Baldor LD Series User manual

SERIES LD
DC Servo Control
Installation & Operating Manual
7/98 MN1269
DC SERVO DRIVE
Servo Systems Co. • 115 Main Road • P.O. Box 97 • Montville, NJ, 07045-0097
[phone] • Toll Free: [phone] • Fax: [phone]
www.servosystems.com

Table of Contents
Table of Contents iMN1269
Section 1
General Information 1-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Year 2000 Compliance 1-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Limited Warranty 1-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Safety Notice 1-2. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Introduction 1-4. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Features 1-5. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Model Information 1-6. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Functional Description 1-7. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Specifications 1-8. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
General Description 1-10. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Servo Control Card 1-10. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Chassis Assembly 1-10. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Logic Power Supply 1-10. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Bus Power Supply 1-10. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Overvoltage Protector 1-10. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Adjustments, Testpoints, and Indicators 1-10. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Adjustments 1-11. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Tools 1-14. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Section 2
Installation 2-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Receiving & Inspection 2-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Location Considerations 2-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Installing the Servo Control Card 2-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Mount the Chassis 2-2. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
General Wiring Considerations 2-3. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Power Wiring 2-3. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Grounding 2-3. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Signal Wiring 2-4. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Electrical Noise Suppression 2-4. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Wiring Instructions 2-4. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Power Wiring 2-4. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Signal Wiring 2-5. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Input Wiring Connections 2-6. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Optional Input Signal Wiring 2-6. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Section 3
Start–up 3-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Overview 3-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Initial Potentiometer Settings 3-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Start-up (Power On) 3-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Adjustment Procedure 3-2. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Servo Systems Co. • 115 Main Road • P.O. Box 97 • Montville, NJ, 07045-0097
[phone] • Toll Free: [phone] • Fax: [phone]
www.servosystems.com

ii Table of Contents MN1269
Section 4
Troubleshooting and Maintenance 4-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Overview 4-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Initial Checks 4-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Resetting the Servo Control 4-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Maintenance 4-3. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Servo Control Card Replacement 4-3. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Section 5
Special Functions 5-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Current (Torque) Mode 5-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Emergency Stop 5-2. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Appendix A A-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Condensed Installation Instructions A-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Appendix B B-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Jumper and Personality Module Settings B-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Personality Module Current Settings B-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Peak and Continuous Current Levels B-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Record of “Set Up” Configuration B-2. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Servo Systems Co. • 115 Main Road • P.O. Box 97 • Montville, NJ, 07045-0097
[phone] • Toll Free: [phone] • Fax: [phone]
www.servosystems.com

Section 1
General Information
General Information 1-1MN1269
Year 2000 Compliance The motor control products listed below are manufactured or offered for sale by Baldor
Electric and are certified to be year 2000 compliant.
DC Motor Controls: Series BC100/200, BC19H, BC20H, LD, TSD, UM, UMH.
AC Motor Controls: Series ID10, ID1100, ID15H, ID15J, ID15V, ZD17H, ZD18H, ID21H,
ZD22H, SD23H, ZD24M, ZD25M, SD26M, BSC, DBSC, BTS, SBTS.
Position Controllers: PMC, SmartMove, NextMove.
Furthermore, year 2000 compliance means that the product will:
Not use dates or perform any date processing.
Date information is irrelevant to proper operation; and
There are no problems or issues to address to ensure continued and proper
operation of the product listed due to changes in century dates.
Limited Warranty
Foraperiodoftwo(2)yearsfromthedateoforiginalpurchase,BALDORwill
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
accordancewiththeinstructionsand/orratingssupplied. Thiswarrantyisin
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 aboveexclusion may notapply.) 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
problemencountered. Noliabilityisassumedforexpendableitemssuchas
fuses.
Goods may be returned only with written notification including a BALDOR
Return Authorization Number and any return shipments must be prepaid.
Servo Systems Co. • 115 Main Road • P.O. Box 97 • Montville, NJ, 07045-0097
[phone] • Toll Free: [phone] • Fax: [phone]
www.servosystems.com

