problem writing a parameter to the control board EEPROM, contact Baldor for
service.

Opt1 Protocol

Alarm

Invalid protocol selected for optional communication card 1. Select a protocol
supported by the expansion board that is installed or replace board with a
board that supports the desired protocol.

Opt2 Protocol

Alarm

Invalid protocol selected for optional communication card 2. Select a protocol
supported by the expansion board that is installed or replace board with a
board that supports the desired protocol.

Option Board

Fault

Option board not recognized or is not supported. Verify proper firmware version
is being used. Download latest firmware from www.baldor.com and install in
drive.

Option Not Found

Alarm

Option Board for the feature requested is not installed. Verify slot location for
expansion board to support desired feature; install appropriate option board for
requested feature.

Over Current

Fault

Motor current exceeded peak limit. Check motor connections and motor load;
increase acc/dec times; verify correct motor data settings; verify proper tuning.

Over Speed

Fault

Rotor speed over 110% maximum speed limit. Verify proper drive tuning;
ensure drive is not being overhauled by excessive high-speed regenerative
load.

Overload - 1 Min

Fault

Motor current exceeded 150% for 1 minute. Check motor load. Extend acc/dec
times. Verify proper motor data and drive tuning.

Motor current exceeded 175% for 3 seconds. Check motor load and resize
motor and drive as needed. Extend acc/dec times. Verify proper motor data and
drive tuning. Change setting of "Overload" parameter (P2206) to "Foldback" to
allow current to automatically limit to a lower level prior to the 3 second time
limit.

Overload - 3 Sec

Fault

Description

Param Checksum

Fault

Cycle power. If no change, load Factory Settings.

Parameter

Fault

Parameters momentarily locked. Wait 30 seconds, try again.

PB Power Supply

Alarm

Power Base Logic Power Supply below acceptable operating levels.

PCB Over Temp

Alarm

Powerbase signal interface PCB board is over heating, reduce loading or
contact Baldor for service.

PF Setup

Alarm

Pulse Follower Option Board Setup. Check Master PPR, Receive, Transmit
Ratio and Input Type.

Ph1 (L1) Loss

Alarm

109

Loss of phase 1 (L1), check power grid or wiring connections.

Ph1 Pulse

Fault

Phase 1 current limiting via pulse by pulse method; check motor spiking loads,
chattering contacts, loose connections.

Ph2 (L2) Loss

Alarm

110

Loss of phase 2 (L2), check power grid or wiring connections.

Ph2 Pulse

Fault

Phase 2 current limiting via pulse by pulse method; check motor spiking loads,
chattering contacts, loose connections.

9-10 Troubleshooting

MN766

Table 9-1 Fault Messages Continued
Keypad Text

Type

Fault
Number

Ph3 (L3) Loss

Alarm

111

Loss of phase 3 (L3), check power grid or wiring connections.

Ph3 Pulse

Fault

Phase 3 current limiting via pulse by pulse method; check motor spiking loads,
chattering contacts, loose connections.

Phase Loss

Alarm

Single input phase lost. Check input circuit breaker, fuses or input contacts.
Excessive line notching occurring.

PLC Mode Trip

Fault

PLC Mode Trip. PLC action has generated this trip. Check input defined in PLC
mode for fault trip. Check PLC program logic.

Pos Cnt Overflow

Fault

Position counter has exceeded max or min range. Verify wiring, grounding and
bonding of position feedback; verify range of acceptable values.

Power Base

Fault

Should occur in conjunction with other faults to indicate that fault was
generated by the power base circuitry. This is useful in trouble-shooting to
understand that the fault was detected by the power base electronics.

Powerbase EE

Fault

Communication error between control board and power base memory. Cycle
power. If problem persists, contact factory for assistance.

Powerbase FPGA

Fault

Power base communication loss or incompatible firmware. Cycle power. If
problem persists, contact factory.

Pre-charge Fault

Fault

Dynamic Brake miswired; AC Input too low; input impedance too high (soft
line); Bus Caps shorted or Input Single Phasing. Check motor thermal lead
connections to TH1-TH2.

Reac Over Temp

Alarm

Reactor has overheated, decrease loading; decrease wire length; verify drive
ambient temperature is less than 45°C; verify proper air flow and system
cooling capability.

Regen R or PWR

Fault

Brake resistor power rating exceeded. Check resistor ratings; extend decel
times; increase size of braking kit.

Resolver Loss

Fault

Resolver signal poor or missing. Verify wiring, grounding, and bonding of
resolver feedback.

RTC Alarm

Alarm

Triggered from RTC Module.

SCR1 No Fire

Alarm

103

Phase loss due to SCR1 (L1 upper) not firing. Verify SCR gate leads properly
connected.

SCR2 No Fire

Alarm

104

Phase loss due to SCR2 (L1 lower) not firing. Verify SCR gate leads properly
connected.

SCR3 No Fire

Alarm

105

Phase loss due to SCR3 (L2 upper) not firing. Verify SCR gate leads properly
connected.

SCR4 No Fire

Alarm

106

Phase loss due to SCR4 (L2 lower) not firing. Verify SCR gate leads properly
connected.

SCR5 No Fire

Alarm

107

Phase loss due to SCR5 (L3 upper) not firing. Verify SCR gate leads properly
connected.

SCR6 No Fire

Alarm

108

Phase loss due to SCR6 (L3 lower) not firing. Verify SCR gate leads properly
connected.

Sel FB Source

Alarm

Feedback Source Not Selected/Feedback Board is absent. Choose card
for resolver; verify selection of appropriate feedback source; verify wiring to
feedback device. Operate in V/Hz or Open Vector mode if feedback device or
board not present.

Description

Sense 1 TA

Alarm

100

Temperature of converter bridge detected by power interface board is too
low or too high. Verify drive ambient temperature is between -10°C and 45°C.
Verify proper air flow and system cooling capability. Verify proper termination of
temperature sensors within drive.

Ser Coolant Sys

Alarm

Triggered from RTC Module.

Ser Heating Sys

Alarm

Triggered from RTC Module.

Service Drive

Alarm

Triggered from RTC Module.

Service Motor

Alarm

Triggered from RTC Module.

Soft Version

Fault

This fault code is not used, if it occurs contact Baldor for service.

MN766

Troubleshooting 9-11

Table 9-1 Fault Messages Continued
Keypad Text

Type

Fault
Number

SPI Timeout

Fault

Comms Error between control board and power board. Remove power from
drive, verify proper grounding and bonding techniques. Re-apply power. If
persists, contact Baldor.

Torque Proving

Fault

Failed to read current in all 3 motor phases. Check motor connections or open
motor contacts.

U Fiber COM

Fault

113

Detects a broken or unplugged fiber (F or F1) between the signal interface
board and the master gate drive board for the U-Phase. If the signal is off for
more than 5 mS, the fault will occur.

Unknown

Fault

This fault should not occur. Contact Baldor for service.

Upper U Gate

Fault

Transistor #1 failed to fire or misfired. Verify IGBT is not shorted. Verify no
debris has fallen into drive. Check wiring between drive and motor. Verify motor
windings are not shorted.

Upper V Gate

Fault

Transistor #2 failed to fire or misfired. Verify IGBT is not shorted. Verify no
debris has fallen into drive. Check wiring between drive and motor. Verify motor
windings are not shorted.

Upper W Gate

Fault

Transistor #3 failed to fire or misfired. Verify IGBT is not shorted. Verify no
debris has fallen into drive. Check wiring between drive and motor. Verify motor
windings are not shorted.

Description

User 24V

Fault

User 24V supply out of tolerance. Measure 24V supply using a digital multimeter at terminals J1-23 and J1-24. If voltage is not correct, remove all external
control connections and repeat measurement to determine if problem is with
external connections or with the power supply.

User Ref

Fault

User analog input reference out of tolerance. Check connections for proper
shielding and grounding; check for excessive noise on analog signals. If
problem persists, contact Baldor for service.

V Fiber COM

Fault

115

Detects a broken or uplugged fiber (F or F1) between the signal interface board
and the master gate drive board for the V-Phase. If the signal is off for more
than 5 mS, the fault will occur.

W Fiber COM

Fault

117

Detects a broken or uplugged fiber (F or F1) between the signal interface board
and the master gate drive board for the W-Phase. If the signal is off for more
than 5 mS, the fault will occur.

9-12 Troubleshooting

MN766

9.4 Electrical Noise Considerations
All electronic devices are vulnerable to significant electronic interference signals (commonly called “Electrical Noise”). At the
lowest level, noise can cause intermittent operating errors or faults. From a circuit standpoint, 5 or 10 millivolts of noise may
cause detrimental operation. For example, analog speed and torque inputs are often scaled at 5 to 10VDC maximum with a
typical resolution of one part in 1,000. Thus, noise of only 5 mV represents a substantial error.
At the extreme level, significant noise can cause damage to the drive. Therefore, it is advisable to prevent noise generation
and to follow wiring practices that prevent noise generated by other devices from reaching sensitive circuits. In a control,
such circuits include inputs for speed, torque, control logic, and speed and position feedback, plus outputs to some
indicators and computers.
Relay and Contactor Coils
Among the most common sources of noise are the coils of contactors and relays. When these highly inductive coil circuits
are opened, transient conditions often generate spikes of several hundred volts in the control circuit. These spikes can
induce several volts of noise in an adjacent wire that runs parallel to a control-circuit wire. Figure 9-1 illustrates noise
suppression for AC and DC relay coils.

Figure 9-1 AC and DC Coil Noise Suppression
RC Snubber

AC Coil

0.47 μf

DC Coil

Diode

33 Ω

Wires between Controls and Motors
Output leads from a typical 460VAC drive controller contain rapid voltage rises created by power semiconductors switching
650V in less than a microsecond, 1,000 to 16,000 times a second. These noise signals can couple into sensitive drive
circuits. If shielded pair cable is used, the coupling is reduced by nearly 90%, compared to unshielded cable. Even input AC
power lines contain noise and can induce noise in adjacent wires. In some cases, line reactors may be required. To prevent
induced transient noise in signal wires, all motor leads and AC power lines should be contained in rigid metal conduit, or
flexible conduit. Do not place line conductors and load conductors in same conduit. Use one conduit for 3 phase input wires
and another conduit for the motor leads. The conduits should be grounded to form a shield to contain the electrical noise
within the conduit path. Signal wires, even ones in shielded cable, should never be placed in the conduit with motor power
wires.
Special Drive Situations
For severe noise situations, it may be necessary to reduce transient voltages in the wires to the motor by adding load
reactors. Load reactors are installed between the control and motor. Line and Load Reactors are typically 3% reactance and
are designed for the frequencies encountered in PWM drives. For maximum benefit, the reactors should be mounted in the
drive enclosure with short leads between the control and the reactors.
Control Enclosures
Motor controls mounted in a grounded enclosure should also be connected to earth ground with a separate conductor to
ensure best ground connection. Often grounding the control to the grounded metallic enclosure is not sufficient. Usually
painted surfaces and seals prevent solid metallic contact between the control and the panel enclosure. Likewise, conduit
should never be used as a ground conductor for motor power wires or signal conductors.
Special Motor Considerations
Motor frames must also be grounded. As with control enclosures, motors must be grounded directly to the control and
plant ground with as short a ground wire as possible. Capacitive coupling within the motor windings produces transient
voltages between the motor frame and ground. The severity of these voltages increases with the length of the ground wire.
Installations with the motor and control mounted on a common frame, and with heavy ground wires less than 10 ft. (3m)
long, rarely have a problem caused by these motor-generated transient voltages.
Analog Signal Wires
Analog signals generally originate from speed and torque controls, plus DC tachometers and process controllers. Reliability
is often improved by the following noise reduction techniques:
• Use twisted-pair shielded wires with the shield grounded at the drive end only.
• Route analog signal wires away from power or control wires (all other wiring types).
• Cross power and control wires at right angles (90°) to minimize inductive noise coupling

MN766

Troubleshooting 9-13

9-14 Troubleshooting

MN766

Chapter 10
PLC Mode Description

10.1 Overview

PLC functionality is selected by setting Level 1, Input Setup block, Operating Mode parameter P1401 to PLC. PLC mode
allows 2-Wire and 3-Wire operating modes to be created using a selection of conditions, logical operators and desired
actions. PLC Mode parameters are located in Level 3, PLC block parameters P3401 through P3443.
Simply stated, for each logical statement choose two input conditions from Table 10-1, one logical operation from Table
10-2 and one action from Table 10-3. These 30 logical statements are evaluated every 10 milliseconds, in order from P3401
to 3430. For each statement Condition 1 and Condition 2 are evaluated to True or False, the Logical Operator is applied and
the final outcome is either True or False. If True the Action is taken; if False the Alternate Action is taken.
Conditions, operators and actions are pre-defined and so cannot be changed.

10.2 Configuration Parameters
The PLC program is contained within 30 statements, PLC CONFIG 1 (P3401) through PLC CONFIG 30 (P3430). Each
statement has the same 32 bit word format and structure as the example given in Figure 10-1. If P3401-P3430 are not
programmed, the PLC Mode will do nothing. It is also possible to program them so that the motor will not move. This can
happen, for instance, if no Forward/Reverse Enables are programmed.

Figure 10-1 Example PLC Configuration Parameters
Parameter Number Format = DDD.CCC.BBB.AAA
Where:
DDD = bits 31-24 Byte 3
CCC = bits 23-16 Byte 2
BBB = bits 15-8 Byte 1
AAA = bits 7-0 Byte 0

Example: P3401 = 051.000.000.020
051 = Digital Input 2 (from Table 10-1)
000 = OR (from Table 10-2)
000 = False (from Table 10-1)
020 = Forward (from Table 10-3)

Parameter No.

Hex Byte 3

Hex Byte 2

Hex Byte 1

Hex Byte 0

P3401 - 3430

Condition ID
MSD
(Table 10-1)

Logical Operator ID

Condition ID

Action ID
LSD
(Table 10-3)

(Table 10-2)

(Table 10-1)

A configuration parameter may be disabled (turned off) by setting bit 23 in its configuration word. This is the same as
setting the most significant bit of byte 2 (the logical operator ID field). If any field within any of these parameters is invalid,
it is ignored at run time. Only one runtime version exists at a time. The runtime version in effect is the one defined by the
parameter table active at the time the drive was placed in Remote Mode.
To switch runtime PLC versions perform the following operations:
1. Disable the drive.
2. At the keypad, select “Local” mode.
3. Select the desired parameter table.
4. Enable the drive.
5. At the keypad, select “Remote” mode.
If a parameter table is switched while the drive is enabled the run time PLC version is not affected.

10.3 Comparator Function
Comparator parameters provide a way to monitor real-time signals within the drive and apply them to the PLC Mode’s logic.
They may be used on the condition definition side of the PLC Mode’s logic. Parameters P3431 and P3433 hold parameter
numbers (i.e. they point to other parameters, see Monitor and RTC chapter in this manual for these values). P3432 and
P3434 hold percents that are applied against P3431 and P3433 maximums, together they provide all that is needed for the
following comparison equations:
If |Value of P3431| ≤ (P3432/100)*(Max of P3431) then True or
If |Value of P3433| ≤ (P3434/100)*(Max of P3433) then True
In a sense P3431 and P3433 may be viewed as holding addresses for other parameters.
For example: If P3431 = 5 (selects parameter 5 which is Motor Volts = 230V) and P3432=20% then Comparator A is true if
|P5| = (20/100)*230 ≤ 46V. But if the voltage exceeds 46V, Comparator A is false.
If P3433 = 6 (selects parameter 6 Motor Current = 10 Amps) then Comparator B is true if |P6| ≤ 1 Amp. Any parameter (see
Monitor and RTC chapter in this manual for these values) can be used in a comparator.
Note: Don’t use P3431 and P3433 since this would create a circular reference and the comparator would fail.
MN766

PLC Mode Description 10-1

A and B are defined as follows:
A = (Value of Parameter P3431) / (Max of Parameter P3431)
B = (Value of Parameter P3433) / (Max of Parameter P3433)
Then, A & B are signals with the following properties: -1≤ A ≤1 and -1≤ B ≤1.
A and B are normalized signals derived from parameters pointed to by P3431 and P3433.
Comparator A
Comparator A is used in Condition 76 and checks the following relationship for true or false:
If | A - P3435/100 | ≤ P3432/100
Alternatively, another way of writing the same relation is as follows:
If (P3435 - P3432)/100 ≤ A ≤ (P3432 + P3435)/100
Thus, Comparator A provides a way to determine if a parameter is within a specific range. For example, if P3431=5 (Motor
Volts with Max=230V) and P3432=20% and P3435=0% then Comparator A would be true so long as |P5| ≤ 46V or |A| ≤ 0.20.
That is, motor voltage is monitored and so long as it remains below 46 Volts, the outcome of Comparator A would be True,
but if it were to go above 46 Volts, the output of Comparator A would be False.
Comparator B
Comparator B is used in Condition 77 and checks the following relationship for true or false:
If | B - P3436/100 | ≤ P3434/100
Alternatively, another way of writing the same relation is as follows:
If (P3436 - P3434)/100 ≤ B ≤ (P3436 + P3434)/100
Thus, Comparator B provides a way to determine if a parameter is within a specific range. For example, if P3433=6 (Motor
Current with Max=10Amps) and P3434=10% and P3436=50% then Comparator B would be true so long as:
4 Amps ≤ P6 ≤ 6 Amps
OR
0.4 ≤ B ≤ 0.60.
That is, motor current is monitored and so long as it remains within 1 Amp of 5 Amps the outcome of Comparator B would
be True, but if it were to go above 6 Amps or below 4 Amps the output of Comparator B would be False.
Less than
Less than, Condition 88, uses the following equation: If AB then True else False For example, if P3431=103 (Analog
Input 1 Reference with Max=100%) and P3433=104 (Analog Input 2 Reference with Max=100%) then
Condition 90 would be true so long as P103>P104 or so long as Analog Input 1 Reference is greater than Analog Input 2
Reference.

10.4 Timers
The PLC Mode uses four general purpose timers: Timer A (P3440), B (P3441), C (P3442) and D (P3443) with units of
seconds and resolution of 10ms or 100 counts/sec. They may be used in PLC control and logic statements as defined in
the Conditions and Actions Tables. In general there are actions to start and stop the timers as well as conditions to test their
contents.
P113, P114, P117 and P118 are read/write monitor parameters that reflect the current state of timers A through D. Since
they may be written, they can be used to start a timer by writing zero to it or to stop a timer by writing max counts.
For example, set P3440 to 1.5 sec then upon Timer A timeout,
P113 = 150 counts = (1.5 sec) x (100 counts/sec)
Starting timer A also starts P113 ramping from 0 to 150 in 1.5 seconds.
Set P3441 to 10 seconds and start Timer B, P114 then ramps from 0 to 1000 in 10 sec.
These monitor parameters may also be inputs to the Composite Reference block to generate timed ramps or other complex
reference signals.

