Baldor 29M User manual

Series 29M
Servo Control
Installation & Operating Manual
1/98 MN1230
AC SERVO DRIVE

Table of Contents
Table of Contents i MN1230
Section 1
Receiving & Inspection 1-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Receiving & Inspection 1-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Section 2
General Information 2-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Introduction 2-1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Limited W arranty 2-2. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Safety Notice 2-3. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Section 3
Installation 3-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Location Considerations 3-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Mechanical Installation 3-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Remote Keypad Installation 3-2. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Electrical Installation 3-3. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Overload Protection 3-3. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Power Disconnect 3-3. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Protection Devices 3-3. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
AC and DC Power Connections 3-6. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Motor Connections 3-6. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Dynamic Brake Resistor 3-6. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Resolver Feedback 3-8. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Simulated Encoder Output 3-9. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Control Circuit Connections 3-10. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Active High/Low Description 3-11. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Keypad Mode 3-12. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Standard Run 3 Wire Mode 3-14. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
15 Speed 2-Wire Mode 3-16. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Fan Pump 2 Wire Control Mode 3-18. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Fan Pump 3 Wire Control Mode 3-20. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Bipolar Speed or T orque Control Mode with Multiple Parameter Sets 3-22. . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Process Mode Connections 3-24. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Specific Process Mode Outputs 3-26. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Analog Inputs and Outputs 3-28. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Analog Inputs 3-28. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Analog Outputs 3-30. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
External T rip Input 3-30. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Opto-Isolated Outputs 3-31. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Pre-Operation Checklist 3-32. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Power-Up Procedure 3-33. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Section 1
General Information
ii T able of Contents MN1230
Section 4
Programming and Operation 4-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Overview 4-1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Display Mode 4-2. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Adjusting Display Contrast 4-2. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Display Screens & Diagnostic Information Access 4-3. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Fault Log Access 4-4. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Program Mode 4-5. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Parameter Blocks Access for Programming 4-5. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Changing Parameter V alues when Security Code Not Used 4-6. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Reset Parameters to Factory Settings 4-7. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Initialize New Software EEPROMs 4-8. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Parameter Adjustments 4-9. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Section 5
Troubleshooting 5-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Overview 5-1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Control T roubleshooting Procedure 5-2. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
No Keypad Display - Display Contrast Adjustment 5-2. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
How to Access the Fault Log 5-4. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
How to Clear the Fault Log 5-4. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
How to Access Diagnostic Information 5-5. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Electrical Noise Considerations 5-12. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Causes and Cures 5-12. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Special Drive Situations 5-15. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Drive Power Lines 5-15. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Radio Transmitters 5-15. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Control Enclosures 5-16. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Special Motor Considerations 5-16. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Wiring Practices 5-17. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Optical Isolation 5-18. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Plant Ground 5-18. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Section 6
Manually T uning the Series 29M Control 6-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Definition of Input Command 6-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Definition of Feedback 6-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Definition of Error 6-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Definition of “P” (Proportional gain) 6-2. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Definition of “I” (Integral gain) 6-3. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Manually T uning the Control 6-5. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Current Prop Gain Parameter 6-5. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Current Int Gain Parameter 6-6. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Speed Prop Gain Parameter 6-6. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Speed Int Gain Parameter 6-6. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Section 1
General Information
Table of Contents iii MN1230
Section 7
Specifications and Product Data 7-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Identification 7-1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Servo Control Specifications: 7-2. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Keypad Display: 7-3. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Differential Analog Input: 7-3. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Analog Outputs: 7-4. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Digital Inputs: 7-4. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Digital Outputs: 7-4. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Diagnostic Indications: 7-4. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
DB Resistor Selection 7-5. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Terminal T ightening T orque Specifications 7-6. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Dimensions 7-7 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Mounting Hole Location 7-8. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Appendix A A-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Parameter V alues A-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Appendix B B-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Remote Keypad Mounting T emplate B-2. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Section 1
General Information
iv T able of Contents MN1230

Section 1
Receiving & Inspection
Receiving & Inspection 1-1 MN1230
Receiving & Inspection Baldor Controls are thoroughly tested at the factory and carefully packaged for shipment.
When you receive your control, there are several things you should do immediately .
1. 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. The container and packing materials may be retained for future
shipment.
3. V erify that the part number of the control you received is the same as the part
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, be sure that it is
stored in a location that conforms to published storage humidity and
temperature specifications. (Refer to Section 7 of this manual).