1-2 General Information MN1269
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:
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: Be sure all wiring complies with the National Electrical Code and all
regional and local codes. Improper wiring may result in unsafe
conditions.
WARNING: Be sure the system is properly grounded before applying power.
Do not apply AC power before you ensure that grounds are
connected. Electrical shock can cause serious or fatal injury.
WARNING: Before servicing this control, allow at least five (5) minutes after AC
power is disconnected to allow capacitors to discharge. Electrical
shock can cause serious or fatal injury.
WARNING: Improper operation of control may cause violent motion of the
motor shaft and driven equipment. Be certain that unexpected
motor shaft movement will not cause injury to personnel or damage
to equipment. Peak torque of several times the rated motor torque
can occur during control failure.
WARNING: Motor circuit may have high voltage present whenever AC power is
applied, even when motor is not rotating. Electrical shock can
cause serious or fatal injury.
WARNING: A DB Resistor may generate enough heat to ignite combustible
materials. To avoid fire hazard, keep all combustible materials and
flammable vapors away from brake resistors.
Continued on next page.
Servo Systems Co. • 115 Main Road • P.O. Box 97 • Montville, NJ, 07045-0097
[phone] • Toll Free: [phone] • Fax: [phone]
www.servosystems.com

Section 1
General Information
General Information 1-3MN1269
Caution: To prevent equipment damage, be certain that the electrical service
is not capable of delivering more than the maximum line short
circuit current amperes listed for the 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: Avoid locating control immediately above or beside heat generating
equipment, or directly below water or steam pipes.
Caution: Avoid locating control in the vicinity of corrosive substances or
vapors, metal particles and dust.
Caution: The X and Y Axis motors may tend to run away, out of control, if the
tach wires are reversed. If the axis moves in the wrong direction,
the motor wires are reversed. If, however, reversing the leads
doesn’t stop a runaway motor, make sure the T (Tachometer)
potentiometer is not full counterclockwise.
Servo Systems Co. • 115 Main Road • P.O. Box 97 • Montville, NJ, 07045-0097
[phone] • Toll Free: [phone] • Fax: [phone]
www.servosystems.com

1-4 General Information MN1269
Introduction The Baldor “LD” Series Servo Control (see Figure 1-1) is a multi axis pulse width
modulated (PWM), high performance servo control designed to be used with DC brush
type permanent magnet servomotors. This transistorized servo control is a key
component in motion control applications, providing not only converted DC power to the
motor, but also precisely controlling current and velocity at the motor. Its compact design
requires very little enclosure space, while its modular configuration makes servicing easy.
The “LD” Series can be used with many types of position controllers due to its
standardized ±VDC signal input.
Figure 1-1 “LD” Series Servo Control (2 Axis Package)
Servo Systems Co. • 115 Main Road • P.O. Box 97 • Montville, NJ, 07045-0097
[phone] • Toll Free: [phone] • Fax: [phone]
www.servosystems.com

General Information 1-5MN1269
Features The Baldor “LD” Series switching concept enables the user to operate with the highest
possible bandwidth with reduced switching losses, ripple current, EMI and RFI. Servo
Control cards are field replaceable.
Note: “LD” and “UM” series cards are NOT interchangeable.
The “LD” chassis and Servo Control card combination provides protection features and
status indicators including:
Voltage Error (VE)
Excess Current (EC)
Thermal Protection (EC)
Ground Fault (GF)
Surge Current (SC) and Short Circuit Protection
Logic Voltage Status (MV, PV) or (–15V, +15V)
Bus Voltage Status (PB) or (BUS)
AC Input Voltage Status (AC)
Other standard features include:
20 kHz “Inaudible” Switching
Test Points – to aid during set up
Jumper Settings – allow easy tailoring for specific applications
“Personality Module” – for custom current settings
Decoupled current sense – for monitoring current (absolute or actual value)
EC Latch or Foldback – selectable response to overcurrent condition
Left Limit – Overtravel Limit
Right Limit – Overtravel Limit
Interlock – used to shut down output to motor
External reset line
Push button reset
Phoenix style detachable screw terminals
Each Servo Control can be configured for:
Velocity mode operation with tachometer
Current mode operation
Differential or single ended signal inputs
Servo Systems Co. • 115 Main Road • P.O. Box 97 • Montville, NJ, 07045-0097
[phone] • Toll Free: [phone] • Fax: [phone]
www.servosystems.com