10-2 PLC Mode Description

MN766

Table 10-1 PLC Conditions
ID

Description

False - This condition is always False

True - This condition is always True

Reserved (Workbench - Digital Input)

Reserved (Workbench - Hard Forward Limit)

Reserved (Workbench - Hard Reverse Limit)

Reserved (Workbench - Soft Forward Limit)

Reserved (Workbench - Soft Reverse Limit)

Reserved (Workbench - Move Statue)

Reserved (Workbench - Idle)

Reserved (Workbench - Position achieved)

Reserved (Workbench - At target position)

Reserved (Workbench - In Idle Position Window)

Reserved (Workbench - Following Error Fatal)

Reserved (Workbench - Following Error Warning)

At Speed - If the measured speed of the rotor is within the At Speed Band (P1506) of the reference then this
condition is True.

Reserved - (Workbench - Velocity Error)

Velocity Setpoint Minimum - If the measured absolute speed is below the Minimum Output Speed (P2002) then this
condition is True.

Velocity Setpoint Maximum- If the measured absolute speed is above the Maximum Output Speed (P2003) then this
is True.

Reserved

Motor Overload - If the motor's I2T algorithm has exceeded its integral limit this condition is True.

Drive Overload - If the drive's I2T algorithm has exceeded its integral limit this condition is True.

Motor Direction - If rotor speed is positive this condition is True

Command Direction - If speed demand is positive this condition is True

Ready - If soft start is complete, drive hardware enable is on and there are no errors this condition is True.

Drive On - If the drive is ready and producing PWM to the motor this condition is True.

Fault - If the drive is faulted for any reason this condition is True.

Motor Over Temp Trip - If the motor's over temperature trip input has occurred then this condition is True.

Drive Over Temp Trip - If the drive's over temperature trip input has occurred then this condition is True.

Drive Over Temp Warning - If the drive's temperature has exceeded that defined for the drive then this condition is
True.

Reserved (Workbench - home status)

Digital Input 1 (J2-9) - If digital input 1 is high this condition is true. (Level sensitive)

Digital Input 2 (J2-10) - If digital input 2 is high this condition is true. (Level sensitive)

Digital Input 3 (J2-11) - If digital input 3 is high this condition is true. (Level sensitive)

Digital Input 4 (J2-12) - If digital input 4 is high this condition is true. (Level sensitive)

Digital Input 5 (J2-13) - If digital input 5 is high this condition is true. (Level sensitive)

Digital Input 6 (J2-14) - If digital input 6 is high this condition is true. (Level sensitive)

Digital Input 7 (J2-15) - If digital input 7 is high this condition is true. (Level sensitive)

Digital Input 8 (J2-16) - If digital input 8 is high this condition is true. (Level sensitive). When J2-16 is used in PLC
Program, Set P2201=OFF to avoid an external trip condition.

Drive Run - If the drive is on and has a forward or reverse command this condition is True.

Stop - If motion status is stopped this condition is True.

Jog - If jog mode is active this condition is True.

MN766

PLC Mode Description 10-3

Table 10-1 PLC Conditions Continued
ID

Description

Accelerating - If absolute speed demand is accelerating this condition is True.

Constant Speed - If absolute speed demand is constant this condition is True.

Decelerating - If absolute speed demand is decelerating this condition is True.

At Zero Speed - If absolute speed demand is below the Zero Speed Set Point (P1505) this condition is True.

At Set Speed - If absolute speed demand is above Set Speed Point (P1507) this condition is True.

Motor Over Current - If motor RMS current is above the Overload Set Point (P1508) this condition is True.

Motor Under Current - If motor RMS current is below the Underload Set Point (P1509) this condition is True.

Keypad Control - If the drive is under keypad control this condition is True.

Dynamic Brake - If the drive's dynamic brake is on this condition is True.

Frequency Foldback - If the drive is in frequency foldback this condition is True.

Alarm - If an alarm is active this condition is True.

Forward - If the drive has a forward command this condition is True.

Reverse - If the drive has a reverse command this condition is True.

Process PID Error - If the absolute value of Process PID Error is less than the Process PID Error Tolerance (P2606)
this condition is True.

Sleep Mode - If the drive's sleep algorithm has put the drive to sleep this condition is True.

Comparator A - Monitors a parameter and returns True if the parameter is less than a predefined setpoint.
NOTE: See chapter on PLC Comparator Parameters.

Comparator B - Monitors a parameter and returns True if the parameter is below a predefined setpoint.
NOTE: See chapter on PLC Comparator Parameters .

Parameter Table 1 - If parameter table 1 is active then this condition is True.

Parameter Table 2 - If parameter table 2 is active then this condition is True.

Parameter Table 3 - If parameter table 3 is active then this condition is True.

Parameter Table 4 - If parameter table 4 is active then this condition is True.

Digital Output 1- If digital output 1 is On this condition is True.

Digital Output 2- If digital output 2 is On this condition is True.

Relay Output 1 - If relay output 1 is On this condition is True.

Relay Output 2 - If relay output 2 is On this condition is True.

Timer A - True if Timer A has expired.

Timer B - True if Timer B has expired.

Less Than (<) - Monitors two parameters (A & B) and returns True if A) - Monitors two parameters (A & B) and returns True if A>B else False is returned.

Timer C - True if Timer C has expired else it is False.

Timer D - True if Timer D has expired else it is False.

100

Logical Variable A - Logical variable A is tested for True/False

101

Logical Variable B - Logical variable B is tested for True/False

102

Logical Variable C - Logical variable C is tested for True/False

103

Logical Variable D - Logical variable D is tested for True/False

104

Logical Variable E - Logical variable E is tested for True/False

105

Logical Variable F - Logical variable F is tested for True/False

106

Logical Variable G - Logical variable G is tested for True/False

107

Logical Variable H - Logical variable H is tested for True/False

108

Logical Variable I – Logical variable I is tested for True/False

109

Logical Variable J - Logical variable J is tested for True/False

150

Heater - If the trickle current heater is running then this condition is True else it is False.

10-4 PLC Mode Description

MN766

Table 10-2 PLC Logical Operators
ID

Description

OR - Performs logical OR operation on input conditions

AND - Performs logical AND operation on input conditions

XOR - Performs logical XOR operation on input conditions

NOR - Performs logical NOR operation on input conditions

NAND - Performs logical NAND operation on input conditions

Table 10-3 PLC Actions
ID

Description

Digital Output 1 - If the input condition is True then Digital Output 1 (J2-17,18) will be active otherwise it is inactive
NOTE: Digital output 1 must have been set to “PLC” using P1501

Digital Output 2 - If the input condition is True then Digital Output 2 (J2-19,20) will be active otherwise it is inactive
NOTE: Digital output 2 must have been set to “PLC” using P1502

Relay Output 1 - If the input condition is True then Relay Output 1 (J3-25,26,27) will be active otherwise it is inactive
NOTE: Relay output 1 must have been set to “PLC” using P1503

Reserved (Workbench - Fault)

Drive Enable/Disable - If the condition is True then the drive is capable of producing power. If the condition is False
the drive is disabled. NOTE: If not programmed, J2-8 alone enables the drive NOTE: The drive's hardware enable
input (J2-8) must be is active for this action.

Jog Reverse - If the condition is True then the motor will jog in the reverse direction at the speed set by P1201 if
jogging is enabled. NOTE: If both jog forward and reverse are active the motor stops

Jog Forward - If the condition is True then the motor will jog in the forward direction at the speed set by P1201 if
jogging is enabled. NOTE: If both jog forward and reverse are active the motor stops

Reserved (Workbench - Hold)

Stop Enable/Disable - If the input condition is True the motor is stopped.

Reserved (Workbench - Error Deceleration)

Reserved (Workbench - Cancel)

Reserved (Workbench - Disable)

Reserved (Workbench - Forced Abort)

Reserved (Workbench - Fast Gear)

Jog Enable - Allows jogging if True else jogging is disabled

Fault - If the input condition is True a “PLC Fault” is triggered. If using J2-16 to generate a PLC Fault Condition,
P2201 must be set to “OFF” to avoid a conflict with external trip.

Forward Enable/Disable - If the input condition is True forward motion is enabled otherwise it is disabled.

Reverse Enable/Disable - If the input condition is True reverse motion is enabled otherwise it is disabled.

Acc/Dec Group Select - If the input condition is True then Acc/Dec group 2 is selected otherwise group 1 is selected.
NOTE: If this action is not programmed Group 1 is active by default.

Reset - If the input condition is True a reset request is issued. NOTE: This action is edge triggered on a False to True
transition. NOTE: Pre-existing faults/alarms may or may not be cleared.

Preset Speed/Analog - If the input condition is True then the Preset Speed Select Table Index sets the speed
reference from the Preset Speeds (P1001-P1015) else the Command Source (P1402) selects the speed reference.
NOTE: If this action is not programmed P1402 is always active. NOTE: If the Preset Speed Select Table Index is not
programmed then P1001 is used.

Preset Speed Select Table Index Bit 0 - If the input condition is True then bit 0 of the Preset Speed Select Table
Index is set else it is reset. NOTE: If this action is not programmed then bit 0 is reset.

Preset Speed Select Table Index Bit 1 - If the input condition is True then bit 1 of the Preset Speed Select Table Index
is set else it is reset. NOTE: If this action is not programmed then bit 1 is reset.

Preset Speed Select Table Index Bit 2 - If the input condition is True then bit 2 of the Preset Speed Select Table Index
is set else it is reset. NOTE: If this action is not programmed then bit 2 is reset.

MN766

PLC Mode Description 10-5

Table 10-3 PLC Actions Continued
ID

Description

Preset Speed Select Table Index Bit 3 - If the input condition is True then bit 3 of the Preset Speed Select Table Index
is set else it is reset. NOTE: If this action is not programmed then bit 3 is reset.

Process PID Enable/Disable - If the input condition is True then the Process PID is active otherwise it is inactive.
NOTE: The Process PID is automatically set to inactive during keypad control or while jogging.

Keypad - If the input condition is True then forward/reverse and stop commands along with the keypad's local speed
reference control the drive. The keypad is disabled by default.

Electronic Pot - If the input condition is True the Electronic Pot sets the speed reference otherwise it is not active. The
pot is disabled by default.

Decrease Electronic Pot Speed Reference- If the input condition is True the Electronic Pot speed reference is
increased else has no affect. NOTE: E-Pot is non-volatile. NOTE: E-Pot is unipolar so direction is determined by
forward/reverse commands.

Increase Electronic Pot Speed Reference- If the input condition is True the Electronic Pot speed reference is
decreased else has no affect. NOTE: E-Pot is non-volatile. NOTE: E-Pot is unipolar so direction is determined by
forward/reverse commands.

Parameter Table Select Enable - If the input condition is True enables parameter table selection through the
parameter table select index, else parameter table selection is disabled.

Parameter Table Select Index Bit 0 - If the input condition is True then bit 0 of the Parameter Table Select Index
is set else it is reset. NOTE: If this action is not programmed then bit 0 is reset. NOTE: This index sets the active
parameter table

Parameter Table Select Index Bit 1 - If the input condition is True then bit 1 of the Parameter Table Select Index
is set else it is reset. NOTE: If this action is not programmed then bit 1 is reset. NOTE: This index sets the active
parameter table

Relay Output 2 - If the input condition is True then Relay Output 2 (J3-28,29,30) will be active otherwise it is inactive
NOTE: Relay Output 2 must have been set to “PLC” using P1504

Torque/Speed Mode - If the input condition is True then the drive controls torque else it controls speed. Default is
speed control. NOTE: For V/F, torque control is not supported and is ignored.

Seed E-Pot - If the condition is true, the current speed reference is seeded into the E-Pot speed reference.
Otherwise, it is not seeded. NOTE: E-Pot must not be the active speed reference for seeding to occur.

Logical Variable A - If the input condition is True then logical variable A is set else reset

Logical Variable B - If the input condition is True then logical variable B is set else reset

Logical Variable C - If the input condition is True then logical variable C is set else reset

Logical Variable D - If the input condition is True then logical variable D is set else reset

Logical Variable E - If the input condition is True then logical variable E is set else reset

Logical Variable F - If the input condition is True then logical variable F is set else reset

Logical Variable G - If the input condition is True then logical variable G is set else reset

Logical Variable H - If the input condition is True then logical variable H is set else reset

Logical Variable I - If the input condition is True then logical variable I is set else reset

Logical Variable J - If the input condition is True then logical variable J is set else reset.

Start Timer A - If the input condition is True zero Timer A else count up to a timeout.

Stop Timer A - If the input condition is True, set Timer A= P3440 counts else do nothing.

Start Timer B - If the input condition is True, set Timer B= 0 else count up to a timeout.

Stop Timer B - If the input condition is True, set Timer B= P3441 counts else do nothing.

Start Timer C - If the input condition is True, set Timer C= 0 else count up to a timeout.

Stop Timer C - If the input condition is True, set Timer C= P3442 counts else do nothing.

Start Timer D - If the input condition is True, set Timer D= 0 else count up to a timeout.

Stop Timer C - If the input condition is True, set Timer D= P3443 counts else do nothing.

Pulse Start Timer A –If the input condition is True and timer A has expired then restarts timer A

Pulse Start Timer B –If the input condition is True and timer B has expired then restarts timer B

Pulse Start Timer C –If the input condition is True and timer C has expired then restarts timer C

10-6 PLC Mode Description

MN766

Table 10-3 PLC Actions Continued
ID

Description

Pulse Start Timer D –If the input condition is True and timer D has expired then restarts timer D

Reset PLC – If the input condition is True then a PLC reset is performed. All timers are expired and all logical
variables are set to FALSE. Comparators are not affected.

Jump 0-29 – If the input condition is True then a jump from the current rung number to the specified rung number
70- 99 is performed. Skipped rungs are not executed. Only forward jumps are allowed. Jumps from high to lower rungs or
jumps to the same rung number result in an error.
150

Heater - If the input condition is true then trickle current heating is enabled else it is disabled.

Table 10-4 Preset Speed Select Index
ID of PLC Actions

Description

Preset Speed 1 (P1001) Selected

Preset Speed 2 (P1002) Selected

Preset Speed 3 (P1003) Selected

Preset Speed 4 (P1004) Selected

Preset Speed 5 (P1005) Selected

Preset Speed 6 (P1006) Selected

Preset Speed 7 (P1007) Selected

Preset Speed 8 (P1008) Selected

Preset Speed 9 (P1009) Selected

Preset Speed 10 (P1010) Selected

Preset Speed 11 (P1011) Selected

Preset Speed 12 (P1012) Selected

Preset Speed 13 (P1013) Selected

Preset Speed 14 (P1014) Selected

Preset Speed 15 (P1015) Selected

Zero Speed (Not Defined) Selected

Table 10-5 Parameter Table Select Index
ID of PLC Actions

MN766

Description

Parameter Table 1 (P52 set to T1) Selected

Parameter Table 2 (P52 set to T2) Selected

Parameter Table 3 (P52 set to T3) Selected

Parameter Table 4 (P52 set to T4) Selected

PLC Mode Description 10-7

10.5 PLC Mode as Standard Run 2-Wire Mode
This example shows how the PLC Mode may operate as the Standard Run 2-Wire Mode.
These parameter values are entered from the keypad.
Initialization:
Parameter

Value

P1401

PLC

Comment
PLC operating mode selected

PLC Mode configuration parameters:
Parameter
Number

Parameter Dec
Value

Byte 3 Condition

Byte 2 Logic

Byte 1 Condition

Byte 0 Action

P3401

050.000.000.020

Input 1 (50)

OR (0)

False (0)

Forward (20)

P3402

051.000.000.021

Input 2 (51)

OR (0)

False (0)

Reverse (21)

P3403

052.000.053.018

Input 3 (52)

OR (0)

Input 4 (53)

Jog Enable (18)

P3404

052.000.000.006

Input 3 (52)

OR (0)

False (0)

Jog Forward (6)

P3405

053.000.000.005

Input 4 (53)

OR (0)

False (0)

Jog Reverse (5)

P3406

054.000.000.022

Input 5 (54)

OR (0)

False (0)

Acc/Dec Group (22)

P3407

055.000.000.024

Input 6 (55)

OR (0)

False (0)

Presets/Analog (24)

P3408

056.000.000.023

Input 7 (56)

OR (0)

False (0)

Reset (23)

P3409

057.003.000.019

Input 8 (57)

NOR (3)

False (0)

Fault (19)

10K Pot or
0 - 10 VDC

J1
1
2
3
4
5
6
7

User Analog Return
Analog Input 1
Analog Ref. Power +
Analog Input 2+
Analog Input 2Analog Output 1
Analog Output 2

Enable
Forward Run
Reverse Run
Jog Forward
Jog Reverse
Accel/Decel Select
Preset Speed 1
Fault Reset
Fault

See Figure 5-4 for
connection information.

J2
8
9
10
11
12
13
14
15
16
17
18
19
20

See recommended tightening torques in Table A-2.
*Note: Remove factory jumper from J2-8 and J3-24 before connecting switch at J2-8.

The Parameter Dec Value column can be used when entering the PLC configuration parameters at the keypad (parameters
are shown as decimal long values - byte3.byte2.byte1.byte0).
For this mode Enable is active.
Note that Preset Speed 1 is active so the Preset Speed Select Table Index need not be programmed since it automatically
follows action 24 (Presets/Analog)
Jog is enabled anytime input 3 or 4 is on while these same inputs set the direction for jog.
The Fault action is programmed to trigger whenever digital input 8 goes low.

10-8 PLC Mode Description

MN766

10.6 PLC Mode as 15 Preset Speed Mode
This example shows how the PLC Mode creates the 15 Preset Speed Mode.
Initialization:
Parameter

Value

P1401

PLC

Comment
PLC operating mode selected

PLC Mode configuration parameters:
Parameter
Number

Parameter Dec
Value

Byte 3 Condition

Byte 2 Logic

Byte 1 Condition

Byte 0 Action

P3401

050.000.000.020

Input 1 (50)

OR (0)

False (0)

Forward (20)

P3402

051.000.000.024

Input 2 (51)

OR (0)

False (0)

Reverse (21)

P3403

001.000.000.035

True (1)

OR (0)

False (0)

Presets/Analog (24)

P3404

052.000.000.025

Input 3 (52)

OR (0)

False (0)

Preset Tbl Bit 0 (25)

P3405

053.000.000.026

Input 4 (53)

OR (0)

False (0)

Preset Tbl Bit 1 (26)

P3406

054.000.000.027

Input 5 (54)

OR (0)

False (0)

Preset Tbl Bit 2 (27)

P3407

055.000.000.028

Input 6 (55)

OR (0)

False (0)

Preset Tbl Bit 3(28)

P3408

052.001.053.040

Input 3 (52)

AND (1)

Input 4 (53)

Variable A (40)

P3409

054.001.055.041

Input 5 (54)

AND (1)

Input 6 (55)

Variable B (41)

P3410

100.001.101.023

A (100)

AND (1)

B (101)

Reset (23)

P3411

056.000.000.022

Input 7 (56)

OR (0)

False (0)

Acc/Dec Group (22)

P3412

057.003.000.019

Input 8 (57)

NOR (3)

False (0)

Fault (19)

J1
1
2
3
4
5
6
7

User Analog Return
Analog Input 1
Analog Ref. Power +
Analog Input 2+
Analog Input 2Analog Output 1
Analog Output 2

Enable
Forward Run
Reverse Run
Switch 1
Switch 2
Switch 3
Switch 4
Accel/Decel
External Trip

See Figure 5-4 for
connection information.