Section 1
General Information
1-2 Receiving & Inspection
MN1230

Section 2
General Information
General Information 2-1 MN1230
Introduction Baldor Controls represent the latest technology in microprocessor based motor controls.
The Series 29M control adjusts current to produce maximum torque (to zero speed).
This provides instantaneous adjustment in response to the speed and position feedback
from a shaft mounted resolver .
A keypad interface is used to program the Series 29M parameters to customize your
application. The keypad is used to program the control parameters, set the mode of
operation, monitor the Local mode operation status, perform diagnostics, and examine
fault log.
Baldor has tried to ensure that the information in this manual is correct at the time of
printing. The information is subject to change without prior notice.
Figure 2-1 29M Control and Motor
AC Power 29M
Control
Motor
Feedback
Speed
Command
DB
Assembly

2-2 General Information MN1230
Limited Warranty
For a period of one (1) year from the date of original purchase, BALDOR will
repair or replace without charge controls 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.

General Information 2-3 MN1230
Safety Notice:This equipment contains high voltages. Electrical shock can cause serious or fatal injury .
Only qualified personnel should attempt the start–up procedure or troubleshoot this
equipment.
This equipment may be connected to other machines that have rotating parts or parts
that are driven by this equipment. Improper use can cause serious or fatal injury . Only
qualified personnel should attempt the start–up procedure or troubleshoot this equipment.
PRECAUTIONS:
W ARNING: 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.
W ARNING: 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.
W ARNING: Do not attempt to service this equipment while bus voltage is
present within the control. Remove input power and wait at least 5
minutes for the residual voltage in the bus capacitors to dissipate.
W ARNING: Be sure all wiring complies with the National Electrical Code and all
regional and local codes. Improper wiring may result in unsafe
conditions.
W ARNING: Be sure the system is properly grounded before applying power .
Do not apply AC power before you ensure that grounds are
connected. Electrical shock can cause serious or fatal injury .
W ARNING: Do not remove cover for at least five (5) minutes after AC power is
disconnected to allow capacitors to discharge. Electrical shock can
cause serious or fatal injury .
W ARNING: Improper operation of control may cause violent motion of the
motor shaft and driven equipment. Be certain that unexpected
motor shaft movement will not cause injury to personnel or damage
to equipment. Peak torque of several times the rated motor torque
can occur during control failure.
W ARNING: 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 .
W ARNING: 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.
W ARNING: A DB Resistor may generate enough heat to ignite combustible
materials. T o avoid fire hazard, keep all combustible materials and
flammable vapors away from brake resistors.
Continued on next page.

Section 1
General Information
2-4 General Information MN1230
Caution: T o prevent equipment damage, be certain that the electrical service
is not capable of delivering more than the maximum line short
circuit current amperes listed for 1 15 V AC or 230 V AC control rating.
Caution: To prevent equipment damage, be certain that the input power has
correctly sized protective devices installed as well as a power
disconnect.
CAUTION: A void locating control immediately above or beside heat generating
equipment, or directly below water or steam pipes.
CAUTION: A void locating control in the vicinity of corrosive substances or
vapors, metal particles and dust.
Caution: Do not connect any shields to the motor frame. At a minimum,
resolver signal integrity will be compromised and damage to the
control may result.

Section 3
Installation
Installation 3-1 MN1230
Location Considerations The location of the control is important. It should be installed in an area that is protected
from direct sunlight, corrosives, harmful gases or liquids, dust, metallic particles, and
vibration. Exposure to these can reduce the operating life and degrade performance of
the control.
CAUTION: A void locating control immediately above or beside heat generating
equipment, or directly below water or steam pipes.
CAUTION: A void locating control in the vicinity of corrosive substances or
vapors, metal particles and dust.
Several other factors should be carefully evaluated when selecting a location for
installation:
1. For ef fective cooling and maintenance, the control should be mounted on a
smooth, non-flammable vertical surface. The amount of heat generated within
the control can be calculated based on T able 3-1.
2. At least two inches top and bottom clearance must be provided for air flow .
3. Altitude derating . Up to 3300 feet (1000 meters) no derating required. Above
3300 feet, derate the continuous and peak output current by 1 1% for each 3300
feet (1000 meters) above 3300 feet.
4. T emperature derating . From 5 ° C to 40 ° C ambient no derating required.
Maximum ambient is 40 ° C.
Table 3-1 Control Efficiency
115 V AC / 230 V AC
>97%
Mechanical Installation Mount the control to the mounting surface. The control must be securely fastened to the
mounting surface. Use the two (2) mounting holes to fasten the control to the mounting
surface or enclosure. The location of the mounting holes are shown in Section 7 of this
manual.