1-6 General Information MN1269
Model Information Model descriptors that describe key parameters of each unit specify the “LD” Series
Servo Control and Chassis. The “LD” Series Servo Control cards can be configured with
chassis to support up to four (4) axes at 160 VDC.
Figure 1-2 Identification
Servo Systems Co. • 115 Main Road • P.O. Box 97 • Montville, NJ, 07045-0097
[phone] • Toll Free: [phone] • Fax: [phone]
www.servosystems.com

General Information 1-7MN1269
Functional Description The “LD” Servo Control consists of (1) a power supply, (2) a velocity control amplifier and
(3) fault logic circuitry. The functional concepts are detailed below.
Power Supply The power supply of a PWM bridge normally acts as a low output impedance voltage
source. However, if an analog signal representing motor current is applied to the front
end of the amplifier together with a current command, the impedance of the PWM bridge
then becomes high. These high impedance bridges exhibit a unique characteristic
referred to as current sourcing. That is, motor current and therefore motor torque
becomes proportional to commanded input current.
Current Sense Coupler The current sense coupler within the power amplifier serves as the current loop feedback
mechanism. The unit isolates the high voltage motor signal from the low level control
circuitry.
Switching ConfigurationThe power amplifier contains a transistor bridge consisting of 2 limbs each containing 2
main switches. These switches enable a limb output to be connected alternately from the
minus bus to the plus bus. Both limb output signals or motor lines are normally zero with
respect to the minus bus. However, if current is commanded as described above, the
average voltage on only one of the limbs will increase while the other limb remains
connected to the minus bus. This switching configuration is referred to as the lower
circulation method.
Velocity Control Amplifier (VCA)
The high gain front–end velocity control amplifier accepts a speed command (Signal) and
a tachometer voltage (Tach) through the input connector. The VCA clamped error signal
(C adjustment) is applied to the power amplifier as a current command.
Excess Current Limit The long–term current clamp senses motor current and responds to overload conditions
beyond rated output. If the comparator is tripped, it disables the drive, lights the Excess
Current (EC) indicator and pulls the interlock line “low” (if P4 is in latch position).
Surge Current Sensor The surge current sensor pulls the interlock line low internally if the peak output current is
exceeded. Once stopped, the drive must be cleared by connecting the reset line to
common momentarily (reset switch) or by interrupting logic power for 2 seconds.
Overheat Sensor A thermal switch with significant hysteresis attached to the heatsink sets the EC (Excess
Current) latch if the heatsink temperature exceeds a preset level. The latch operates the
EC fault indicator. The fault condition is cleared after the heatsink temperature returns to
normal and a reset is given.
Left Limit, Right Limit Limit switches are typically mounted on machinery to restrict the load from moving into
catastrophic over–travel conditions. Limit switch polarity of the voltage on this line is the
same as that on the signal pin of the input connector. The motor is wired such that
movement produces a positive voltage on NIML (Non–Inverting Motor Line) with respect
to IML (Inverting Motor Line). Therefore, a positive input signal will cause the axis to
move in a rightward direction. The limit switch leads are then wired confidently to the
appropriate pins of the input connector.
Decoupled Current Sense
The Decoupled Current Sense (DCS) pin is isolated from the high voltage motor lines.
Therefore, motor current is evaluated safely by connecting an oscilloscope or voltmeter to
the DCS pin of the input connector and common (TP1).
Tachometer Filter The tachometer filter rejects tachometer commutator noise by reducing the tach path
bandwidth so that the high gain velocity control amplifier can be responsive yet reject
tach noise.
Servo Systems Co. • 115 Main Road • P.O. Box 97 • Montville, NJ, 07045-0097
[phone] • Toll Free: [phone] • Fax: [phone]
www.servosystems.com