J2
8
9
10
11
12
13
14
15
16
17
18
19
20

See recommended tightening torques in Table A-2.
*Note: Remove factory jumper from J2-8 and J3-24 before connecting switch at J2-8.

The Parameter Dec Value column can be used when entering the PLC configuration parameters at the keypad (parameters
are shown as decimal long values - byte3.byte2.byte1.byte0).
For this mode Enable is active.
Note that Preset Speed 1 is active so the Preset Speed Select Table Index need not be programmed since it automatically
follows action 24 (Presets/Analog).
Jog is enabled anytime input 3 or 4 is on while these same inputs set the direction for jog.
The Fault action is programmed to trigger whenever digital input 8 goes low.

MN766

PLC Mode Description 10-9

10.7 PLC Mode as Process PID Mode
This example shows how the PLC Mode rendered as the Process PID Mode.
Initialization:
Parameter

Value

P1401

PLC

Comment
PLC operating mode selected

PLC Mode configuration parameters:
Parameter
Number

Parameter Dec
Value

Byte 3 Condition

Byte 2 Logic

Byte 1 Condition

Byte 0 Action

P3401

050.000.000.020

Input 1 (50)

OR (0)

False (0)

Forward (20)

P3402

051.000.000.021

Input 2 (51)

OR (0)

False (0)

Reverse (21)

P3403

001.000.000.034

True (1)

OR (0)

False (0)

Param Table Select (34)

P3404

052.000.000.035

Input 3 (52)

OR (0)

False (0)

Table Select Bit 0 (35)

P3405

053.000.000.038

Input 4 (53)

OR (0)

False (0)

Torque/Speed (38)

P3406

054.000.000.029

Input 5 (54)

OR (0)

False (0)

PID (29)

P3407

055.000.000.018

Input 6 (55)

OR (0)

False (0)

Jog Enable (18)

P3408

055.000.000.006

Input 6 (55)

OR (0)

False (0)

Jog Forward (6)

P3409

056.000.000.023

Input 7 (56)

OR (0)

False (0)

Reset (23)

P3410

057.003.000.019

Input 8 (57)

NOR (3)

False (0)

Fault (19)

J1
1
2
3
4
5
6
7

J2
8 Enable
User Analog Return
9 Digital Input 1
Analog Input 1
10 Digital Input 2
Analog Ref. Power +
11 Digital Input 3
Analog Input 2+
12 Digital Input 4
Analog Input 2Process Mode Enable 13 Digital Input 5
Analog Output 1
Jog 14 Digital Input 6
Analog Output 2
Fault Reset 15 Digital Input 7
External Trip 16 Digital Input 8
17 Digital Output 1 + (Collector)
18 Digital Output 1 - (Emitter)
See Figure 5-4 for
19 Digital Output 2 + (Collector)
connection information.
20 Digital Output 2 - (Emitter)
See recommended tightening torques in Table A-2.
*Note: Remove factory jumper from J2-8 and J3-24 before connecting switch at J2-8.
*

Enable
Forward Enable
Reverse Enable
Table Select
Speed/Torque

The Parameter Dec Value column can be used when entering the PLC configuration parameters at the keypad (parameters
are shown as decimal long values - byte3.byte2.byte1.byte0).
For this mode Enable is active.
The unconditional True statement P3403 enables parameter table select (Table 10-5 ) at all times.
The Fault action is programmed to trigger whenever digital input 8 goes low.

10-10 PLC Mode Description

MN766

10.8 PLC Mode as a Modified Process PID Mode
This example shows how the PLC Mode as a modified Process PID Mode.
Initialization:
Parameter

Value

Comment

P1401

PLC

PLC operating mode selected

P1501

PLC

Digital Output 1 Set by PLC Mode Logic

P3431

P3432

20%

P3440

3.00 sec

Comparator A monitors absolute speed demand (P10)
Comparator A’s constant (12 Hz for 60 Hz max)
Timer A set for 3 seconds

PLC Mode configuration parameters:
Parameter
Number

Parameter Dec
Value

Byte 3 Condition

Byte 2 Logic

Byte 1 Condition

Byte 0 Action

P3401

076.000.000.040

Comp A (76)

OR (0)

False (0)

A (40)

P3402

050.000.000.020

Input 1 (50)

OR (0)

False (0)

Forward (20)

P3403

051.000.000.021

Input 2 (51)

OR (0)

False (0)

Reverse (21)

P3404

100.000.000.038

A (100)

OR (0)

False (0)

Torque/Speed (38)

P3405

053.002.100.029

Input 4 (53)

XOR (2)

A (100)

PID (29)

P3406

054.000.055.018

Input 5 (54)

OR (0)

Input 6 (55)

Jog Enable (18)

P3407

054.000.000.006

Input 5 (54)

OR (0)

False (0)

Jog Forward (6)

P3408

055.000.000.005

Input 6 (55)

OR (0)

False (0)

Jog Reverse (5)

P3409

056.000.000.023

Input 7 (56)

OR (0)

False (0)

Reset (23)

P3410

057.000.000.050

Input 8 (57)

OR (0)

False (0)

Start Timer (50)

P3411

086.000.000.019

Timer A (86)

OR (0)

False (0)

Fault (19)

J1
1
2
3
4
5
6
7

User Analog Return
Analog Input 1
Analog Ref. Power +
Analog Input 2+
Analog Input 2Analog Output 1
Analog Output 2

Enable
Forward Enable
Reverse Enable
PID
Jog Enable
Jog Forward
Jog Reverse
Fault Reset
Fault

See Figure 5-4 for
connection information.

J2
8
9
10
11
12
13
14
15
16
17
18
19
20

See recommended tightening torques in Table A-2.
*Note: Remove factory jumper from J2-8 and J3-24 before connecting switch at J2-8.

The Parameter Dec Value column can be used when entering the PLC configuration parameters at the keypad (parameters
are shown as decimal long values - byte3.byte2.byte1.byte0).
For this mode Enable is active.
Use of logical variables A, B, C or D allows for complex PLC logic.
Variable “A” is set based on the outcome of a comparator and then used as an input condition for the torque/speed select
and PID actions.

MN766

PLC Mode Description 10-11

Note that P3401 is programmed to set logical variable “A” before it is used since statements are executed in order from
P3401 through P3410.
Either input 5 or 6 enable jog and they also set jog direction as in P3407 and P3408.
Speed mode is active above 12 Hz but torque mode is active when less than 12Hz.
The PID becomes active above 12 Hz if input 4 is ON.
The PID becomes active at less than 12 Hz when input 4 is OFF.
The Fault action is programmed to trigger after a three second delay following digital input 8 going low.
Timer A is used to implement this action.
Normally P3410 continuously resets Timer A when digital input 8 is high.
If digital input 8 goes low then high in less than three seconds no fault action occurs since Timer A is reset before it has a
chance to timeout.
If digital input 8 goes low and stays low for at least 3 seconds then Timer A does timeout and a fault occurs.

10-12 PLC Mode Description

MN766

Chapter 11
Composite Reference Description
11.1 Overview
This reference is mathematically computed from any two valid drive parameters. Once configured, it can provide a signal to
drive the speed loop, torque loop or process PID. In addition, this reference can drive all existing operating modes including
the PLC Mode. Composite Ref can be referenced to any valid input:
P1402 - Command Source
P2603 - Process PID Feedback Source

P2310 - Auxiliary Filter Source
P1418 -Torque Feedforward Source

P1415 - Current Limit Source
P2604 - Process PID Setpoint Source

Mathematical operations are performed at each stage in its development providing the ability to add, subtract, multiply or
divide any two parameters to form a complex internal reference source. This reference source can influence the operation of
all existing operating modes including PLC Mode. The Composite Reference Parameter Block is programmed in the Level 3,
Composite REF parameters.

Figure 11-1 Composite Reference Generator Block Diagram
Stage 1 (P#3501 & 3507)

Variable A

Stage 2 (P#3502)

Scale Factor

Px * K1 Py
Py =
Max Px

Math Function

Pz = F(Py)

Pz
Pz

Output is = ± 100%
Stage 1 (P#3503 & 3508)

Variable B

Scale Factor

Pa * K2
Pb =
Max Pa

Stage 2 (P#3504)

Math Function

Pc = F(Pb )

Stage 3 (P#3505)

Binary Operator

Pc
Pc

Rx = (Pc )O(Pz)

Stage 4 (P#3506)

Math Function
Rx with Limit Setting Ry

Ry = F(Rx )

Output is = ± 100%

Table 11-1 Math Functions (P3506)
ID

Function

Description

Zero

Identity

|X|

Absolute Value3

1
2

1/X

Inversion

Square

√(|X|)

Square Root3

Sin(x)

Sine

Cos(x)

Cosine

Ramp(x)

Ramp Generator4

Freq(x)

Frequency Generator5

Notes
1. Zero Function, F(x) = 0
2. Identity Function, F(x) = x
3. Where, |x| is the absolute value function:
|x|= x for x ≥ 0
|x|=-x for x < 0
4. The ramp generator is computed as follows:
0.0 1.0 for x > 0
Constant output for x = 0
0.0 -1.0 for x < 0
With time period equal to 1.0/(|x|•100) Sec
5. The frequency generator is computed
as follows: y = Ramp(x) Freq(x) = Sin(2πy) With
output frequency equal to |x|•100 Hz

Table 11-2 Binary Operator Selection Parameter (P3505)

MN766

Function

Description

Sum

Difference

•

Multiply

Divide

Max

Maximum1

Min

Minimum2

Notes
1. Y = Max(x, y) provides the maximum
2. Y = Min(x, y) provides the minimum

Composite Reference Description 11-1

Table 11-3 Composite Reference Parameters
Stage

Description

3501 &
3503

2&4

3502,
3504 &
3506

3505

Operator - This parameter provides the mathematical operation to be performed at the third stage of the
Composite Reference derivation. Refer to Table 11-2 .

3507 &
3508

These parameters provide a way to scale up or down the percentage calculation of the first stage. They
range from -1000.00 to 1000.00 with default 1.00. Normally, the defaults work so these parameters need
not be changed.
A simple example of their use is: A 5A motor is connected to a 15A (peak) drive. When the motor is at
rated amps only 5/15 or 33.3% is passed on to stage 2, but by setting P3507=3.00, 100% is passed on
allowing full use of the motor’s current.

Scale Factor - Monitor a parameter number (Variable A or B) and scales the value into percentage of
maximum value for use by the next stage. As an example, P3501=5 Motor Voltage (assume its maximum
is 230V) is monitored and internally 20% is computed for P5= 46 V or 10% for P5=23 V. Likewise, with
P3503=11 then Speed Demand (assume its maximum is 60 Hz) is monitored and 50% is output when
P11=30 Hz or –50% when P11= -30 Hz.
P3501 or P3503 can be can be set to any valid drive parameter number. If either is set to an invalid
parameter number Py=0% or Pb=0%.
P3501 or P3503 only point to a valid parameter number in the active parameter table, never a parameter
outside the active table. Switching parameter tables with the drive enabled causes the Composite
Reference to be redefined by the parameter values in the new active parameter table.
Math Function - These parameters select the mathematical functions to be applied at the second and
fourth stage of the Composite Reference's derivation. Refer to Table 11-1.

11.2 Composite Reference Examples
The following table gives examples of the kinds of Composite References that may be developed.

Table 11-4 Examples
Composite Reference Parameters

Description

P3501

P3502

P3503

P3504

P3505

P3506

P3507

P3508

P103

Identity

P104

Identity

Sum

Identity

0.5

Average of Analog Inputs 1&2:
Ry = (A1+A2)/2

P103

Identity

P104

Freq

Multiply

Identity

1.0

Signal Generator with Magnitude set by
A1 and Frequency by A2:
Ry = A1 x Freq(A2)

P103

Identity

P104

Identity

Divide

Identity

1.0

Ratio of Analog Inputs 1&2: Ry = A1/A2

P102

Square

P104

Square

Difference

Square
Root

1.0

Square Root of Difference of Squares of
Process Error and Analog2:
Ry = √(|Pe2 – A22|)

11-2 Composite Reference Description

MN766

Chapter 12
Monitor and RTC Description
12.1 Monitor Parameters (P0001 to P0818)
Monitor parameters can be viewed using the WorkBench software. Most are read only (P0001) but some (P0052) can be
written as well.

Table 12-1 Monitor Parameters Descriptions
P#

Type

Name

Unit

Help

SOFTWARE VERSION

Software Version. - Drive firmware version number

LOC/REM STATUS

DRIVE STATUS

MOTION STATUS

MOTOR VOLTS

Motor Volts. - Estimated line-to-line drive output RMS voltage

MOTOR CURRENT

Motor Current. - Measured motor RMS current

MOTOR ABS SPEED

RPM

Motor Absolute Speed. - Estimated or measured absolute rotor speed

POSITION COUNTER

CNT

Position Counter. - Accumulated count in revolutions and counts for
feedback device.

SPEED REF

Speed Reference. - Setpoint speed for motor. Command source
parameter determines the source

ABS SPEED DEMAND

Absolute Speed Demand. - Absolute speed output from Speed Profiler.

SPEED DEMAND

Speed Demand. - Signed speed output from Speed Profiler

ABS MOTOR FREQ

Absolute Motor Frequency. - Estimated motor electrical frequency

MOTOR FREQ

Motor Frequency. - Signed motor frequency

DRIVE TEMP

°C

Drive Temperature. - Measured temperature of drive heat sink

BUS VOLTAGE

Bus Voltage. - Measured bus voltage. DC bus high fault occurs above
400/820V DC

OVERLOAD LEFT

Overload Remaining. - Current overload count remaining until overload
fault/foldback occurs

INPUTS

OUTPUTS

Local/Remote Status. - Source of run/stop commands. Local for keypad
or Remote for terminal block
Drive Enable Status. - 0 for disabled, 1 for enabled
Motion Status. - Status: stopped, forward, reverse, bipolar, sleep,
homing, etc.

Digital Inputs. - State of terminal block digital inputs. Off/On indicated
by 0/1
Digital Outputs. - State of the terminal block digital/relay outputs. Off/On
indicated by 0/1

R/W

RATED HP

Rated Horsepower. - Drive rated horsepower

R/W

RATED CURRENT

Rated Current. - Nominal/derated drive continuous RMS current rating

R/W

RATED PK CURRENT

Rated Peak Current. - Nominal/de-rated drive peak, short term, current
rating

R/W

RATED VOLTS

Rated Voltage. - Nominal voltage rating of drive

ACTIVE FAULTS

Active Faults. - Number of active / simultaneous drive faults

ACTIVE FLT CODE

Active Fault Code. - Currently active drive fault code number

PROC FEEDFORWARD

FF Process Feedforward. - Process PID feed forward signal

PROC SETPOINT

SP Process Setpoint. - Process PID set point signal

MN766

Monitor and RTC Description 12-1

Table 12-1 Monitor Parameters Descriptions Continued
P#

Name

Unit

PROC FEEDBACK

FB Process Feedback. - Process PID feedback signal

ADC USER REF

ADC User Reference. - Hardware ADC reference voltage for analog
inputs

ADC CURR REF

ADC Current Reference. - Hardware ADC reference voltage for currents

USER 24V

User 24V. - Measured, internally supplied 24V for I/O

MOTOR TORQUE

Motor Torque. - Estimated motor torque from measured currents and
motor model

AUTO-TUNE PROG

Auto-Tune Progress. - Estimated progress of auto-tune test

LINE VOLTAGE

Line Voltage. - Estimated drive input line-to-line RMS voltage

RATED A/V

A/V

MOTOR POLES

RUN TIMER

ACTIVE ALARMS

ACT ALARM CODE

ANA IN1

Analog Input 1. - Measured value of analog input #1 on terminal input
J1-2 and J1-1

ANA IN2

Analog Input 2. - Measured value of analog input #2 on terminal input
J1-4 and J1-5

ANA OUT1

Analog Output 1. - Estimated value of analog output #1 on terminal J1-6

ANA OUT2

Analog Output 2. - Estimated value of analog output #2 on terminal J1-7

OPTION1

Option 1. - Option board detected in option slot #1 (left slot)

OPTION2

Option 2. - Option board detected in option slot #2 (right slot)

FEEDBACK

Type

R/W

Help

Rated Amps/Volt. - Nominal drive current scaling set at the factory
Motor Poles. - Calculated /entered number of motor poles

Run Timer. - Accumulated drive run (non-idle) time in hours
Active Alarms. - Number of currently active /simultaneous alarms
Active Alarm Code. - Currently active alarm code

Feedback. - Feedback board detected in motor feedback board slot

DATE AND TIME

Current Date and Time. - Real time clock current reading

DST STATUS

MOTOR OVERLOAD
REMAINING

Current overload count remaining until a motor overload fault/overload
occurs

LAST MOTOR
OVERLOAD
REMAINING

Last reading of motor overload left before power down

LAST DRIVE
OVERLOAD
REMAINING

Last reading of drive overload left before power down

SPEED MEASURED

RPM

R/W

DST Status. - Daylight Saving Time status: 0=Not Active 1=Active

Displays measured speed from resolver even if control type is V/F or
open vector

ACTIVE PARAM TBL

Active Parameter Table. – Parameter table currently in use on the drive

EE VER

Power Base EEPROM Rev. - Power base EEPROM parameter revision
number. Set by factory

FPGA VER

12-2 Monitor and RTC Description

Power Base FPGA Rev. - Power base FPGA revision control number. Set
by factory

MN766

Table 12-1 Monitor Parameters Descriptions Continued
P#

Name

Unit

ACC/DEC DEMAND

Hz/SEC

ID CURRENT

ID Current. - D axis measured current proportional to motor flux

ID DEMAND

ID Demand. - D axis demand current proportional to motor flux

IQ CURRENT

IQ Current. - Q axis measured current proportional to motor torque

IQ DEMAND

IQ Demand. - Q demand current proportional to motor torque

POWER FACTOR

PHASE 1 CURRENT

Phase 1(U) Current. - Phase U current

PHASE 2 CURRENT

Phase 2(V) Current. - Phase V current

PHASE 3 CURRENT

Phase 3(W) Current. - Phase W current

VD DEMAND

VD Demand. - D axis voltage demand for setting up motor flux

VQ DEMAND

VQ Demand. - Q axis voltage demand for setting up motor torque

ELECTRICAL ANGLE

Electrical Angle. - Electrical angle used to develop phased voltages to
the motor

MOTOR SPEED

RPM

AT TEST DESC

Type

R/W

Help
Accel/Decel Demand. - Current ramp rate used by the velocity profiler

Power Factor. - Ratio of (real power)/(apparent power)

Motor Speed. - Current speed of the motor
Autotune Test Description. - Description of current autotuning state
Application Layer Error. Application layer error code number. The last
error that occurred

APP LAYER ERROR

USB TRANSACTIONS

USB ERRORS

TSK STATUS

TSK ID

TSK COUNT

Task Count. Total number of overruns for the first task to overrun its time
slot

Kp PACKETS

Keypad Packets. Total number of processed keypad packets

Kp T-GAPS

Keypad Gaps. Total number of keypad inter-packet time gap errors

Kp NAKs

Keypad NAKs. Total number of NAKs sent. High word are received
NAKs low word is transmitted NAKs

EST POWER

EST ENERGY

kWH

EST COST

R/W

ACCESS KEY

R/W

KEYPAD SOFT VER

MN766

USB Transactions. Total number of USB transactions since start up
USB Errors. Total number of USB errors since start up
Task Status. Runtime task overrun status. Bits correspond to tasks that
have overrun their time limit
Task ID. First task that overran its time slot

Estimated Power. - Drive power output estimated from measured current
and voltages. Units: KW
Estimated Energy. - Delivered by drive. Estimated from measured
current and voltages. Units: kHW
Estimated Cost. - Cost of output energy delivered. Estimated from cost
of kWH unit parameter
Access Key. - Parameter security access key. Contact Baldor to decode
the key code
Keypad Software Version. - Keypad software version string

Monitor and RTC Description 12-3

Table 12-1 Monitor Parameters Descriptions Continued
P#

Type

Name

Unit

Help

AUTOTUNE TEST RE

Autotune test result. Use keypad back/forward keys to review results on
the keypad

AUTOTUNE TEST RE

Autotune test result. Use keypad back/forward keys to review results on
the keypad

CMD TYPE

FPGA READ ERRORS

FPGA Read Errors. Number of errors when reading FPGA since start up

FPGA WRITE ERROR

FPGA Write Errors. Number of errors when writing to FPGA since start
up

FPGA ALARM REG

FPGA Alarm Register. Alarm Latch|Alarm Status of Powerbase FPGA

REFRESH REQUEST

Refresh Request. - Refresh parameter list request from drive to host

R/W

Command Type. Operating mode input signal command type

PHASE 1 VOLTAGE

Phase 1(U) Voltage. - Phase U RMS voltage

PHASE 2 VOLTAGE

Phase 2(V) Voltage. - Phase V RMS voltage

PHASE 3 VOLTAGE

Phase 3(W) Voltage. - Phase W RMS voltage

CUSTOM UNITS

CUSTOM

POS REFERENCE

CNT

Position Reference. - Position Profiler's Current Target Position.