Section 1
General Information
3-2 Installation MN1230
Remote Keypad Installation The keypad may be remotely mounted using the optional Baldor keypad extension
cable. The keypad assembly (grey - DC00005A-02) comes complete with the screws
and gasket required to mount it to an enclosure. When the keypad is properly mounted
to a NEMA T ype 4 indoor enclosure, it retains the T ype 4 indoor rating.
Tools Required:
• Center punch, tap handle, screwdrivers (Phillips and straight) and crescent
wrench.
• 8-32 tap and #29 drill bit (for tapped mounting holes) or #19 drill (for clearance
mounting holes).
•1-1/4″ standard knockout punch (1-
11/16″
nominal diameter).
•R TV sealant.
• (4) 8-32 nuts and lock washers.
• Extended 8-32 screws (socket fillister) are required if the mounting surface is
thicker than 12 gauge and is not tapped (clearance mounting holes).
• Remote keypad mounting template. A tear out copy is provided at the end of
this manual for your convenience.
Mounting Instructions: For tapped mounting holes
1. Locate a flat 4 ″ wide x 5.5 ″ minimum high mounting surface. Material should
be suf ficient thickness (14 gauge minimum).
2. Place the template on the mounting surface or mark the holes as shown.
3. Accurately center punch the 4 mounting holes (marked A) and the large
knockout (marked B).
4. Drill four #29 mounting holes (A). Thread each hole using an 8-32 tap.
5. Locate the 1-
1/4″
knockout center (B) and punch using the manufacturers
instructions.
6. Debur knockout and mounting holes making sure the panel stays clean and flat.
7. Apply R TV to the 4 holes marked (A).
8. Assemble the keypad to the panel. Use 8–32 screws, nuts and lock washers.
9. From the inside of the panel, apply R TV over each of the four mounting screws
and nuts. Cover a
3/4″
area around each screw while making sure to completely
encapsulate the nut and washer .
Mounting Instructions: For clearance mounting holes
1. Locate a flat 4 ″ wide x 5.5 ″ minimum high mounting surface. Material should
be suf ficient thickness (14 gauge minimum).
2. Place the template on the mounting surface or mark the holes as shown on the
template.
3. Accurately center punch the 4 mounting holes (marked A) and the large
knockout (marked B).
4. Drill four #19 clearance holes (A).
5. Locate the 1-
1/4″
knockout center (B) and punch using the manufacturers
instructions.
6. Debur knockout and mounting holes making sure the panel stays clean and flat.
7. Apply R TV to the 4 holes marked (A).
8. Assemble the keypad to the panel. Use 8–32 screws, nuts and lock washers.
9. From the inside of the panel, apply R TV over each of the four mounting screws
and nuts. Cover a
3/4″
area around each screw while making sure to completely
encapsulate the nut and washer .

Section 1
General Information
Installation 3-3 MN1230
Electrical Installation All external wires for the control should be run in conduit that is separate from power
wiring. The use of shielded wire is recommended for all control wiring.
When interconnecting wires from power source, control, motor , host controller and other
devices it is important to make proper electrical connections. A connection must ensure
that proper electrical connection and mechanical bond of conductors. Use only UL (cUL)
listed connectors for the wire gauge and type being connected. Connectors are to be
installed using the crimp tool specified by the connector manufacturer . Wire with Class 1
wiring.
Overload Protection Baldor Controls feature motor overload protection suitable for motors that consume at
least 50% of the output rating of the control. Other governing agencies such as NEC
(National Electric Code) may require separate over current protection. The installer of this
equipment is responsible for complying with NEC guidelines and CE directives
(Conformite Europeene) and applicable local codes that govern wiring protection,
grounding, disconnects and other current protection.
Power Disconnect A power disconnect should be installed between the input power service and the control
for a fail safe method to disconnect power . The control will remain in a powered-up
condition until all input power is removed from the control and the internal bus voltage is
depleted.
Protection Devices The control must have a suitable input power protection device installed. Input and
output wire size is based on the use of copper conductor wire rated at 75 ° C. Use the
recommended circuit breaker or fuse types as follows:
Circuit Breaker: 1 phase, thermal magnetic.
Equal to GE type THQ or TEB for 1 15 or 230 V AC
Fast Action Fuses: Buss KTN on 1 15 or 230 V AC.
T ime Delay Fuses: Buss
Buss FRN on 1 15 or 230 V AC.
T able 3-2 describes the wire size to be used for power connections and the ratings of the
protection devices.
Table 3-2 Wire Size and Protection Devices
Mi
Inp t
Inp t F se
Wire Ga ge
Maximum Input
I
nput
F
use
Wi
re
G
auge
Catalog Number
Maxim
u
m
Continuous
Amps
Input
Breaker Fast
Acting Time Delay AWG mm2
SD29M1A02-PR 2.5 18 4 4 #14 2.5
SD29M1A05-PR 5 35 8 8 #14 2.5
SD29M2A02-PR 2.5 18 4 4 #14 2.5
SD29M2A05-PR 5 35 8 8 #14 2.5
Note: All wire sizes based on 75 ° C copper wire, 3% line impedance. Higher temperature smaller gauge wire may be
used per NEC and local codes. Recommended fuses/breakers are based on 25 ° C ambient, maximum
continuous control output current and no harmonic current.