1-8 General Information MN1269
Specifications
Standard Chassis & Power Supply Assemblies
Output: LD2- LD4-
Rated Bus Voltage (VDC) 160 160
Rated Continuous Current (A) 27 50
Positive Logic 15VDC (A) 1.0 1.0
Negative Logic 15VDC (A) 1.0 1.0
Input: LD2- LD4-
Nominal Bus Input (VAC 50/60Hz) 115 115
Bus Input Range (VAC 50/60Hz) 105-125 105-125
Number of Phases 1 3
Nominal input for Fan & Logic Supply (VAC 50/60Hz) Prewired 115 (1 phase)
Overvoltage Protection: LD2- LD4-
Continuous Rating (W) 250 500
Peak Rating (W) 4000 8000
Clamp Rating (V) 195 195
Shutdown Point Typical (V) 220 220
General: LD2- LD4-
Operating Temperature (°C) 0-50 0-50
Weight (lbs.) 14 20.6
Footprint (inches)
Length 9 13
Width 10.5 10.5
Height 7.25 7.25
Notes: 1. An isolation transformer is not required for “LD” controls (115VAC, 1phase).
2. For LD-4, the power requirements cannot be met by 115VAC 1phase input power. It is recommended that a
230VAC input power be used with an isolation transformer to provide 115VAC 3 phase input power for an LD-4.
3. Line power limitations with 1 phase prevents the chassis and drives from delivering full continuous rated output
power.
Servo Systems Co. • 115 Main Road • P.O. Box 97 • Montville, NJ, 07045-0097
[phone] • Toll Free: [phone] • Fax: [phone]
www.servosystems.com

General Information 1-9MN1269
Servo Control Card
Output:LD3015HS
Rated Bus Voltage (VDC nominal) 160
Rated Continuous Current (A) 15
Current Limit Adjust (A) 5-15
Peak Current Adjust (A) (maximum time 1.5 seconds) 30
Peak Current Adjust (A) 0-30
Switching Frequency (kHz) 20
Form Factor 1.01
Minimum Inductance (mH) 2.0
Frequency Response (kHz) 2.5
Input:LD3015HS
Signal Input 〈±VDC) See note 2. 5 to 15
Drift (mV/°C) 10
Overall Gain (A/V min) 0-6000
Auxiliary input:s LD3015HS
See note 3.
Impedance (k ohms) 20
Power Requirements: LD3015HS
Logic +15VDC (mA)
–15VDC (mA) 180 55
Bus range (VDC) 148-176
General: LD3015HS
Weight (lbs.) 1.4
Operating Temperature (°C) 0-50
Notes:
1. RMScurrentlimitisabuilt–infunctionthatturnsofforfoldsbacktheservocontrolifthecontinuouscurrentisexceeded
for an extended period of time. The (EC) fault indicator identifies the condition.
2. Input signal (S) can be differential or single ended while the auxiliary (A) and tachometer (T) signals are single ended
for all models.
3. The Left Limit, Right Limit and external Reset auxiliary input signals are connected through normally open (NO)
contacts while the external status I/0 signal is provided through a bi–directional Interlock. The current sense signal
(DCS) is provided as an analog representation of current. For information on usage, refer to Section 2.
Servo Systems Co. • 115 Main Road • P.O. Box 97 • Montville, NJ, 07045-0097
[phone] • Toll Free: [phone] • Fax: [phone]
www.servosystems.com

1-10 General Information MN1269
General Description A typical Baldor “LD” Servo Control like that shown in Figure 1-3 can contain from 1 to 4
servo control cards and a chassis assembly. The chassis assembly includes a Logic
Power Supply, Bus Power Supply, Overvoltage Protector, Fans and miscellaneous
hardware.
Servo Control Card The servo control card is a circuit board, which translates bus voltage and velocity
information into an output for the servomotor with a defined velocity and direction.
Chassis Assembly The chassis assembly provides the mounting plate for the servo control cards as well as
the power supplies.
Logic Power Supply The logic power supply converts the 115 VAC input to a ±15 VDC for operating the servo
control electronics and provides a fused ground fault protection circuit. Four green status
LED’s are also provided to verify the presence of +15 VDC (PV), –15 VDC (MV), AC for
fans and logic (AC), and DC Bus voltage (PB or BUS).
Bus Power Supply The bus power supply converts the 115 VAC input voltage into a DC voltage, which is
controlled within the servo control to power the servomotor.
Overvoltage Protector The standard configuration contains an overvoltage protector, which dissipates (shunts)
excess bus voltage developed during rapid deceleration to prevent damage to the servo
control. The overvoltage protector is fused to protect against catastrophic conditions.
Adjustments, Testpoints, and Indicators
The servo control card contains six set–up adjustments and four (4) red fault indicators
for flexibility and troubleshooting (see Figure 1-4.) The logic power supply has four green
status indicators which when lit show the presence of AC and DC power to the chassis.
Figure 1-3 Example of a LD2–02S
Servo Systems Co. • 115 Main Road • P.O. Box 97 • Montville, NJ, 07045-0097
[phone] • Toll Free: [phone] • Fax: [phone]
www.servosystems.com