POS DEMAND

CNT

Position Demand. - Position Profiler's Current Position Demand.

POS ERROR

CNT

Position Following Error. - Difference Between Position Demand and
Rotor Position.

POS COUNTER

CNT

Position Counter. - In accordance with feedback device.

LV TEST FEEDBACK

LV TEST FE STATE

100

102

PROC ERROR

ER Process Error. - Process PID error signal

103

ANA1 REF

Analog Input 1 Reference. - Reference generated from analog input 1

104

ANA2 REF

Analog Input 2 Reference. - Reference generated from analog input 2

105

COMPOSITE REF

Composite Reference. - Reference generated composite reference
parameter block.

106

POS MOVE STATUS

Position Move Status. - 15 Preset Position Mode status. 0x0=inactive,
0x1-0xF=active, 0x101-0x10F=complete
RTC Edge Counter. - General purpose date/time edge counter used in
Real Time Clock Features.

Custom Units. - Shows production rates according to custom units.

LV test feedback. - Gives feedback on state of test
Front End State. -Gives feedback on state of front end
Power Base ID. - Power Base ID Number. Set by factory

107

R/W

RTC EDGE COUNTER

108

R/W

RTC OUTPUTS

RTC Virtual Outputs. - Outputs set by the RTC and mapped to real
outputs if enabled.

109

R/W

RTC MSG STATUS

RTC Message Status. - Individual bits are mapped to RTC message
when set

110

R/W

LAST POWERDOWN

Last Drive Power Down Date. - The date and time the drive was last
turned off.

111

COMPONENT A

12-4 Monitor and RTC Description

Component A of Composite Reference. - First part of the composite
reference signal.

MN766

Table 12-1 Monitor Parameters Descriptions Continued
P#

Type

112

Name

Unit

COMPONENT B

Help
Component B of Composite Reference. - First part of the composite
reference signal.

113

R/W

PLC TIMER A

PLC Mode Timer A Counter. - General purpose timer/counter in 10ms
clock ticks.

114

R/W

PLC TIMER B

PLC Mode Timer B Counter. - General purpose timer/counter in 10ms
clock ticks.

115

ENC POS FB SPEED

Speed reference set by Pulse Follower EXB.
ID number of last executed macro (none if no macros have been
executed).

116

R/W

MACRO STATUS

117

R/W

PLC Timer C

PLC Mode Timer C Counter- General purpose timer/counter in 10ms
clock ticks.

118

R/W

PLC Timer D

PLC Mode Timer D Counter - General purpose timer/counter in 10ms
clock ticks.

201

LOC SPEED REF

Local Speed Reference. - Local speed reference from keypad.
Reference can be entered in Hz or RPM

202

E-POT SPEED REF

E-Pot Speed Ref. - Electronic pot speed reference

301

FAULT LOG TIME

Fault Log Time. Time stamp for fault log entries

302

FAULT LOG MSG

Fault Log Message.

501

COUNTS

CNT

Counts. Accumulated position from feedback device.

502

REVOLUTIONS

REV

Revolutions. Accumulated revolutions since power up. Encoder PPR
parameter sets the revolution count.

503

OPT1 ANA IN1

V/mA

Option 1 Analog Input 1. Option board 1 analog input 1

504

OPT1 ANA IN2

V/mA

Option 1 Analog Input 2. Option board 1 analog input 2

505

OPT2 ANA IN1

V/mA

Option 2 Analog Input 1. Option board 2 analog input 1

506

OPT2 ANA IN2

V/mA

Option 2 Analog Input 2. Option board 2 analog input 2

507

OPT1 ANA OUT1

V/mA

Option 1 Analog Output 1. Option board 1 analog output 1

508

OPT1 ANA OUT2

V/mA

Option Board 1 Analog Output 2. Option 1 analog output 2

509

OPT2 ANA OUT1

V/mA

Option 2 Analog Output 1. Option board 2 analog output 1

510

OPT2 ANA OUT2

V/mA

Option 2 Analog Output 2. Option board 2 analog output 2

511

TX CNTS

CNT

PF Tx Counts. PF transmitted accumulated position from feedback
device.

512

TX REVS

REVS

PF Tx Revolutions. PF transmitted accumulated revolutions since power
up.

513

RX CNTS

CNT

PF Rx Counts. PF received accumulated position from feedback device.

514

RX REVS

REVS

PF Rx Revolutions. PF received accumulated revolutions since power
up.

515

OPT1 CONFIG1

Option Card 1 Configuration Word 1. Slot 1 option card's general
purpose config data from its EE

516

OPT1 CONFIG2

Option Card 1 Configuration Word 2. Slot 1 option card's general
purpose config data from its EE

MN766

Monitor and RTC Description 12-5

Table 12-1 Monitor Parameters Descriptions Continued
P#

Type

Name

Unit

Help

517

OPT1 CONFIG3

Option Card 1 Configuration Word 3. Slot 1 option card's general
purpose config data from its EE

518

OPT1 CONFIG4

Option Card 1 Configuration Word 4. Slot 1 option card's general
purpose config data from its EE

519

OPT2 CONFIG1

Option Card 2 Configuration Word 1. Slot 2 option card's general
purpose config data from its EE

520

OPT2 CONFIG2

Option Card 2 Configuration Word 2. Slot 2 option card's general
purpose config data from its EE

521

OPT2 CONFIG3

Option Card 2 Configuration Word 3. Slot 2 option card's general
purpose config data from its EE

522

OPT2 CONFIG4

Option Card 2 Configuration Word 4. Slot 2 option card's general
purpose config data from its EE

530

OPT1 FIRMWARE

Option Card 1 Firmware Version. Option card 1 firmware version string

531

OPT2 FIRMWARE

Option Card 2 Firmware Version. Option card 2 firmware version string

532

R/W

OPT1 CONFIG

Option Card 1 Configuration Status. Slot 1 option card's configuration
status

533

R/W

OPT2 CONFIG

Option Card 2 Configuration Status. Slot 2 option card's configuration
status

534

OPT1 RUN STATUS

Option Card 1 Runtime Status. Slot 1 option card's run time status

535

OPT2 RUN STATUS

Option Card 2 Runtime Status. Slot 2 option card's run time status

536

OPT1 ANA1 REF

Option Card 1 Analog Input 1 Reference. Reference generated from
analog input 1 on option card 1

537

OPT1 ANA2 REF

Option Card 1 Analog Input 2 Reference. Reference generated from
analog input 2 on option card 1

538

OPT2 ANA1 REF

Option Card 2 Analog Input 1 Reference. Reference generated from
analog input 1 on option card 2

539

OPT2 ANA2 REF

Option Card 2 Analog Input 2 Reference. Reference generated from
analog input 2 on option card 2

801

FAULT LATCH

Fault Latch. Fault trace signal: powerbase fault active high latch

802

ALARM LATCH

Alarm Latch. Fault trace signal: powerbase alarm active high latch

803

ADC CURRENT REF

ADC Current Reference. Fault trace signal: ADC 1.5V current reference

804

24V REF

24V Reference. Fault trace signal: 24v reference

807

USER INPUTS

806

DIGITAL OUTPUTS

807

ANA INPUT 1

Analog Input 1. Fault trace signal: analog input 1

808

ANA INPUT 2

Analog Input 2. Fault trace signal: analog input 2

809

SPEED REF

Speed Reference. Fault trace signal: speed reference

810

PH1 CURRENT

Phase 1(U) Current. Fault trace signal: motor phase 1 current

811

PH2 CURRENT

Phase 2(V) Current. Fault trace signal: motor phase 2 current

812

PH3 CURRENT

Phase 3(W) Current. Fault trace signal: motor phase 3 current

12-6 Monitor and RTC Description

User Digital Inputs. Fault trace signal: user digital inputs
Digital Outputs. Fault trace signal: all digital outputs

MN766

Table 12-1 Monitor Parameters Descriptions Continued
P#

Type

Name

Unit

Help

813

MOTOR CURRENT

814

MOTOR TORQUE

815

MOTOR VOLTS

Motor Voltage. Fault trace signal: instantaneous voltage to motor

816

MOTOR SPEED

RPM

Motor Speed. Fault trace signal: motor instantaneous rotor speed

817

BUS VOLTAGE

Bus Voltage. Fault trace signal: instantaneous bus voltage

818

DRIVE TEMP

°C

Drive Temperature. Fault trace signal: drive temperature

Motor Current. Fault trace signal: motor instantaneous RMS current
Motor Torque. Fault trace signal: motor instantaneous torque

12.2 Real Time Clock (RTC) Overview
Action Module
Action Module parameters P3601 - 3602 set the actions to be scheduled. Action 2 takes priority over action 1 should
both be scheduled to trigger within the same second. So, if action 1 turns on output 1 and action 2 turns off output 1
and they both trigger on the same seconds tick, then output 1 will appear as though to never turn on.
As a rule, once an action is taken it is latched until it is reset by another action.
Action Module selections are shown in Table 12-2.

Figure 12-1 RTC Features

RTC

MN766

Action Module
P3601-3602
P3605-3606
P3609-3610

Operating Modes

Message Module
P3603-3604
P3607-3608
P3611-3612

Alarm System

Monitor and RTC Description 12-7

Table 12-2 Actions (P3601 & 3602)
ID

ACTION

None

Digital Output 1 On

DESCRIPTION
No action assigned. Default setting.
Digital output 1 is turned on. P1501 set to RTC.

Digital Output 1 Off

Digital output 1 is turned off. P1501set to RTC

Digital Output 2 On

Digital output 2 is turned on. P1502 set to RTC

Digital Output 2 Off

Digital output 2 is turned off. P1502 set to RTC

Relay Output 1 On

Relay output 1 is turned on. P1503 set to RTC

Relay Output 1 Off

Relay output 1 is turned off. P1503 set to RTC

Relay Output 2 On

Relay output 2 is turned on. P1504 set to RTC

Relay Output 2 Off

Relay output 2 is turned off. P1504 set to RTC

Increment P107

Increments the RTC counter parameter

Decrement P107

Decrements the RTC counter parameter

Reset P107

Resets the RTC counter parameter

Digital Output 1 On with Inc

Performs digital I/O with P107 increment

Digital Output 1 Off with Inc

Performs digital I/O with P107 increment

Digital Output 1 On with Dec

Performs digital I/O with P107 decrement

Digital Output 1 Off with Dec

Digital Output 1 On with Reset

Performs digital I/O with P107 decrement
Performs digital I/O with P107 reset

Digital Output 1 Off with Reset

Relay Output 1 On with Inc

Performs digital I/O with P107 increment

Performs digital I/O with P107 reset

Relay Output 1 Off with Inc

Performs digital IO with P107 increment

Relay Output 1 On with Dec

Performs digital IO with P107 decrement

Relay Output 1 Off with Dec

Performs digital IO with P107 decrement

Relay Output 1 On with Reset

Performs digital IO with P107 reset

Relay Output 1 Off with Reset

Performs digital IO with P107 reset

Level 1, Output Setup Block parameters P1501-P1504 select the digital/relay output functions. P107 is the RTC counter
parameter.

Message Module (P3603 - 3604)
Message Module parameters P3603 - 3604 set the messages to be scheduled. Message selections are shown in Table 12-3.

Table 12-3 RTC Message 1&2 Parameters (P3603 & P3604)
ID

ACTION

None (default)

No message active

Clean Filter(s)

Time to do periodic cleaning of filter(s)

Change Filter(s)

Apply Oil/Lubricate

Service Motor

DESCRIPTION

Time to change out the filter(s)
Apply oil and/or lubricant necessary areas of the system
Check motor cables, resolver, clean motor etc.

Service Drive

Service Coolant System

Check coolant pressures/levels, check for leaks, top off as needed

Service Heating System

Check for gas leaks, clean filters, blowers and connections

RTC Alarm

12-8 Monitor and RTC Description

Check drive cables, clean panels and keypad display etc.

Generic real-time clock alarm

MN766

RTC Action/Message Qualifier Parameters (P3605-P3608)
Qualifier parameters shown in Table 12-4 set the interval of time of the actions and messages selected.

Table 12-4 Action/Message Qualifier Parameters (P3605 – P3608)
ID

QUALIFIERS

DESCRIPTION

Once

Second

Action/Message is scheduled every second. Starting on the date and time entered and
repeated every second thereafter.

Minute

Action/Message is scheduled every minute. Starting on the date and time entered and
repeated every minute thereafter at the same seconds into the minute specified in the start
date and time.

Hourly

Action/Message is scheduled hourly. Starting on the date and time entered and repeated
every hour thereafter at the same minutes and seconds into the hour as specified in the start
date and time.

Daily

Action/Message is scheduled Daily. Starting on the date and time entered and repeated every
day thereafter at the same hour, minutes and seconds specified in the start date and time. If
the day specified does not exist for that month the action/message is skipped.

Monthly

Action/Message is scheduled monthly. Starting on the date and time entered and repeated
every month thereafter on the same day, hour, minutes and seconds specified in the start
date and time.

Yearly

Action/Message is scheduled yearly. Starting on the date and time entered and repeated
every year thereafter on the same month, day, hour, minutes and seconds in the start date
and time.

Action/Message is scheduled once to occur on the date and time entered.

RTC Schedule Date Parameters (P3609-P3612)
To each action and message there is an associated start date and time. For Action 1 (P3609) is used; for Action 2 (P3610)
and for Messages 1 & 2 (P3611 and P3612) are used respectively.
The internal date and time parameter format is shown in Table 12-5 .

Table 12-5 Date and Time Format (P0046)
Bits

31-26

25-22

21-17

15-12

11-6

5-0

Fields

Year
(00-63)

Month
(1-12)

Day
(1-31)

Hour
Bit 5

Hour Bits 4-0
(0-23)

Minutes
(0-59)

Seconds
(0-59)

RTC Counter and Maximum Count Parameters (P107 and P3630)
Monitor parameter P107 is a general purpose RTC Counter that can be assigned as the target of a RTC action. This
parameter may be incremented, decremented or reset by RTC actions.
Parameter number P3630 sets the maximum for P107, so that: -P3630 ≤ P107 ≤ P3630.
The comparators A&B of the PLC Operating Mode along with the Composite Reference make use of the maximum setting of
a parameter for internal scaling of their operations.
RTC Daylight Saving Time Parameter (P3631)
P3631 has three settings: OFF, U.S.A. (United States of America) and E.U. (European Union).
Setting it to OFF disables the DST Feature. Setting it to USA enable Daylight Saving Time for US customers. Setting it to EU
enables Daylight Saving Time for Europe based countries.
Power Cycles and RTC Edit Changes
The RTC acts like an alarm clock during power cycles, edit changes and DST (Daylight Saving Time) updates. After power
up, even though an action/message would have occurred during the power down period no action/message is issued, that
action/message is lost. The next regularly scheduled action/message will trigger on the next regularly occurring clock edge
after power up.
Likewise if the RTC is advanced by some time-offset due to editing or DST action/messages may be lost. For example,
digital output 1 is scheduled to turn on at 1:00 PM daily. At 12:15:00 PM the clock is changed to 1:15:00 PM advancing it an
hour.
The output will not turn on that day since its triggering edge never occurs.
On the other hand, if the clock is receded by one hour, that is, changed at 1:30:00 PM to 12:30:00 PM then two triggers for
digital output 1 on will have been generated that day since the RTC will have passed through 1:00 PM twice. Furthermore,
if an active RTC message is not acknowledged by an operator and power is cycled that message persists after the cycle.
The operator must acknowledge an RTC message even if power is cycled. The same is NOT true for outputs. RTC controlled
digital outputs and relays are reset at power up.

MN766

Monitor and RTC Description 12-9

RTC Scheduling Examples
The following table gives examples of the kinds scheduled events that may be programmed.

Table 12-6 Scheduled Events Examples
Action 1
P3601

Action 2

Message 1

Message 2

Digital Out 1 ON

P3602

Digital Out 1 OFF

P3603

Change Filters

P3604

Service Heating System

P3605

Daily

P3606

Daily

P3607

Monthly

P3608

Yearly

P3609

3-Feb-07 01:00:00

P3610

3-Feb-07 02:00:00

P3611

10-Jan-06 13:30:00

P3612

10-Jul-06 13:30:00

For this example assume the drive is in Standard Run Two Wire operating mode with digital output 1 wired to FWD. The
drive would then run daily for one hour from 1:00 AM to 2:00 AM starting February 3, 2007. The same drive is scheduled for
monthly and yearly service. Filters are to be changed on the tenth of every month after lunch starting January 10, 2006. In
addition, once a year on the 10 of July the heating system is serviced after lunch as well.
RTC messages 1&2 are not logged but must be acknowledged before they are cleared.
RTC Keypad Screens
The following templates shows how these parameters are displayed on the keypad.
Keypad Screen
Line 1

Program

Parameter Block Name

Line 2

Parameter Name

Line 3

Qualifier1

Parameter List Text1

Line 4

Month1

Line 5

Day1

Year1

Hour1

Minutes1

Parameter Number

Seconds1

Note 1: Field is editable.
Line 1 holds the screen’s name and parameter block name. Line 2 holds a parameter name. Line 3 holds list parameter text
and the scheduling qualifier. Line 4 holds the date and time. And line 5 holds the A-Function Key name, a parameter number
and the B-Function Key name.