Section 1
General Information
3-4 Installation MN1230
Table 3-3 Short Circuit Current Ratings
115VAC 230VAC
Catalog Numbers Max. Line
Short Circuit
Current
Catalog Numbers Max. Line
Short Circuit
Current
SD29M1A02-PR 150 SD29M2A02-PR 150
SD29M1A05-PR 300 SD29M2A05-PR 300
Table 3-4 Input Current Requirements
230VAC 460VAC
Catalog Numbers Input
Amps Catalog Numbers Input Amps
SD29M1A02-PR 2.6 SD29M2A02-PR 2.6
SD29M1A05-PR 5.2 SD29M2A05-PR 5.2

Section 1
General Information
Installation 3-5 MN1230
Figure 3-1 Single Phase AC Power and Motor Connections
Optional Connection of
M-Contactor
L1 L2
Alternate *
Fuse
Connection Note 1
L1 L2
LN PE
*Circuit
Breaker
Earth
*Optional components not provided with Control.
See Recommended Tightening Torques in Section 7.
Note 2
Note 1
* Optional
RC Device
Electrocube
RG1781-3
7
8
9
*
M Enable J1
*M-Contactor
To Power Source
(Rated Coil
Voltage)
Note: Close “Enable”
after “M” contact closure.
*Motor
Baldor
Control
UVW
UVW G
Notes:
1. See Protective Device description in this section of the manual.
2. Shield wires inside a metal conduit.
Note 2
*Motor
UVW
UVW G
M* M* M*
PE
PE

Section 1
General Information
3-6 Installation MN1230
AC and DC Power ConnectionsRefer to Figures 3-1 and 3-3.
W ARNING: 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 .
1. Connect the single phase incoming power wires from the protection devices to
the control terminal X1 pins L and N. T orque as specified.
2. Connect earth ground (plant ground) to control terminal X1 pin PE.
T orque as specified.
Motor Connections A motor circuit contactor (M-Contactor shown in Figure 3-1) is recommended and should
be installed to provide a positive disconnect of the motor from the control. This ensures
that the motor shaft will not rotate and cause damage or injury . The M-contactor should
open the Enable line (J1B pin 8) 20 msec before the main M-Contacts open. This will
prevent contact arcing and allows use of IEC rated contacts.
1. Connect the “U” terminal of the 29M to the U motor lead.
2. Connect the “V” terminal of the 29M to the V motor lead.
3. Connect the “W” terminal of the 29M to the W motor lead.
4. Connect the “PE” terminal of the 29M to motor ground (G).
Dynamic Brake Resistor An external DB (Dynamic Brake) resistor must be installed to dissipate excess power
from the DC bus during motor deceleration operations.
W ARNING: A DB Resistor may generate enough heat to ignite combustible
materials. T o avoid fire hazard, keep all combustible materials and
flammable vapors away from brake resistors.
1. Mount the DB resistor near the top of the enclosure.
2. Connect one wire from the DB resistor to terminal DB+ of the control.
3. Connect the other wire from the DB resistor to terminal DB– of the control.
Note: For selection of the DB resistor , refer to the Specifications located in Section 7
of this manual.
Figure 3-2 DB Resistor Installation Considerations
ÉÉ
ÉÉ
ÉÉ
ÉÉ
ÉÉ
ÉÉ
ÉÉ
ÉÉ
ÉÉ
ÉÉ
ÉÉ
ÉÉ
ÉÉ
ÉÉ
Maximum temperatures
near wall.
Maximum temperatures
above the enclosure.
80°C
70°C
65°C
70°C
75°C
48″
36″
24″
12″
85°C
115°C
115°C
200°C