General Information 1-11MN1269
Adjustments Each servo control card contains six (6) potentiometers located on the top left side of the
unit. The location of each potentiometer is provided in Figure 1-4.
Auxiliary (A) (A) pot is used to adjust the gain of an optional single ended input voltage between ±10
VDC. The effect of changing the gain enables the installer to vary the motor speed for a
given signal input voltage.
Signal (S) (S) pot is used to adjust the gain of a single ended or optionally configured differential
input voltage between ±10 VDC. The effect of changing the gain enables the installer to
vary the motor speed for a given signal input voltage.
Tachometer (T) (T) pot is used to adjust the tachometer circuit gain. The effect of changing the gain
enables the installer to vary the overshoot or stiffness of a motor as it is commanded to
change speeds.
Response (R) (R) pot is used to adjust the overall velocity loop gain. The effect of changing the gain
enables the installer to vary the stiffness of the velocity loop to minimize the overshoot of
the axis when responding to a step input voltage.
Current Limit (C) (C) pot is used to attenuate the peak current output to the servomotor. This can
effectively reduce the overall RMS current in applications, which are subjected to
constant acceleration and deceleration changes.
Balance (B) (B) pot is used to compensate for the digital to analog offset errors. This will allow for fine
tuning the zero speed when the input device is installed and there is no signal–input
voltage to the servo control.
Figure 1-4 Adjustment and Indicators
Servo Systems Co. • 115 Main Road • P.O. Box 97 • Montville, NJ, 07045-0097
[phone] • Toll Free: [phone] • Fax: [phone]
www.servosystems.com

1-12 General Information MN1269
Optional Adjustments Each servo control contains six jumper settings and a personality module that can be
used to custom tailor the module to the application (for location see Figure 1-4).
Underlined positions indicate the factory default settings.
P1 Right position (pins 1 and 2) when normally opened switches are used.
Left position (pins 2 and 3) when normally closed switches are used.
P2 Right position when using a differential input.
Left position for single ended input.
P3 Right position for reading actual current (+ or –) on the DCS current monitor.
Left position for the absolute value. (always positive)
P4 Right position for EC (Excess Current) latch function
Left position for current foldback mode, where current is limited to a lower fixed
level.
(See Appendix B)
P5 A factory installed resistor (P5) which is on–board the personality module. This
is to ensure that the servo control will not function without the personality mod-
ule in the socket.
P6 Left position for velocity mode operation.
Right position for current mode and for use in positioning applications with
Personality Module
The personality module has 3 after factory adjustable settings (for location, see Figure
1-4). With the appropriate 1 % resistor soldered into the socket, peak current, RMS
current, and the foldback level can be adjusted. Motor compensation values are also on
this module, allowing custom compensation on specialty motors. These components are
already appropriate for Baldor DC servomotors. For a description of the current settings,
see Appendix B.)
Set Up Testpoints Six testpoints have been added to help with set up and the replacement of a card. Once
a card is set up, the potentiometer’s resistance can be measured and recorded for future
reference. Other cards can be preset to these values minimizing the need to set up each
card on the particular piece of equipment.
Test Point Description
TP1 Common
TP2 “A” Pot Wiper Resistance
TP3 “S” Pot Wiper Resistance
TP4 “T” Pot Wiper Resistance
TP5 “R” Pot Wiper Resistance
TP6 Tach monitor (measures actual tach voltage)
Reset Button A momentary push button (SW1) is mounted on the top of the servo control card next to
the adjustment potentiometers (for location, see Figure 1-4). This allows you to restart
(reset) a control that has shut down.
Servo Systems Co. • 115 Main Road • P.O. Box 97 • Montville, NJ, 07045-0097
[phone] • Toll Free: [phone] • Fax: [phone]
www.servosystems.com