Example one:
Keypad Screen
Line 1

Prog

RTC

Line 2

ACTION 1

Line 3

Digital Output 1 ON

Line 4

July

Line 5

Diag

12-10 Monitor and RTC Description

2006
C3601T1

Daily
:

Back

MN766

Action

Description

At the Level 3
Programming Menu
select RTC FEATURES

At the first menu
“RTC ACTION 1” press ENTER.

Display

Comments

RTC
Action
Action Date & Time
EDIT

Action
Qualifier

RTC FEATURES

RTC ACTION 1

None
Jul 04, 2006
MAX

Press
to go to the
next RTC screen.

Each RTC parameter can be
changed by using the procedure
described for RTC ACTION 1.

Press
or
to change value.
Press
or
to move cursor to
Action Qualifier.
Press
or
to change value.
Press
or
to move cursor to
Date & Time.
Press ENTER when finished and
save the new value.
See RTC chapter of this manual
for additional details.

F0201

EDIT

Once
01:00:00
RESET

RTC FEATURES

RTC ACTION 2
None
Once
Jul 04, 2006
01:00:00
MAX

F0201

RESET

Example two:
Keypad Screen
Line 1

Prog

RTC

Line 2

MESSAGE 1

Line 3

MN766

Change Filter(s)

Line 4

Jul

Line 5

Diag

2010
C3603T1

Monthly
13

Back

Monitor and RTC Description 12-11

12-12 Monitor and RTC Description

MN766

Appendix A
Technical Specifications
A.1 VS1SD Specifications
Table A-1 VS1SD Specifications

Input Ratings

Voltage

120

240

480

Voltage Range

95-130

180-264

340-528

Phase

Single Phase
50/60Hz ±5%

Impedance

1% minimum from mains connection (3% minimum for AA frame drives)

3-7A @ 120/240VAC, 1PH
3-130A @ 240VAC, 3PH
2-124A @ 480VAC, 3PH

Current
Output Ratings

Overload Capacity
Frequency

0 to maximum input voltage (RMS)

Feedback Type

Resolver coupled to motor shaft

Sine/Cosine Inputs

Protective
Features

8.85 VRMS @ 10 kHz

Transformation Ratio

Dependent on excitation frequency

Positioning

Output for position loop controller, simulated resolver 1024 ppr quadrature with index

Servo Trip

Missing control power, over current, over voltage, under voltage, motor over speed,
resolver loss, over temperature (motor or control), output shorted or grounded, motor
overload

Stall Prevention

Over voltage suppression, over current suppression

External Output

LED trip condition indicators, 4 assignable logic outputs, 2 assignable analog outputs

Short Circuit

Temperature
Cooling
Enclosure

Phase to phase, phase to ground
Meets UL508C (I2T)

-10°C to 45°C
Derate 3% per degree C above 45°C to 55°C maximum ambient temperature
Forced air
NEMA 1, IP20 (-1B), NEMA 4X, IP66 (-4B) Indoor mounting only.

Altitude

Sea level to 3300 Feet (1000 Meters) Derate 2% per 1000 Feet (303 Meters) above 3300
Feet

Humidity

10 to 90% RH Non-Condensing (NEMA 1); to 100% (NEMA 4X)

Shock
Vibration
Transportation
and Storage
Temperature
Duty Cycle

MN766

3.02 VRMS ± 7% (maximum coupled)

Excitation (VReference)

Electronic Motor
Overload

Environmental
Conditions

Constant Torque (Heavy Duty) = 150% for 60 seconds, 175% for 3 seconds
0-500Hz

Voltage

Resolver
Feedback

Three Phase (single phase with derating)

Frequency

1G
0.5G at 10Hz to 60Hz
-30°C to +65°C
1.0

Technical Specifications A-1

Table A-1 VS1SD Specifications Continued
Display
Keys

Functions
Keypad Display
LED Indicators
Remote Mount
Trip

LCD Graphical 128x64 Pixel
14 key membrane with tactile feedback
Output status monitoring
Digital speed control
Parameter setting and display
Diagnostic and Fault log display
Motor run and jog
Local/Remote toggle
Forward run command
Reverse run command
Stop command
Jog active
200 feet (60.6m) maximum from control. (NEMA 4X requires purchase of separate
keypad.)
Separate message and trace log for each trip, last 10 trips retained in memory

Control Method
Speed Setting
Accel/Decel
Motor Matching
PC Setup Software

0-3600 seconds
Automatic tuning to motor with manual override
Mint WorkBench software available using USB2.0 port for commissioning
wizard, firmware download, parameter viewer, scope capture and cloning
Adjustable to 180Hz (Control only)

Current Loop Bandwidth

Adjustable to 1200Hz (Control only)

Quiet PWM Frequency
Version

Selectable Operating
Modes

Common Mode Rejection
Differential
Analog Input

±5VDC, 0-5VDC ±10VDC, 0-10VDC, 4-20mA, 0-20mA; digital (keypad), Serial
Comms/USB 2.0, and Modbus RTU standard

Velocity Loop Bandwidth
Maximum Output
Frequency
Control
Specifications

Microprocessor controlled PWM output, brushless PM commutation control

Full Scale Range
Resolution
Input Impedance

A-2 Technical Specifications

500Hz
Full rating 5-8kHz PWM frequency
Adjustable to 16kHz with linear derating (between 8 - 16kHz) of 50% at 16kHz
(Size AA and B only)
Keypad
Standard Run 2Wire
Standard Run 3Wire
15 Preset Speeds
Fan Pump 2Wire
Fan Pump 3Wire
Process Control
3 Spd Ana 2Wire
3 Spd Ana 3Wire
Electronic Pot 2Wire
Electronic Pot 3Wire
Network
Profile Run
15 Preset Positions
Bipolar
Pulse Follower
PLC

40DB
±5VDC, ±10VDC, 4-20mA and 0-20mA
11 bits + sign
80 kOhms (Volt mode); 500 Ohms (Current mode)

MN766

Table A-1 VS1SD Specifications Continued
Single Ended
Analog Input

Analog Outputs

Full Scale Range
Resolution
Input Impedance

Full Scale Range

AOUT1 (0-5V, 0-10V, 0-20mA or 4-20mA), AOUT2 (±5V, ±10V)

Source Current

Rated Voltage

1 mA maximum (volt mode), 20mA (current mode)
9 bits + sign
8 Assignable, 1 dedicated input (Drive Enable)
10 - 30VDC (closed contacts std)

Input Impedance

4.71kOhms

Leakage Current

10 µA maximum

Update Rate

16msec

Rated Voltage

5 to 30VDC

Maximum Current

60mA Maximum

ON Voltage Drop

2VDC Maximum

OFF Leakage Current

0.1A Maximum

Output Conditions

Digital Outputs
(2 Relay Outputs)

80 kOhms

2 Assignable

Opto-isolated Inputs

Digital Outputs
(2 Opto Outputs)

11 bits

Analog Outputs

Resolution

Digital Inputs

0 - 10VDC

Rated Voltage

31 Conditions (see Output Setup Block parameter table, Chapter 7)

5 to 30VDC or 240VAC

Maximum Current

5A Maximum non-inductive

Output Conditions

31 Conditions (see Output Setup Block parameter table, Chapter 7)

Diagnostic Indications:
Current Sense Fault
Ground Fault
Instantaneous Over Current
Overload
Line Power Loss
Microprocessor Failure
Over temperature (Motor or Control)
Over speed

Regeneration (DB) Overload
Soft Start Fault
Under Voltage
Ready
Parameter Loss
Overload
Overvoltage
Torque Proving

Following Error
PWR Base Fault
Logic Power Fault
Resolver Loss

Note: All specifications are subject to change without notice.

MN766

Technical Specifications A-3

A.2 Specifications for Power Terminal Block Wiring
Table A-2 Terminal Tightening Torque Specifications
Tightening Torque
240 VAC
Catalog No.

Power TB1

B+/R1; B+;
B-; or R2

Ground

TH1 and TH2

Control J1,
J2, P3

Control J3

In-lbs

N-M

In-lbs

N-M

In-lbs

N-M

In-lbs

N-M

In-lbs

N-M

In-lbs

N-M

VS1SD6A3-1B, 4B

1.36

0.45

0.23

0.56

VS1SD6A4-1B, 4B

1.36

0.45

0.23

0.56

VS1SD6A7-1B, 4B

1.36

0.45

0.23

0.56

VS1SD2A3-1B, 4B

1.36

0.45

0.23

0.56

VS1SD2A4-1B, 4B

1.36

0.45

0.23

0.56

VS1SD2A7-1B, 4B

1.36

0.45

0.23

0.56

VS1SD2A10-1B, 4B

1.36

0.45

0.23

0.56

VS1SD2A15-1B, 4B

1.36

0.45

0.23

VS1SD2A22-1B

0.45

0.23

0.56

VS1SD2A28-1B

0.45

0.23

0.56

VS1SD2A42-1B

0.45

0.23

0.56

VS1SD2A54-1B

0.45

0.23

0.56

VS1SD2A68-1B

0.45

0.23

0.56

VS1SD2A80-1B

0.45

0.23

0.56

VS1SD2A104-1B

180

20.3

9.1

5.6

0.68

0.23

0.56

VS1SD2A130-1B

180

20.3

9.1

5.6

0.68

0.23

VS1SD4A2-1B, 4B

1.36

0.45

0.23

0.56

VS1SD4A3-1B, 4B

1.36

0.45

0.23

0.56

VS1SD4A5-1B, 4B

1.36

0.45

0.23

0.56

VS1SD4A8-1B, 4B

1.36

0.45

0.23

0.56

VS1SD4A11-1B, 4B

1.36

0.45

0.23

0.56

VS1SD4A14-1B

1.36

0.45

0.23

0.56

VS1SD4A21-1B

1.36

0.45

0.23

0.56

VS1SD4A27-1B

1.36

0.45

0.23

VS1SD4A34-1B

0.45

0.23

0.56

VS1SD4A40-1B

0.45

0.23

0.56

VS1SD4A52-1B

0.45

0.23

0.56

VS1SD4A65-1B

180

20.3

9.1

5.6

0.45

0.23

0.56

VS1SD4A77-1B

180

20.3

9.1

5.6

0.68

0.23

0.56

VS1SD4A96-1B

180

20.3

9.1

5.6

0.68

0.23

0.56

VS1SD4A124-1B

180

20.3

9.1

5.6

0.68

0.23

0.56

MN766

Technical Specifications A-4

A.3 Identifying the Drive by Model Number
Each drive can be identified by its model number, as shown in Figure A-1. The model number is on the shipping label and
the drive nameplate. The model number includes the drive and any options. Drive model numbers for the VS1SD drive
are provided in Table A-3. Goods may be returned only with written notification including a BALDOR Return Authorization
Number and any return shipments must be prepaid.

Figure A-1 Drive Identification
VS1SD 4 A15 - 1 B

VS1SD Servo Control
Voltage Code
2 = 240VAC, 3PH
4 = 480VAC, 3PH
6 = 120/240VAC, 1PH

Current Rating
A15 = 15 AMP

1 = NEMA1
4 = NEMA4X (indoor use only)
T = Transistor
B = Both Resistor/Transistor

A.4 Storage Guidelines
If you need to store the drive, follow these recommendations to prolong drive life and performance:
• Store the drive within an ambient temperature range of -40°C to +70°C.
• Store the drive within a relative humidity range of 0% to 90%, non-condensing.
• Do not expose the drive to a corrosive atmosphere.

MN766

Technical Specifications A-5

A.5 VS1SD Drive Ratings, Model Numbers and Frame Sizes
Similar VS1SD drive sizes are grouped into frame sizes to simplify re-ordering and dimensioning. Refer to Table A-5 for the
dimensions of each frame size.
Table A-3 provides VS1SD drive ratings, model numbers and frame sizes.

Table A-3 Drive Ratings, Model Numbers and Frame Sizes

Catalog No.

Input Volt

Quiet 8.0kHz PWM

Standard 2.5kHz PWM

Constant Torque

Size

Input Amp

Output
IC

Input Amp

Output
IC

120

3.2

6.4

4.2

7.4

240

4.8

3.2

6.4

6.3

4.2

7.4

120

4.2

8.4

6.8

11.9

240

6.3

4.2

8.4

10.2

6.8

11.9

120

6.8

13.6

9.6

16.8

240

10.2

6.8

13.6

14.4

9.6

16.8

VS1SD2A3-1B, 4B

240

3.2

6.4

4.2

7.4

VS1SD2A4-1B, 4B

240

4.2

8.4

6.8

11.9

VS1SD6A3-1B, 4B
VS1SD6A4-1B, 4B
VS1SD6A7-1B, 4B

VS1SD2A7-1B, 4B

240

6.8

13.6

9.6

16.8

VS1SD2A10-1B, 4B

240

9.6

19.2

15.2

26.6

VS1SD2A15-1B, 4B

240

15.2

30.4

38.5

VS1SD2A22-1B

240

VS1SD2A28-1B

240

VS1SD2A42-1B

240

94.5

VS1SD2A54-1B

240

94.5

119

VS1SD2A68-1B

240

119

140

VS1SD2A80-1B

240

140

104

182

VS1SD2A104-1B

240

104

182

130

228

VS1SD2A130-1B

240

130

228

154

270

VS1SD4A2-1B, 4B

480

2.1

4.2

3.4

6.0

VS1SD4A3-1B, 4B

480

3.4

6.8

4.8

8.4

VS1SD4A5-1B, 4B

480

4.8

9.6

7.6

13.3

VS1SD4A8-1B, 4B

480

7.6

15.2

11.0

19.3

VS1SD4A11-1B, 4B

480

24.5

VS1SD4A14-1B

480

36.8

VS1SD4A21-1B

480

47.3

VS1SD4A27-1B

480

59.5

VS1SD4A34-1B

480

VS1SD4A40-1B

480

VS1SD4A52-1B

480

114

VS1SD4A65-1B

480

114

135

VS1SD4A77-1B

480

135

168

VS1SD4A96-1B

480

168

124

217

VS1SD4A124-1B

480

124

217

156

273

A-6 Technical Specifications

MN766

A.6 VS1SD Terminal Wire Gauge Specification
Table A-4 specifies the wire gauge allowed for each terminal in the drives.

Table A-4 Terminal Wire Gauge Specification
Catalog Number

Power
AWG
Min-Max

B+/R1, R2 & BAWG
Min-Max

Ground
AWG
Min-Max

TH1/TH2
AWG
Min-Max

Control J1, J2 & P3
AWG
Min-Max

Control J3
AWG
Min-Max

VS1SD6A3-1B, 4B

18-6

24-14

30-14

28-12

VS1SD6A4-1B, 4B

18-6

24-14

30-14

28-12

VS1SD6A7-1B, 4B

18-6

24-14

30-14

28-12

VS1SD2A3-1B, 4B

18-6

24-14

30-14

28-12

VS1SD2A4-1B, 4B

18-6

24-14

30-14

28-12

VS1SD2A7-1B, 4B

18-6

24-14

30-14

28-12

VS1SD2A10-1B, 4B

18-6

24-14

30-14

28-12

VS1SD2A15-1B, 4B

18-6

24-14

30-14

28-12

VS1SD2A22-1B

18-6

24-14

30-14

28-12

VS1SD2A28-1B

18-6

24-14

30-14

28-12

VS1SD2A42-1B

18-6

24-14

30-14

28-12

VS1SD2A54-1B

8-1

24-14

30-14

28-12

VS1SD2A68-1B

8-1

24-14

30-14

28-12

VS1SD2A80-1B

8-1

24-14

30-14

28-12

VS1SD2A104-1B

14-3/0

14-2/0

(4) 14-2/0

26-10

30-14

28-12

VS1SD2A130-1B

14-3/0

14-2/0

(4) 14-2/0

26-10

30-14

28-12

VS1SD4A2-1B, 4B

18-6

24-14

30-14

28-12

VS1SD4A3-1B, 4B

18-6

24-14

30-14

28-12

VS1SD4A5-1B, 4B

18-6

24-14

30-14

28-12

VS1SD4A8-1B, 4B

18-6

24-14

30-14

28-12

VS1SD4A11-1B, 4B

18-6

24-14

30-14

28-12

VS1SD4A14-1B

18-6

24-14

30-14

28-12

VS1SD4A21-1B

18-6

24-14

30-14

28-12

VS1SD4A27-1B

18-6

24-14

30-14

28-12

VS1SD4A34-1B

8-1

24-14

30-14

28-12

VS1SD4A40-1B

8-1

24-14

30-14

28-12

VS1SD4A52-1B

8-1

24-14

30-14

28-12

VS1SD4A65-1B

14-3/0

14-2/0

(4) 14-2/0

26-10

30-14

28-12

VS1SD4A77-1B

14-3/0

14-2/0

(4) 14-2/0

26-10

30-14

28-12

VS1SD4A96-1B

14-3/0

14-2/0

(4) 14-2/0

26-10

30-14

28-12

VS1SD4A124-1B

14-3/0

14-2/0

(4) 14-2/0

26-10

30-14

28-12

MN766

Technical Specifications A-7

A.7 Mounting Dimensions for the VS1SD Drive
Figure A-2 Drive Dimensions
0.25
(6.35)
dia.

Exhaust

A
A1

0.25
(6.35)
dia.

Size

# Holes

Diameter inches (mm)
0.87 (22)

Size AA
OM2000A01

B
0.35
(8.9)

Exhaust

CONDUIT INFORMATION
# Holes
Diameter inches (mm)

Size
B

B-N4X
C
D

0.35 (8.9)

3
3
3
2
3
3

1.115
1.362
1.109
1.375
1.115
1.68

(28.3)
(34.6)
(28.2)
(34.9)
(28.3)
(42)

3
2
1
1

1.115
2.47
1.362
0.5

(28.3)
(62.7)
(34.6)
(12.7)

Size B, C, and D

OM2000A00, 02

Table A-5 Mounting Dimensions
Dimensions inches (mm)
Outside

Size
AA

Weight

Mounting

Height (A)

Width (B)

Depth (C)

Height (A1)

Width (B1)

Width (B2)

lb (kg)

12.27 (311)

7.97 (202)

8.21 (208)

11.75 (298)

7.38 (187)

20 (9.1)

18.00 (457)

9.10 (231)

9.75 (248)

17.25 (438)

7.00 (178)

30 (13.6)

B-N4X

17.50 (444)

10.73 (273)

10.47 (266)

16.50 (419)

7.88 (200)

9.76 (248)

32 (14.5)

22.00 (559)

9.10 (231)

9.75 (248)

21.25 (540)

7.00 (178)

60 (27.2)

28.00 (711)

11.50 (292)

13.00 (330)

27.25 (692)

9.50 (241)

120 (54.4)

A-8 Technical Specifications

MN766

Appendix B
Parameter Tables
B.1 Level 1 Parameters (Advanced Prog, Level 1 Blocks)
All parameters displayed in this appendix are Parameter Table 1 (T1) factory set values. Setting parameter P2103 to yes will
load these values into all four parameter tables. Level 1 & 2 parameters are secured by security access code (P2107).