Section 1
General Information
Installation 3-7 MN1230
Figure 3-3 29M AC Servo Connector Locations
BALDOR
ÎÎ
ÎÎ
DB ON
J1A
J3
J4
J2 - Resolver Input
1 SIN+ 9 N.C.
2 COS+ 10 N.C.
3 REF+ 11 EXT Z
4 N.C. 12 N.C.
5 N.C. 13 AGND
6 SIN– 14 N.C.
7 COS– 15 N.C.
8 REF–
J3 - Simulated Encoder Output
1 CHA+ 6 CHA–
2 CHB+ 7 CHB–
3 CHC+ 8 CHC–
4 N.C. 9 N.C.
5 DGND
J4 - Keypad
1 Shield 6 RCV–
2 N.C. 7 N.C.
3 XMIT+ 8 N.C.
4 XMIT– 9 +8VDC
5 RCV+ 10 DGND
J1A - Analog I/O
1 AGND 5 ANA IN 2–
2 ANA IN 1 6 ANA OUT1
3 Reference 7 ANA OUT2
4 ANA IN 2+
J1B
J1B - Digital I/O
8 Enable 18 N.C.
9 FWD CMD 19 CREF (OPTO IN)
10 REV CMD 20 OUT1–
11 IN1 21 OUT1+
12 IN2 22 OUT2–
13 IN3 23 OUT2+
14 IN4 24 OUT3–
15 IN5 25 OUT3+
16 External Trip 26 OUT4–
17 N.C. 27 OUT4+
See T erminal T ightening T orques in
Section 7 of this manual.
8
1
ÎÎ
ÎÎ
Ready
X1
PE
L
N
U
V
W
DB+
DB–
X1 - Power Connector
PE Earth
L AC Line
N Neutral
U Motor lead “U”
V Motor lead “V”
W Motor lead “W”
DB+ Dynamic Brake
DB– Dynamic Brake Dynamic
Brake or
Regen Resistor
Motor
Input Power
J2

Section 1
General Information
3-8 Installation MN1230
Resolver Feedback The resolver connections are made at the J2 connector as shown in Figure 3-4. The
resolver cable must be shielded twisted pair #22 A WG (0.34mm
2
) wire minimum. The
cable must also have an overall shield and not exceed 150 feet (45m) in length.
Maximum wire-to-wire or wire-to-shield capacitance is 50pf per foot (maximum of 7500pf
for 150 ft). See electrical noise considerations in Section 5 of this manual.
Resolver wiring must be separated from power wiring. Separate parallel runs of resolver
and power cables by at least 3 ″ . Cross power wires at right angles only . Insulate or tape
ungrounded end of shields to prevent contact with other conductors or ground.
Caution: Do not connect any shields to the motor frame. At a minimum,
resolver signal integrity will be compromised and damage to the
control may result.
1. Connect the SIN+ to J2-1 and SIN– to J2-6.
2. Connect the COS+ to J2-2 and COS– to J2-7.
3. Connect the REF+ to J2-3 and REF– to J2-8.
4. Connect the analog ground wire to J2-13.
Figure 3-4 Resolver Cable Connections
P
1 SIN+
6 SIN–
2 COS+
7 COS–
3 REF+
8 REF– (Common)
13 AGND
P
P
P
= T wisted Pair
R2
R1
S2
S4
S1S3
J2

Section 1
General Information
Installation 3-9 MN1230
Simulated Encoder Output The control provides a simulated encoder output at connector J3 as shown in Figure 3-5.
This output provides position information to the host controller . Use twisted pair wire with
an overall shield.
This output simulates a 1024 ppr encoder with quadrature outputs. Counting in
quadrature will provide 4096 ppr with one index marker (CHC) per revolution. It is
recommended that this output only drive one output circuit load. Driving multiple loads is
not recommended.
Figure 3-5 Simulated Encoder Output
1
6
2
7
3
8
5
4
9 N.A.
N.A.
DGND
CHC–
CHC+
CHB–
CHB+
CHA–
CHA+
J3
To Host Position
Controller
P
= Twisted Pair
P
P
P
1. Connect J3-1 and J3-6 outputs to Host Position Controller CHA inputs.
2. Connect J3-2 and J3-7 outputs to Host Position Controller CHB inputs.
3. Connect J3-3 and J3-8 outputs to Host Position Controller CHC inputs.
4. Connect the cable shields to J3-5.