Table B-1 Parameter Block Values Level 1
Block Title
PRESET
SPEEDS

RAMP RATES

JOG
SETTINGS

MN766

Parameter

Adjustable Range

Factory

PRESET SPEED 1

1001

0 - MAX Speed

PRESET SPEED 2

1002

0 - MAX Speed

PRESET SPEED 3

1003

0 - MAX Speed

PRESET SPEED 4

1004

0 - MAX Speed

120

PRESET SPEED 5

1005

0 - MAX Speed

150

PRESET SPEED 6

1006

0 - MAX Speed

180

PRESET SPEED 7

1007

0 - MAX Speed

210

PRESET SPEED 8

1008

0 - MAX Speed

240

PRESET SPEED 9

1009

0 - MAX Speed

270

PRESET SPEED 10

1010

0 - MAX Speed

300

PRESET SPEED 11

1011

0 - MAX Speed

330

PRESET SPEED 12

1012

0 - MAX Speed

360

PRESET SPEED 13

1013

0 - MAX Speed

390

PRESET SPEED 14

1014

0 - MAX Speed

420

PRESET SPEED 15

1015

0 - MAX Speed

450

ACCEL TIME 1

1101

0.0 to 3600.0 Seconds

3.0

START S-ACC 1

1102

0.0 - 100.0%

0.0

END S-ACC 1

1103

0.0 - 100.0%

0.0

DECEL TIME 1

1104

0.0 to 3600.0 Seconds

3.0

START S-DEC 1

1105

0.0 - 100.0%

0.0

END S-DEC 1

1106

0.0 - 100.0%

0.0

ACCEL TIME 2

1107

0.0 to 3600.0 Seconds

3.0

START S-ACC 2

1108

0.0 - 100.0%

0.0

END S-ACC 2

1109

0.0 - 100.0%

0.0

DECEL TIME 2

1110

0.0 to 3600.0 Seconds

3.0

START S-DEC 2

1111

0.0 - 100.0%

0.0

END S-DEC 2

1112

0.0 - 100.0%

0.0

PL DEC TIME

1113

0.0 to 3600.0 Seconds

1.0

JOG SPEED

1201

0 - MAX Speed

210

JOG ACCEL TIME

1202

0.0 to 3600.0 Seconds

10.0

JOG START S-ACC

1203

0.0 - 100.0%

0.0

JOG END S-ACC

1204

0.0 - 100.0%

0.0

JOG DECEL TIME

1205

0.0 to 3600.0 Seconds

10.0

JOG START S-DEC

1206

0.0 - 100.0%

0.0

JOG END S-DEC

1207

0.0 - 100.0%

0.0

JOG FORWARD

1209

0-Off
1-On

JOG REVERSE

1210

0-Off
1-On

User Setting

Parameter Tables B-1

Table B-1 Parameter Block Values Level 1 (Cont.)
Block Title
KEYPAD
SETUP

INPUT SETUP

Parameter

Adjustable Range

Factory

STOP KEY

1301

0-Off (Keypad Stop inactive in remote)
1-On (Keypad Stop active in remote)

STOP MODE

1302

0-Regen
1-Coast

RUN FORWARD

1303

0-Off
1-On

RUN REVERSE

1304

0-Off
1-On

SWITCH ON FLY

1305

0-Off
1-On

LOCAL HOT START

1306

0-Off
1-On

SPEED INCREMENT

1307

0 - 2500RPM or 0.01 to 60Hz

INIT LOCAL SPEED

1308

0-Zero
1-Last Speed
2-Set Speed

SET SPEED

1309

0 - MAX Speed RPM

PARAMS TO KEYPAD

1310

0-No
1-Yes

DOWNLOAD SELECT

1311

0-All
1-Motor
2-Other

KEYPAD TO PARAMS

1312

0-No
1-Yes

KEYPAD CONTRAST

1313

0 - 100% (0=dimmest, 100=brightest)

BACKLIGHT

1314

0-Off
1-On

LOC TORQUE MODE

1315

0-Off
1-On

LOC TORQUE REF

1316

-100.00 to 100.00%

OPERATING MODE

1401

0-Keypad
1-Standard Run 2Wire
2-Standard Run 3Wire
3-15 Preset Speeds
4- Fan & Pump 2Wire
5- Fan & Pump 3Wire
6-Process Control
7-3Spd Ana 2Wire
8-3Spd Ana 3Wire
9-E-Pot 2Wire
10-E-Pot 3Wire
11-Network
12-Profile Run
13-15 Preset Positions
14-Bipolar
15-Pulse Follower
16-PLC

COMMAND SOURCE

1402

0-None
1-Analog In1
2-Analog In2
3-Keypad
4-Network
5-Composite Ref
6-Opt1 Ana In1
7-Opt1 Ana In2
8-Opt2 Ana In1
9-Opt2 Ana In2
10-EXB Pulse Fol

B-2 Parameter Tables

User Setting

0.00

MN766

Table B-1 Parameter Block Values Level 1 (Cont.)
Block Title
INPUT SETUP
(Continued)

MN766

Parameter

Adjustable Range

Factory

ANA IN1 TYPE

1403

0-None
1-Potentiometer

ANA IN1 INVERT

1404

0-Off
1-On

ANA IN1 GAIN

1405

0.0% to 300.0%

ANA IN1 OFFSET

1406

-100.0% to 100.0%

ANA IN1 FILTER

1407

0 (No Filter) to 6 (Max Filter)

ANA IN2 TYPE

1408

0-None
1-(-10V to +10V)
2-(-5V to +5V)
3-(4 to 20mA)
4-(0 to 20mA)
5-(0 to 10V)
6-(0 to 5V)

ANA IN2 INVERT

1409

0-Off
1-On

ANA IN2 GAIN

1410

0.0% to 300.0%

ANA IN2 OFFSET

1411

-100.0% to 100.0%

0.0

ANA IN2 D.BAND

1412

0.0% to 75.0%

0.0

ANA IN2 FILTER

1413

0 (No Filter) to 6 (Max Filter)

EXT. CUR LIMIT

1414

0-Off
1-On

CURR LMT SOURCE

1415

0-None
1-Analog In1
2-Analog In2
3-Keypad
4-Composite Ref
5-Opt1 Ana In1
6-Opt1 Ana In2
7-Opt2 Ana In1
8-Opt2 Ana In2
9-Network

SLEEP MODE

1416

0-Off
1-On

CMD SLEEP BAND

1417

0.00 to 100.00%

0.00

TORQUE FF SRC

1418

0-None
1-Analog In1
2-Analog In2
3-Keypad
4-Composite Ref
5-Opt1 Ana In1
6-Opt1 Ana In2
7-Opt2 Ana In1
8-Opt2 Ana In2

User Setting

100.0
0.0

100.0

Parameter Tables B-3

Table B-1 Parameter Block Values Level 1 (Cont.)
Block Title
OUTPUT
SETUP

Parameter

Adjustable Range

User Setting

DIGITAL OUTPUT 1

1501

DIGITAL OUTPUT 2

1502

RELAY OUTPUT 1

1503

RELAY OUTPUT 2

1504

ZERO SPD SET PT

1505

0 - MAX Speed

180

AT SPD BAND

1506

0 - 100 RPM

SET SPEED POINT

1507

0 - MAX Speed RPM

1800

OVERLOAD SET PT

1508

0.0 - 200.0%

150.0

UNDERLOAD SET PT

1509

0.0 - 200.0%

50.0

ANA OUT1 TYPE

1510

0-(0 to +10V)
1-(0 to 5V)
2-(4mA to 20mA)
3-(0mA to 20mA)

B-4 Parameter Tables

0-Drive Run
1-Drive Ready
2-Drive On
3-Drive Stopped
4-Jog
5-Accelerate
6-Constant Speed
7-Decelerate
8-At Zero Speed
9-At Speed
10-At Set Speed
11-Current Overload
12-Current Underload
13-I2T Overload
14-Keypad Control
15-Dynamic Brake
16-Foldback
17-Fault
18-Alarm
19-Command Forward
20-Command Reverse
21-Motor Forward
22-Motor Reverse
23-Process Error
24-Network
25-At Position
26-In Motion
27-PLC
28-RTC
29-Powered Up

Factory
8
9
17

MN766

Table B-1 Parameter Block Values Level 1 (Cont.)
Block Title

Parameter

OUTPUT
SETUP
(Continued)

ANA OUT1 SIGNAL

1511

0-Speed Ref
1-Speed Demand
2-ACC/DEC
3-Motor Current
4-Mag Current
5-Mag Curr Cmd
6-Load Current
7-Load Curr Cmd
8-Power Factor
9-Ph1 Current
10-Ph2 Current
11-Ph3 Current
12-Motor Voltage
13-VD Demand
14-VQ Demand
15-Bus Voltage
16-Abs Torque
17-Torque
18-Control Temp
19-Analog In1
20-Analog In2
21-Opt1 Ana In1
22-Opt1 Ana In2
23-Opt2 Ana In1
24-Opt2 Ana In2
25-Proc Feedforward
26-Proc Feedback
27-Proc Setpoint
28-Electric Angle
29-Abs Speed
30-Velocity
31-Network
32-Composite Ref
33-Power (kW)
34-Calibrate

ANA OUT1 GAIN

1512

0.0 - 200.0%

ANA OUT2 TYPE

1513

0-(+/-5V)
1-(+/-10V)

MN766

Adjustable Range

Factory

User Setting

100.0
1

Parameter Tables B-5

Table B-1 Parameter Block Values Level 1 (Cont.)
Block Title

Parameter

OUTPUT
SETUP
(Continued)

ANA OUT2 SIGNAL

1514

ANA OUT2 GAIN

1515

0.0 - 200.0%

CAL ANA OUT

1516

-100.0% to 100.0%

0.0

AT POS BAND (for Feedback
Device Only)

1517

1 to 4095 Counts

CONTROL TYPE

1601

3-AC Servo (only value selection)

FEEDBACK ALIGN

1631

0-Forward
1-Reverse

FEEDBACK FILTER

1632

0-7

CURR PROP GAIN

1633

0 - 150

CURR INT GAIN

1634

0.0 - 3000.00Hz

150.00

SPEED PROP GAIN

1635

0.0 - 1000.00

1.000

SPEED INT GAIN

1636

0.00 - 1000.00Hz

1.000

SPEED DIFF GAIN

1637

0.00 - 1.00000

POSITION GAIN

1638

0.0 - 1000.0

8.0

A.S. PROP GAIN

1639

0.0 - 255.0

10.0

A.S. INT GAIN

1640

0.00 - 150.00Hz

50.0

FEEDBACK OFFSET
(for Resolver Feedback Only)

1671

0.00 to 360.00°

46.60°

STATOR L

1672

0.0 to 1000.0mH

CALC

STATOR R

1673

0.0 to 1000.0Ω

CALC

VOLTAGE CONSTANT

1674

0.0 to 1500.0V/kRPM

CALC

MOTOR
CONTROL

B-6 Parameter Tables

Adjustable Range

Factory

User Setting

100.0

0.00000

MN766

Table B-1 Parameter Block Values Level 1 (Cont.)
Block Title
COMMUNICATION

CUSTOM
MOTOR

MN766

Parameter

Adjustable Range

Factory

BAUD RATE

1701

0-9600
1-19200
2-38400
3-56000
4-115200

PARITY

1702

0-None
1-Odd
2-Even

STOP BITS

1703

0-One
1-Two

DRIVE ADDRESS

1704

1 - 247

OPT CARD RESET

1705

0-Off
1-Slot 1
2-Slot 2
3-Slots 1 & 2

SECURITY DEFAULT

1706

0-No
1-Yes

BROWSER USER ID

1707

ASCII user ID for the Ethernet Web
Browser Option Board if installed.

baldor

BROWSER PASSWORD

1709

Password for the Ethernet Web Browser
Option Board if installed.

baldor

ALIGNMENT CURRENT

1821

10.0 to 100.0%

ALIGNMENT TIME

1822

0.0 to 60.0 seconds

User Setting

50.00%
5.0

Parameter Tables B-7

B.2 Level 2 Parameters (Advanced Prog, Level 2 Blocks)
Table B-2 Parameter Block Values Level 2
Block Title
DRIVE LIMITS

DRIVE
CONFIGURE

DRIVE
PROTECT

Parameter

Adjustable Range

Factory

OPERATING ZONE

2001

0-Std Const Torq
1-Std Var Torq
2-Quiet Const Torq
3-Quiet Var Torq

MIN OUTPUT SPEED

2002

0 - MAX Speed RPM

MAX OUTPUT SPEED

2003

500 - 15,000RPM

2500

PWM FREQUENCY

2004

1000 - 16000Hz

8000

CURR RATE LIMIT

2005

0.000 - 10.000 seconds

0.004

PEAK CURR LEVEL

2006

0.000 – Peak Rated Current

CALC

REGEN TORQ LIMIT

2007

0.0 - 200%

CALC

SPEED UNITS

2101

0-Hz
1-RPM

LANGUAGE SELECT

2102

0-English
1-Other (Spanish, German, Italian,
French, or Portuguese)

FACTORY SETTINGS

2103

0-No
1-Yes

SECURITY

2105

0-Off
1-Local
2-Network
3-Total

ACCESS TIMEOUT

2106

1.0 - 600.0 seconds

ACCESS CODE

2107

0 - 9999

ACTIVE PARAM TBL

0052

0-T1
1-T2
2-T3
3-T4

CLEAR FAULT LOG

2108

0-No
1-Yes

POWER INPUT

2110

0-Single Phase
1-Common Bus Slave
2-Three Phase
3-Common Bus Master

EXECUTE MACRO

2112

0-No
1-M1
2-M2
3-M3
4-M4
5-M5

UNDO MACRO

2113

0-No
1-Yes

TORQ ENABLE SEQ

2114

0-Torque On Enable
1-Torque On Command

EXTERNAL TRIP

2201

0-Off
1-On

FOLLOWING ERROR

2202

0-Off
1-On

FEEDBACK LOSS

2204

0-Off
1-On

OVERLOAD

2206

0-Fault
1-Foldback
2-Hold

B-8 Parameter Tables

User Setting

5.0
9999

MN766

Table B-2 Parameter Block Values Level 2 (Cont.)
Block Title
DRIVE
PROTECT
(Continued)

MISCELLANEOUS

MOTOR DATA

MN766

Parameter

Adjustable Range

Factory

OVER TEMPERATURE

2210

0-Derate
1-Fault

POWER DOWN OPTIONS

2211

0-Fault
1-Ride Through

CNTRL STP BUS LBL

2212

200 to 800V

CNTL STOP DELAY

2213

0-3600.0 Seconds

Kp RIDE THROUGH

2214

0-1000.0000

User Setting

CACL

Ki RIDE THROUGH

2215

0-1000.0000

AUTO RESTART

2301

0-Manual
1-At Powerup
2-After Fault
3-Both

RESTARTS/HOUR

2302

0 - 10

RESTART DELAY

2303

0 - 3600 seconds

PWM TECHNIQUE

2304

0-Space Vector
1-Sine Triangle

COST OF ENERGY

2305

0.00 - 99999.00$/KWH

RESET ENERGY

2306

0-No
1-Yes

0.10
0

HOMING SPEED

2307

0 - MAX Speed RPM

HOMING OFFSET

2308

-9999 to 20000 counts

FILTER TYPE

2309

0-None
1-Low Pass
2-High Pass
3-Notch

FILTER SOURCE

2310

0-None
1-Raw Speed
2-Torque
3-Analog In1
4-Analog In2
5-Composite Ref
6-Opt1 Ana In1
7-Opt1 Ana In2
8-Opt2 Ana In1
9-Opt2 Ana In2

FILTER DEST

2311

0-None
1-Speed Loop
2-Torque Loop
3-Speed FFWD
4-Process FBK
5-Process FFWD
6-Process SP

FILTER CUTOFF

2312

0.00 - 1000.00Hz

0.00

NOTCH CNTR FREQ

2313

0.00 - 500.00Hz

0.00

NOTCH BAND

2314

0.00 - 200.00Hz

0.00

MOTOR RATED AMPS

2402

0 - MAX AMPS

CALC

1024

MOTOR RATED SPD

2403

10 - 30000RPM

ENCODER COUNTS

2408

50 - 20000

Use default
setting
only

2500

FEEDBACK SOURCE

2409

0-None
1-Option Slot1
2-Option Slot2
3-Daughter FDBK

Use default
setting
only

Parameter Tables B-9

Table B-2 Parameter Block Values Level 2 (Cont.)
Block Title
MOTOR DATA
(Continued)

BRAKE ADJUST

PROCESS
CONTROL

Parameter

Adjustable Range

Factory

ENCODER TYPE

2410

0-Single
1-Differential

RESOLVER SPEED

2411

0 - 10

MOTOR POLE PAIRS

2413

1 - 100

CALC MOTOR MODEL

2414

0-No
1-Yes

REVERSE ROTATION

2415

0-Off
1-On

RESISTOR OHMS

2501

0 - 255.0Ohms

CALC

RESISTOR WATTS

2502

0 - 999999Watts

CALC

RESISTOR TTC

2503

20 - 3600 seconds

CALC

PROCESS TYPE

2601

0-None
1-Forward Acting
2-Reverse Acting

SETPOINT ADJ LIM

2602

0.0 - 100.0%

PROC FEEDBACK

2603

0-None
1-Setpoint Cmd
2-Local Speed Ref
3-Analog In1
4-Analog In2
5-Network
6-Composite Ref
7-Opt1 Ana In1
8-Opt1 Ana In2
9-Opt2 Ana In1
10-Opt2 Ana In2

SETPOINT SOURCE

2604

0-None
1-Setpoint Cmd
2-Local Speed Ref
3-Analog In1
4-Analog In2
5-Network
6-Composite Ref
7-Opt1 Ana In1
8-Opt1 Ana In2
9-Opt2 Ana In1
10-Opt2 Ana In2

SETPOINT COMMAND

2605

-100.0% to +100.0%

0.0

PROC ERR TOL

2606

0.0 - 100.0%

10.0

PROC PROP GAIN

2607

0.0000 - 1000.0000

1.0000

PROC INTG GAIN

2608

0.0000 - 1000.0000

0.0000

PROC INTG CLAMP

2609

0.0 - 100.0%

100.0

PROC DIFF GAIN

2610

0.0000 - 1000.0000

0.0000

PROFILE ADJUST

2611

0-Off
1-On

PROFILE ADJ BAND

2612

0.0 - 200.0%

50.0

PROC SLEEP BAND

2613

0.0 - 100.0%

0.0

PROC OUT FILTER

2614

0.0 - 100.0 seconds

0.00

PROC OUT OFFSET

2615

-100.0 - 100.0%

0.0

PROC OUT GAIN

2616

0.0 - 200.0%

B-10 Parameter Tables

User Setting

Use default
setting
only

100.0%

100.0

MN766

Table B-2 Parameter Block Values Level 2 (Cont.)
Block Title

Parameter

AUTO TUNE

ANA OFFSET TRIM

2901

0-No
1-Yes

ONE-STEP TUNING

2902

0-No
1-Yes

CUR. LOOP TUNE

2906

0-No
1-Yes

FLUX CUR. TUNE

2907

0-No
1-Yes

FEEDBACK TEST

2908

0-No
1-Yes

SPEED LOOP TUNE

2910

0-No
1-Yes

MN766

Adjustable Range

Factory

User Setting

Parameter Tables B-11

B.3 Level 3 Parameters (Advanced Prog, Level 3 Blocks)
Table B-3 Parameter Block Values Level 3
Block Title
PROFILE RUN

PULSE
FOLLOWER

Parameter

Adjustable Range

Factory

NUMBER OF CYCLES

3001 0 - 255

PR RESTART MODE

3002 0-Restart
1-Continue

SPEED CURVE 1

3003 0-FWD-Group1
1-REV-Group1
2-FWD-Group2
3-REV-Group2

PROFILE TIME 1

3004 0 - 99999.00 seconds

SPEED CURVE 2

3005 0-FWD-Group1
1-REV-Group1
2-FWD-Group2
3-REV-Group2

PROFILE TIME 2

3006 0 - 99999.00 seconds

SPEED CURVE 3

3007 0-FWD-Group1
1-REV-Group1
2-FWD-Group2
3-REV-Group2

PROFILE TIME 3

3008 0 - 99999.00 seconds

SPEED CURVE 4

3009 0-FWD-Group1
1-REV-Group1
2-FWD-Group2
3-REV-Group2

PROFILE TIME 4

3010 0 - 99999.00 seconds

SPEED CURVE 5

3011 0-FWD-Group1
1-REV-Group1
2-FWD-Group2
3-REV-Group2

PROFILE TIME 5

3012 0 - 99999.00 seconds

SPEED CURVE 6

3013 0-FWD-Group1
1-REV-Group1
2-FWD-Group2
3-REV-Group2

PROFILE TIME 6

3014 0 - 99999.00 seconds

SPEED CURVE 7

3015 0-FWD-Group1
1-REV-Group1
2-FWD-Group2
3-REV-Group2

PROFILE TIME 7

3016 0 - 99999.00 seconds

0.00

ASTER PPR

3101 50 - 20000 counts

1024

INPUT VOLTS

3102 0-5V
1-12V

INPUT TYPE

3103 0-None
1-Quadrature
2-Speed

TRACK MODE

3104 0-Velocity Following
1-Position Following
2-Position Sync

INCREMENT STEP

3105 1 - 1024

0.00
0

RX RATIO INPUT

3106 1 - 1048576

1024

RX RATIO OUT 1

3107 1 - 1048576

1024

B-12 Parameter Tables

User Setting

MN766

Table B-3 Parameter Block Values Level 3 (Cont.)
Block Title
PULSE
FOLLOWER
(Continued)

CUSTOM
UNITS

PRESET
POSITIONS [2]

Parameter

Adjustable Range

Factory

RX RATIO OUT 2

3108 1 - 1048576

1024

RX RATIO OUT 3

3109 1 - 1048576

1024

RX RATIO OUT 4

3110 1 - 1048576

1024

OUTPUT TYPE

3111 0-Quadrature
1-Speed

TX RATIO INPUT

3112 1 - 1048576

1024

TX RATIO OUTPUT

3113 1 - 1048576

1024

SAVE RX OUT RATIO

3114 0 - 1

MAX DEC PLACES

3201 0 - 5

VALUE AT SPEED

3202 0.0 - 9999999.0 (X.X: YRPM)

0.0: 0RPM

UNITS OF MEASURE

3203 ASCII & Graphic Characters

Cust

PRESET REVs 2

3301 (-49999 to 49999) : (-4095 to 4095)

1:0000

PRESET REVs 3

3302 (-49999 to 49999) : (-4095 to 4095)

2:0000

PRESET REVs 4

3303 (-49999 to 49999) : (-4095 to 4095)

3:0000

PRESET REVs 5

3304 (-49999 to 49999) : (-4095 to 4095)

4:0000

PRESET REVs 6

3305 (-49999 to 49999) : (-4095 to 4095)

5:0000

PRESET REVs 7

3306 (-49999 to 49999) : (-4095 to 4095)

6:0000

PRESET REVs 8

3307 (-49999 to 49999) : (-4095 to 4095)

7:0000

PRESET REVs 9

3308 (-49999 to 49999) : (-4095 to 4095)

8:0000

PRESET REVs 10

3309 (-49999 to 49999) : (-4095 to 4095)

9:0000

PRESET REVs 11

3310 (-49999 to 49999) : (-4095 to 4095)

10:0000

PRESET REVs 12

3311 (-49999 to 49999) : (-4095 to 4095)

11:0000

PRESET REVs 13

3312 (-49999 to 49999) : (-4095 to 4095)

12:0000

PRESET REVs 14

3313 (-49999 to 49999) : (-4095 to 4095)

13:0000

PRESET REVs 15

3314 (-49999 to 49999) : (-4095 to 4095)

14:0000

POS PROP GAIN

3329 000.0000 to 100.0000

000.1000

POS INTG GAIN

3330 000.0000 to 100.0000

000.0000

POS INTG CLAMP

3331 000.0 to 100.0%

POS DIFF GAIN

3332 000.0000 to 100.0000

POS MAX ADJUST

3333 000.0 to 100.0%

10.0

POS FILTER

3334 0.1 to 500.0Hz

10.0

User Setting

10.0
0.0000

[2] The adjustable range of each Preset Position parameter is x:y where:
x= -49999 to 49999 REV
y= -4095 to 4095 counts
Note: In Mint WorkBench, each position is displayed as individual parameters.
For example, Preset POS 2 is 3301 (X) and 3315 (y). Parameters 3315 through 3328 are viewable only in Mint
WorkBench.
PLC MODE

MN766

PLC CONFIG 1

3401 0 to 255.255.255.255

000.128.000.000

PLC CONFIG 2

3402 0 to 255.255.255.255

000.128.000.000

PLC CONFIG 3

3403 0 to 255.255.255.255

000.128.000.000

PLC CONFIG 4

3404 0 to 255.255.255.255

000.128.000.000

PLC CONFIG 5

3405 0 to 255.255.255.255

000.128.000.000

PLC CONFIG 6

3406 0 to 255.255.255.255

000.128.000.000

PLC CONFIG 7

3407 0 to 255.255.255.255

000.128.000.000

PLC CONFIG 8

3408 0 to 255.255.255.255

000.128.000.000

Parameter Tables B-13

Table B-3 Parameter Block Values Level 3 (Cont.)
Block Title
PLC MODE
(Continued)

COMPOSITE
REF

Parameter

Adjustable Range

Factory

PLC CONFIG 9

3409 0 to 255.255.255.255

000.128.000.000

PLC CONFIG 10

3410 0 to 255.255.255.255

000.128.000.000

PLC CONFIG 11

3411 0 to 255.255.255.255

000.128.000.000

PLC CONFIG 12

3412 0 to 255.255.255.255

000.128.000.000

PLC CONFIG 13

3413 0 to 255.255.255.255

000.128.000.000

PLC CONFIG 14

3414 0 to 255.255.255.255

000.128.000.000

PLC CONFIG 15

3415 0 to 255.255.255.255

000.128.000.000

PLC CONFIG 16

3416 0 to 255.255.255.255

000.128.000.000

PLC CONFIG 17

3417 0 to 255.255.255.255

000.128.000.000

PLC CONFIG 18

3418 0 to 255.255.255.255

000.128.000.000

PLC CONFIG 19

3419 0 to 255.255.255.255

000.128.000.000

PLC CONFIG 20

3420 0 to 255.255.255.255

000.128.000.000

PLC CONFIG 21

3421 0 to 255.255.255.255

000.128.000.000

PLC CONFIG 22

3422 0 to 255.255.255.255

000.128.000.000

PLC CONFIG 23

3423 0 to 255.255.255.255

000.128.000.000

PLC CONFIG 24

3424 0 to 255.255.255.255

000.128.000.000

PLC CONFIG 25

3425 0 to 255.255.255.255

000.128.000.000

PLC CONFIG 26

3426 0 to 255.255.255.255

000.128.000.000

PLC CONFIG 27

3427 0 to 255.255.255.255

000.128.000.000

PLC CONFIG 28

3428 0 to 255.255.255.255

000.128.000.000

PLC CONFIG 29

3429 0 to 255.255.255.255

000.128.000.000

PLC CONFIG 30

3430 0 to 255.255.255.255

000.128.000.000

COMPARE A PARAM

3431 00000 to 10000

COMPARE A CNST1

3432 0.00 to 100.00%

0.00

COMPARE A CNST2

3433 0.00 to 100.00%

0.00

COMPARE B PARAM

3434 00000 to 10000

COMPARE B CNST1

3435 0.00 to 100.00%

0.00

COMPARE B CNST2

3436 0.00 to 100.00%

0.00

TIMER A DURATION

3440 0.00 to 999999.00 seconds

0.00

TIMER B DURATION

3441 0.00 to 999999.00 seconds

0.00

TIMER C DURATION

3442 0.00 to 999999.00 seconds

0.00

TIMER D DURATION

3443 0.00 to 999999.00 seconds

0.00

PARAM A NUMBER

3501 00000 to 10000

PARAM A FUNCTION

3502 0-Zero
1-Identity
2-Absolute Value
3-Invert
4-Square
5-Square Root
6-Sine
7-Cosine
8-Ramp Generator
9-Freq Generator

PARAM B NUMBER

3503 00000 to 10000

B-14 Parameter Tables

User Setting

MN766

Table B-3 Parameter Block Values Level 3 (Cont.)
Block Title
COMPOSITE
REF
(Continued)

RTC
FEATURES
(Real Time
Clock)

Parameter

Adjustable Range

Factory

PARAM B FUNCTION

3504 0-Zero
1-Identity
2-Absolute Value
3-Invert
4-Square
5-Square Root
6-Sine
7-Cosine
8-Ramp Generator
9-Freq Generator

OPERATOR

3505 0-Sum
1-Difference
2-Multiply
3-Divide
4-Mazimum
5-Minimum

FUNCTION

3506 0-Zero
1-Identity
2-Absolute Value
3-Invert
4-Square
5-Square Root
6-Sine
7-Cosine
8-Ramp Generator
9-Freq Generator

PARAM A GAIN

3507 -1000.000 to 1000.000

1.000

PARAM B GAIN

3508 -1000.000 to 1000.000

1.000

RTC ACTION 1

3601 0-None
1-D.Out1 On
3602 2-D.Out1 Off
3-D.Out2 On
4-D.Out2 Off
5-R.Out1 On
6-R.Out1 Off
7-R.Out2 On
8-R.Out2 Off
9-Increment
10-Decrement
11-Reset
12-D.Out1 On/IncP107
13-D.Out1 Off/IncP107
14-D.Out1 On/DecP107
15-D.Out1 Off/DecP107
16-D.Out1 On/Reset
17-D.Out1 Off/Reset
18-R.Out1 On/IncP107
19-R.Out1 Off/IncP107
20-R.Out1 On/DecP107
21-R.Out1 Off/DecP107
22-R.Out1 On/Reset
23-R.Out1 Off/Reset

3603 0-None
1-Clean Filter
3604 2-Change Filter
3-Apply Oil/Lube
4-Service Motor
5-Service Drive
6-Service Coolant
7-Service Heating
8-RTC Alarm

RTC ACTION 2

RTC MESSAGE 1
RTC MESSAGE 2

MN766

User Setting

Parameter Tables B-15

Table B-3 Parameter Block Values Level 3 (Cont.)
Block Title
RTC
FEATURES
(Real Time
Clock)
(Continued)

Parameter
ACT1 QUALIFIER
ACT2 QUALIFIER
MSG1 QUALIFIER
MSG2 QUALIFIER

Adjustable Range

3605 0-Once
1-Second
3606 2-Minute
3607 3-Hourly
4-Daily
3608 5-Monthly
6-Yearly

Factory
0
0
0
0

ACT1 DATE/TIME

3609 01 January 2000, 00:00:00 31 December 2063, 23:59:59

Jan 01,2000
00:00:00

ACT2 DATE/TIME

3610 01 January 2000, 00:00:00 31 December 2063, 23:59:59

Jan 01,2000
00:00:00

MSG1 DATE/TIME

3611 01 January 2000, 00:00:00 31 December 2063, 23:59:59

Jan 01,2000
00:00:00

MSG2 DATE/TIME

3612 01 January 2000, 00:00:00 31 December 2063, 23:59:59

Jan 01,2000
00:00:00

RTC COUNTER MAX

3630 00000 - 99999

DST SELECT

3631 0-Off
1-U.S.A.
2-E.U.

B-16 Parameter Tables

User Setting

MN766

Appendix C
CE Guidelines
C.1 Outline
This section provides general information regarding recommended methods of installation for CE compliance. It is not
intended as an exhaustive guide to good practice and wiring techniques. It is assumed that the installer of the VS1SD is
sufficiently qualified to perform the task, and is aware of local regulations and requirements. Baldor products that meet the
EMC directive requirements are indicated with a “CE” mark. A duly signed CE declaration of conformity is available from
Baldor.

C.2 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 Electromagnetic Compatibility Directive 2004/108/EC or the Low Voltage Directive 2006/95/EC.
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 2004/108/EC 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 informs the purchaser that the equipment has been tested and complies with the appropriate standards.
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 that it is the instructions of installation and the product that should comply with the directive.
Note that this drive is commercial in design. It is not intended to be used on a low-voltage public network which
supplies domestic premises. In a domestic environment, this product may cause radio interference in which case
supplementary mitigation may be required.

Wiring of Shielded (Screened) Cables

Remove the outer insulation to
expose the overall screen.

Figure C-1

Conductive
Clamp

A = 30mm max.
B = 500mm max.
C = 30mm max.
A

B
Shielded Couplings

360 Degree Coupling

MN766

360 Degree
Coupling

Conductive
360 Degree Clamp

CE Guidelines C-1

C.3 EMC Installation Options
When installed for Class A or Class B operation, the control is compliant with EN55011 (1991)/ EN55022 (1994) for radiated
emissions as described.

C.4 Grounding for Wall Mounting (Class A) also see Chapter 4
Top cover must be installed.
• A single-star point (earth) is required.
• The protective earth connection (PE) to the motor must be run inside the screened cable or conduit between the motor
and control and be connected to the protective earth terminal at the control.
• The internal/external AC supply filter must be permanently earthed.
• The signal/control cables must be screened.

C.5 Grounding for Enclosure Mounting (Class B) also see Chapter 4
• The unit is installed for Class B operation when mounted inside an enclosure that has 10dB attenuation from 30
to 100MHz (typically the attenuation provided by a metal cabinet with no opening greater than 0.15m), using the
recommended AC supply filter and having met all cable requirements.
Note: Radiated magnetic and electric fields inside the cubicle will be high and components installed inside must be
sufficiently immune.
• The control, external filter and associated equipment are mounted onto a conducting, metal panel. Do not use enclosures
that use insulating mounting panels or undefined mounting structures. Cables between the control and motor must be
screened or in conduit and terminated at the control.

C.6 Use of CE Compliant Components
The following points should be considered:
• Using CE approved components will not guarantee a CE compliant system!
• The components used in the drive, installation methods used, materials selected for interconnection of components are
important.
• The installation methods, interconnection materials, shielding, filtering and earthing / grounding of the system as a whole
will determine CE compliance.
• 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).

C-2 CE Guidelines

MN766

C.7 EMC Wiring Technique
Figure C-2

FILTER

1 CABINET
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.
Y-Capacitor
- 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.
2 SCREEN 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.

CONTROLLER

3 EMC - 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).
Note: EMC compliance testing was conducted on representative drives
of each frame size using Schaffner FN3258 and FN351 series filters.
4 GROUNDING (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 (10mm2). 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.
Minimum size of the protective earthing conductor shall comply with the local
safety regulation for high protective earthing conductor current equipment.
5 Y-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.

Attention: Line drawing shows only principle of an EMC wiring. The shown installation can be different to
any national standard (e.g. VDE)

MN766

CE Guidelines C-3

C.8 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. [1]
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. [2]
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. [1]
G) To reduce ground current, use at least a 10mm2 (6 AWG) solid wire for ground connections.
[1] 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.
[2] Or run as twisted pair at minimum.
Example Cable Screens Grounding

Figure C-3
Cable (Twisted Pair Conductors)

Conductive Clamp - Must contact bare cable shield
and be secured to metal backplane.

C-4 CE Guidelines

MN766

Appendix D
Options and Kits
D.1 Dynamic Braking (DB) Hardware
Whenever a motor is abruptly stopped or forced to slow down quicker than if allowed to coast to a stop, the motor becomes
a generator. This energy appears on the DC Bus of the control and must be dissipated using dynamic braking hardware.
Dynamic braking resistors are completely assembled and mounted in a NEMA 1 enclosure. A listing of available RGA
assemblies is provided in Table D-1. Select the braking resistor that has correct ohm value for the control and adequate
continuous watts capacity to meet load requirements.

Table D-1 Dynamic Braking Resistor Assemblies (RGA)
Input
Volts

230

460

Continuous Rated Watts

Total *
Ohms

600

1200

2400

1-7.5

RGA620

RGA1220

RGA2420

10-20

RGA1206

RGA2406

25-40

RGA1204

RGA2404

50-60

1-3

120

RGA6120

RGA12120 RGA24120

4800

6400

9600

14200

RGA6402

RGA9602

RGA14202

RGA6404

RGA9604

RGA14204

RGA4806
RGA4804
RGA4802

5-10

RGA660

RGA1260

RGA2460

RGA4860

15-25

RGA620

RGA1220

RGA2420

RGA4820

30-50

RGA1210

RGA2410

RGA4810

60-125

RGA1204

RGA2404

RGA4804

* Note: Total Ohms column indicates the minimum resistance that the output transistors can drive. For example, if the Total
Ohms column indicates 6 ohms and a 6 ohm resistor is unavailable, an 8 ohm can be used but not a 4 ohm resistor.

MN766

Options and Kits D-1

D.2 Expansion Boards
Baldor offers a wide variety of plug-in expansion boards for their Controls. Expansion boards allow a control to be
compatible with various inputs and outputs. Each control can accept up to two expansion boards. Chapter 3 of this manual
describes the locations of the connectors for these expansion boards.

Table D-2 Expansion Board Descriptions
Catalog Number

Description

EXBHH001A01

Ethernet Server Expansion Board
Uses standard RJ-45 female terminal for Ethernet connection. Provides easy connection to any
PC based Web Browser that has an Ethernet connection. Allows you to quickly access all drive
parameters for setup and review. Download parameter values, operating conditions, and fault log
data for review and archive.

EXBHH002A01

Mint® Expansion Board
Provides stand alone single axis Position Control and is programmable in Mint® language.
Position capabilities include Master Axis Follower, Electronic Gearbox, Flying Shears, Registration,
VirtualMaster, and CAM functions. Uses MINT Workbench V5 for setup and diagnostics. Master
encoder input supports differential inputs for A, B and C (Index pulse). Uses DB9 for connection. One
CANopen channel is available for connection to additional I/O breakout box or CAN HMI terminal.
Connection to PC is by USB1.1 connector. Includes CD Rom and 2m USB cable.

EXBHH003A01

Isolated Input Expansion Board
Contains 9 isolated inputs, jumper configurable for 90-130 VAC. All inputs must be the same voltage.
One side of all inputs is common. This board replaces all the opto inputs on the main control board.
Uses screw terminals for connection.

EXBHH005A01

High resolution analog input/output board
Allows two inputs with up to 16 bits resolution. DC inputs: ±10V, 0-10V, ±5V, 0-5V, with 300 microvolt
resolution. Current inputs: 4-20mA, with 0.6 microamps resolution.
Input
Resolution
±10V
16 bit
0 - 10V
15 bit
±5V
15 bit
0 - 5V
14 bit
0 - 20mA
15 bit
4 - 20mA
15 bit
Both the 0-10V and 4-20mA inputs may be inverted to 10-0V and 20-4mA. Two outputs, each with
±10VDC, 0-10VDC or 4-20mA with inverting capability. These are in addition to the two analog
outputs on the main control board (4 total). Uses screw terminals for connection.

EXBHH007A01

Master Pulse Reference / Isolated Pulse Follower
Jumper selection of the following modes:
1. Accepts a 5VDC or 12VDC quadrature pulse train input or pulse and direction input to
use as a master reference.
2. Re-transmits the input pulse train at 5VDC for ratios from 1:20 up to 65535:1. (Scaled
output).
3. Can be used as a auxiliary encoder input to the control
4. A CANopen port with an RJ-45 female connector for adding an additional I/O breakout
box or CAN HMI terminal.

EXBHH013A02

DeviceNet / EtherNet/IP / Modbus-TCP Communications Expansion Board
Allows connection to DeviceNet Communications Bus. Allows connection to EtherNet/IP
Communications Bus. Allows connection to Modbus-TCP Communications Bus. Uses screw
terminals for DeviceNet connection.

EXBHH014A02

PROFIBUS-DP Expansion Board
Allows connection to PROFIBUS-DP Communications Bus. Uses 9-pin D-shell for connection.

EXBHH016A01

LonWorks Communications Expansion Board
Allows connection to LonWorks Communications Bus. Uses plug-in terminals for connection.

EXBHH017A01

Metasys N2 Communications Expansion Board
Allows connection to or N2 communications network.
Uses screw terminals for connection.

D-2 Options and Kits

MN766

D.3 Keypad Extension Cable
For the convenience of our customers, we offer a connector plug/cable assembly. This assembly provides the connectors
from the keypad to the control for remote keypad operation.
CAUTION:

Only use cables manufactured by Baldor. Cables purchased from other sources may not be
properly wired and may damage the control or keypad and void the warranty.

Table D-3 Keypad Extension Cable Selection
Catalog Number

Length

CBLHH015KP

5 ft (1.5m)

CBLHH030KP

10 ft (3.0m)

CBLHH046KP

15 ft (4.6m)

CBLHH061KP

20 ft (6.1m)

CBLHH091KP

30 ft (9.1m)

CBLHH152KP

50 ft (15.2m)

CBLHH229KP

75 ft (22.9m)

CBLHH305KP

100 ft (30.5m)

CBLHH457KP

150 ft (45.7m)

CBLHH610KP

200 ft (61.0m)

D.4 Keypad Connector
The keypad connector referenced in Figure D-1 and Table D-4 is an RJ-11 type wired as half duplex RS485. Twisted pair
wire must be used to connect the keypad and control for remote mounting of the keypad.
CAUTION:

Figure D-1 Keypad Connector RJ-11

6
5
4
3
2
1
RJ11
Connection, either end with clip on bottom

Table D-4 Cable Connections
Pin

MN766

Signal Name

Description

RS485 Line A

RS485 Line B

KP_PS_GND

Power Supply Return

+8V

Power Supply +

KP_PS_GND

Power Supply Return

+8V

Power Supply +

Options and Kits D-3

D.5 Optional Remote Keypad Installation
The keypad may be remotely mounted using optional Baldor keypad extension cable (refer to Table D-3). When the keypad
is properly mounted to a NEMA Type 4X enclosure, it retains the Type 4X rating. The mounting/drill template is located in
Appendix E of this manual.
CAUTION:

Only use cables manufactured by Baldor. Cables purchased from other sources may not be
properly wired and may damage the control or keypad and void the warranty.

Tools Required:
•
•
•
•
•
•

Center punch, tap handle, screwdrivers (Phillips and straight)
#27 drill bit
1-3/8” standard knockout punch
RTV Sealant
(3) 6-32x3/8” screws
(3) #6 Flat Washers

Mounting Instructions: For clearance mounting holes
1. Locate a flat 4” wide x 5.5” minimum high mounting surface. Material should be sufficient thickness (14 gauge minimum).
2. Place the template on the mounting surface or mark the holes as shown on the template (ensure template is not distorted
due to reproduction).
3. Accurately center punch the 3 mounting holes and the large knockout.
4. Drill three #27 clearance holes.
5. Locate the 1-3/8” knockout center and punch using the manufacturers instructions.
6. Debur knockout and mounting holes making sure the panel stays clean and flat.
7. Apply RTV to the three #27 clearance holes.
8. Assemble the keypad to the panel. Use 6-32 screws and flat washers.
9. From the inside of the panel, apply RTV over each of the three mounting screws. Cover a 3/4” area around each screw
making sure to completely encapsulate the screw head and washer.
10. Route the keypad cable into the control and connect to P2 of the control board, Figure D-2.

Figure D-2 Connector Locations
RS485

See recommended tightening torques in Table A-2.
Regen
Connector
J7

D-4 Options and Kits

Ribbon Cable
J8

Control
Circuit Board

Keypad
S G A B S
Connector 1 JP3

MN766

Appendix E
Remote Keypad Mounting Template
E.1 Remote Keypad Mounting Template
Figure E-1

2.81

0.28

4.99

1.38 Knockout

3.95

1.89
Drill #27 Hole
3 Places

1.07
2.14
KP0030A00

MN766

Note: Template may be distorted due to reproduction.

Remote Keypad Mounting Template E-1

E-2 Remote Keypad Mounting Template

MN766

NOTES
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Baldor Sales Offices
UNITED STATES
ARIZONA
PHOENIX
4211 S 43RD PLACE
PHOENIX, AZ 85040
PHONE: 602-470-0407
FAX: 602-470-0464
ARKANSAS
CLARKSVILLE
706 West Main Street
CLARKSVILLE, AR 72830
PHONE: 479-754-9108
FAX: 479-754-9205
CALIFORNIA
LOS ANGELES
6480 FLOTILLA STREET
COMMERCE, CA 90040
PHONE: 323-724-6771
FAX: 323-721-5859
HAYWARD
21056 FORBES STREET
HAYWARD, CA 94545
PHONE: 510-785-9900
FAX: 510-785-9910

IOWA
DES MOINES
1943 Hull Avenue
DES MOINES, IA 50313
PHONE: 515-263-6929
FAX: 515-263-6515

OHIO (Continued)
CLEVELAND
8929 FREEWAY DRIVE
MACEDONIA, OH 44056
PHONE: 330-468-4777
FAX: 330-468-4778

INTERNATIONAL SALES
FORT SMITH, AR
P.O. BOX 2400
FORT SMITH, AR 72902
PHONE: 479-646-4711
FAX: 479-648-5895

MARYLAND
BALTIMORE
6660 SANTA BARBARA RD.
SUITES 22-24
ELKRIDGE, MD 21075
PHONE: 410-579-2135
FAX: 410-579-2677

OKLAHOMA
TULSA
5555 E. 71st St., Suite 9100
Tulsa, OK 74136
PHONE: 918-366-9320
FAX: 918-366-9338

CANADA
EDMONTON, ALBERTA
4053-92 STREET
EDMONTON, ALBERTA T6E 6R8
PHONE: 780-434-4900
FAX: 780-438-2600

MASSACHUSETTS
BOSTON
6 PULLMAN STREET
WORCESTER, MA 01606
PHONE: 508-854-0708
FAX: 508-854-0291
MICHIGAN
DETROIT
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STERLING HEIGHTS, MI 48312
PHONE: 586-978-9800
FAX: 586-978-9969

COLORADO
DENVER
3855 Forest Street
Denver, CO 80207
PHONE: 303-623-0127
FAX: 303-595-3772

MINNESOTA
MINNEAPOLIS
13098 George Weber Dr, Suite 400
ROGERS, MN 55374
PHONE: 763-428-3633
FAX: 763-428-4551

CONNECTICUT
WALLINGFORD
65 SOUTH TURNPIKE ROAD
WALLINGFORD, CT 06492
PHONE: 203-269-1354
FAX: 203-269-5485

MISSOURI
ST LOUIS
13678 Lakefront Drive
Earth City, MO 63045
PHONE: 314-373-3032
FAX: 314-373-3038

FLORIDA
TAMPA/PUERTO RICO/
VIRGIN ISLANDS
3906 EAST 11TH AVENUE
TAMPA, FL 33605
PHONE: 813-248-5078
FAX: 813-241-9514
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PHONE: 770-772-7000
FAX: 770-772-7200
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FAX: 630-226-9420
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INDIANAPOLIS
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INDIANAPOLIS, IN 46241
PHONE: 317-246-5100
FAX: 317-246-5110

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NORTH KANSAS CITY, MO 64116
PHONE: 816-587-0272
FAX: 816-587-3735

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PORTLAND
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Clackamas, OR 97015
PHONE: 503-691-9010
FAX: 503-691-9012

TORONTO
OAKVILLE, ONTARIO
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OAKVILLE, ONTARIO L6H 6R1
PHONE: 905-829-3301
FAX: 905-829-3302

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1035 THOMAS BUSCH
MEMORIAL HIGHWAY
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PHONE: 856-661-1442
FAX: 856-663-6363

MONTREAL, QUEBEC
5155 J-ARMAND Bombardier
SAINT-Hubert, Québec
Canada J3Z 1G4
PHONE: 514-933-2711
FAX: 514-933-8639

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159 PROMINENCE DRIVE
NEW KENSINGTON, PA 15068
PHONE: 724-889-0092
FAX: 724-889-0094
TENNESSEE
MEMPHIS
4000 WINCHESTER ROAD
MEMPHIS, TN 38118
PHONE: 901-365-2020
FAX: 901-365-3914
TEXAS
DALLAS
2920 114th Street Suite 100
Grand Prairie, TX 75050
PHONE: 214-634-7271
FAX: 214-634-8874

NEW YORK
AUBURN
ONE ELLIS DRIVE
AUBURN, NY 13021
PHONE: 315-255-3403
FAX: 315-253-9923

HOUSTON
10355 W. Little York ROAD
Suite 300
Houston, TX 77041
PHONE: 281-977-6500
FAX: 281-977-6510

NORTH CAROLINA
GREENSBORO
1220 ROTHERWOOD ROAD
GREENSBORO, NC 27406
PHONE: 336-272-6104
FAX: 336-273-6628

UTAH
SALT LAKE CITY
2230 SOUTH MAIN STREET
SALT LAKE CITY, UT 84115
PHONE: 801-832-0127
FAX: 801-832-8911

OHIO
CINCINNATI
2929 CRESCENTVILLE ROAD
WEST CHESTER, OH 45069
PHONE: 513-771-2600
FAX: 513-772-2219

WISCONSIN
MILWAUKEE
1960 SOUTH Calhoun Road
NEW BERLIN, WI 53151
PHONE: 262-784-5940
FAX: 262-784-1215

VANCOUVER,
BRITISH COLUMBIA
1538 KEBET WAY
PORT COQUITLAM,
BRITISH COLUMBIA V3C 5M5
PHONE 604-421-2822
FAX: 604-421-3113
WINNIPEG, MANITOBA
54 PRINCESS STREET
WINNIPEG, MANITOBA R3B 1K2
PHONE: 204-942-5205
FAX: 204-956-4251
MEXICO
LEON, guanajuato
KM. 2.0 Blvd. Aeropuerto
Leon, Guanajuato, CP37545
Mexico
FAX: +52 477 761 2010

!766-1012*

P.O. Box 2400, Fort Smith, AR 72902-2400 U.S.A., Ph: (1) 479.646.4711, Fax (1) 479.648.5792, International Fax (1) 479.648.5895
Baldor - Dodge
6040 Ponders Court, Greenville, SC 29615-4617 U.S.A., Ph: (1) 864.297.4800, Fax: (1) 864.281.2433
www.baldor.com
© Baldor Electric Company
MN766

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xmp.iid:6F23B82967ADE011BB13B45575C6A819, xmp.iid:B07BEB4CCDEDE011A167E2FEAAF0470C, xmp.iid:B17BEB4CCDEDE011A167E2FEAAF0470C, xmp.iid:0E3D0137EBEDE011848396DC765F173D, xmp.iid:113D0137EBEDE011848396DC765F173D, xmp.iid:123D0137EBEDE011848396DC765F173D, xmp.iid:60FA18D5EFEDE011848396DC765F173D, xmp.iid:635782C38CEEE0119C98BB983BE7E8E8, xmp.iid:139001F38CEEE0119C98BB983BE7E8E8, xmp.iid:3EB794082BF4E011AA139CC55B1FB4C7, xmp.iid:41B794082BF4E011AA139CC55B1FB4C7, xmp.iid:AD2568DFBF03E111B29ACDB270EC19DA, xmp.iid:9CAB24BD6C89E111A35EFDA5BFB6A9A1, xmp.iid:4162D686FEABE11187BEF82002EB8DBF, xmp.iid:A0DCAFF06106E2119C0A825D94EBF2C8, xmp.iid:066C9DB58806E2119C0A825D94EBF2C8, xmp.iid:C5B008674307E211A1209320DA4BEFA8, xmp.iid:2471049DEA07E2119F8BD609D4A3494F, xmp.iid:8C79CA8BBD0CE21197B588F0C51501F2, xmp.iid:ED22F36E840DE211AFA9CFC94ABA9DC1 History When : 2010:05:26 16:45:28-04:00, 2010:05:26 16:45:28-04:00, 2010:06:24 10:07:09-04:00, 2010:08:27 12:21:53-04:00, 2010:08:27 13:51:29-04:00, 2010:08:27 13:53:01-04:00, 2010:08:27 13:53:35-04:00, 2010:08:27 14:06:48-04:00, 2010:08:27 14:10:59-04:00, 2010:09:21 14:31:59-04:00, 2010:09:22 15:57:42-04:00, 2010:09:22 16:04:46-04:00, 2010:11:08 09:58:34-05:00, 2010:11:08 09:59:30-05:00, 2010:11:08 09:59:43-05:00, 2010:11:08 10:50:48-05:00, 2010:11:08 11:14:13-05:00, 2010:11:08 11:16:57-05:00, 2010:11:08 11:26:09-05:00, 2011:02:02 10:21:39-05:00, 2011:04:14 09:08:58-04:00, 2011:04:14 09:08:58-04:00, 2011:04:14 09:29:15-04:00, 2011:07:13 11:50:57-04:00, 2011:10:03 10:40:48-04:00, 2011:10:03 10:40:48-04:00, 2011:10:03 14:34:50-04:00, 2011:10:03 14:36:40-04:00, 2011:10:03 14:36:40-04:00, 2011:10:03 14:45:14-04:00, 2011:10:04 09:28:36-04:00, 2011:10:04 09:53:19-04:00, 2011:10:11 13:04:33-04:00, 2011:10:11 13:05:59-04:00, 2011:10:31 08:57:21-04:00, 2012:04:18 11:39:52-04:00, 2012:06:01 11:29:26-04:00, 2012:09:24 15:31:04-04:00, 2012:09:24 16:45:07-04:00, 2012:09:25 15:01:24-04:00, 2012:09:26 11:11:40-04:00, 2012:10:02 14:22:56-04:00, 2012:10:03 14:02:32-04:00 History Software Agent : Adobe InDesign 6.0, Adobe InDesign 6.0, Adobe InDesign 6.0, Adobe InDesign 6.0, Adobe InDesign 6.0, Adobe InDesign 6.0, Adobe InDesign 6.0, Adobe InDesign 6.0, Adobe InDesign 6.0, Adobe InDesign 6.0, Adobe InDesign 6.0, Adobe InDesign 6.0, Adobe InDesign 6.0, Adobe InDesign 6.0, Adobe InDesign 6.0, Adobe InDesign 6.0, Adobe InDesign 6.0, Adobe InDesign 6.0, Adobe InDesign 6.0, Adobe InDesign 6.0, Adobe InDesign 7.0, Adobe InDesign 7.0, Adobe InDesign 7.0, Adobe InDesign 7.0, Adobe InDesign 7.0, Adobe InDesign 7.0, Adobe InDesign 7.0, Adobe InDesign 7.0, Adobe InDesign 7.0, Adobe InDesign 7.0, Adobe InDesign 7.0, Adobe InDesign 7.0, Adobe InDesign 7.0, Adobe InDesign 7.0, Adobe InDesign 7.0, Adobe InDesign 7.0, Adobe InDesign 7.0, Adobe InDesign 7.0, Adobe InDesign 7.0, Adobe InDesign 7.0, Adobe InDesign 7.0, Adobe InDesign 7.0, Adobe InDesign 7.0 History Changed : /, /metadata, /, /, /, /, /, /, /, /, /, /, /, /, /, /, /, /, /, /, /;/metadata, /metadata, /;/metadata, /;/metadata, /;/metadata, /metadata, /;/metadata, /;/metadata, /metadata, /;/metadata, /;/metadata, /;/metadata, /;/metadata, /;/metadata, /;/metadata, /;/metadata, /;/metadata, /;/metadata, /;/metadata, /;/metadata, /;/metadata, /;/metadata, /;/metadata Metadata Date : 2012:10:04 14:02:34-04:00 Creator Tool : Adobe InDesign CS5 (7.0.4) Page Image Page Number : 1, 2 Page Image Format : JPEG, JPEG Page Image Width : 256, 256 Page Image Height : 256, 256 Page Image : (Binary data 5201 bytes, use -b option to extract), (Binary data 3704 bytes, use -b option to extract) Doc Change Count : 1488 Format : application/pdf Producer : Adobe PDF Library 9.9 Trapped : False Page Layout : SinglePage Page Mode : UseOutlines Page Count : 192
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