General Information 1-13MN1269
Fault Indicators Each servo control card contains four (4) red fault indicators located on the top left side of
the unit (for location see Figure 1-4). Each fault is a latch type function (unless in
Foldback Mode) where the servo control card will not function when tripped. A reset must
be done in order to restart the servo control. Refer to Section 4 – Troubleshooting for
detailed information on solving fault problems.
Voltage Error (VE) The purpose of the (VE) indicator is to identify either excess bus voltage detected by the
overvoltage protector or insufficient logic voltage at the servo control.
Excess Current/Overtemperature (EC)
The purpose of the (EC) indicator is to identify either excess RMS current or over
temperature condition.
Ground Fault (GF) The purpose of the (GF) indicator is to identify if current is flowing at or leaking to ground
potential in either the motor or servo control.
Surge Current (SC) The purpose of the (SC) indicator is to identify a peak current draw, which exceeds the
rating of the servo control.
Status Indicators The logic power supply on the chassis has four (4) green status indicators (see Figure
1-5) which when lit verify the presence of the +15 VDC, –15 VDC, AC for fans and logic,
and Bus voltage (DC).
Figure 1-5 Status Indicators
Servo Systems Co. • 115 Main Road • P.O. Box 97 • Montville, NJ, 07045-0097
[phone] • Toll Free: [phone] • Fax: [phone]
www.servosystems.com

1-14 General Information MN1269
Tools There are a few basic tools recommended to install the “LD” Servo Control.
Recommended Tools Description and Use
Slotted screw driver, medium size Terminal strips, chassis and possibly transformer
Slotted, very small screw driver (or pot adjustment
tool Potentiometer adjustment and screw terminal connections
Phillips, screw driver medium large with 8” long
shank (required if replacing or adding servo control
cards
Add or remove modules
Phillips, screw driver medium Input connections to AC bus power
Crescent Wrench (6” or 8”) Disassemble packaging from chassis
VOM meter Testing continuity, verifying Voltage, current,
polarity, etc.
A number of other common tools are recommended in order to do a proper job i.e. solder iron, solder,
crimp tools, wire stripper, etc.
Servo Systems Co. • 115 Main Road • P.O. Box 97 • Montville, NJ, 07045-0097
[phone] • Toll Free: [phone] • Fax: [phone]
www.servosystems.com

Section 2
Installation
Installation 2-1MN1269
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. Verify 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.
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: Avoid locating control immediately above or beside heat generating
equipment, or directly below water or steam pipes.
CAUTION: Avoid 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 effective cooling and maintenance, the control should be mounted on a
smooth, non-flammable vertical surface.
2. At least two inches top and bottom clearance must be provided for air flow.
Installing the Servo Control Card
This procedure is to be followed only if the Servo Control Cards have not been mounted
to your chassis. If the cards are already installed, skip this procedure and continue with
Mount the Chassis.
1. Prepare to mount the card by loosening the two phillips head machine screws
located on base of chassis (see Figure 2-1).
2. Open the shipping carton, remove the card enclosed in plastic, anti–static
protective bag.
3. Remove the card from the bag and slip the module’s slotted tabs under the
screw heads.
4. Tighten the screws moderately with a long phillips head screwdriver.
5. Repeat the mounting procedure for each card.
6. On the prewired chassis cable harness, grasp the large connector (female “Bus
Connector”) and plug it into the row of pins (J6) at the upper right corner of the
card near the fan (see Figure 2-1). Take care to ensure proper alignment as
there is only one correct position .
7. Grasp the small connector (4 socket female “Logic Connector”) from the same
harness and plug it into J5 (see Figure 2-1). Again make sure it is properly
aligned on the 4 pins.
Servo Systems Co. • 115 Main Road • P.O. Box 97 • Montville, NJ, 07045-0097
[phone] • Toll Free: [phone] • Fax: [phone]
www.servosystems.com

2-2 Installation MN1269
Figure 2-1 Installing the Module
Mount the Chassis 1. Remove the shipping base by taking off the four nuts and bolts at the corners of
the chassis.
2. Select an appropriate mounting location that meets the vapor, vibration and
particle avoidance requirements stated in General Precautions in section 1.
3. Lay out the hole pattern according to the dimensions of your chassis. Refer to
Appendix A for dimensions.
4. Cut any wiring openings needed in the cabinet, debur the edges, and bolt the
chassis securely within the equipment enclosure. Use one of the mounting
bolts to attach a ground strap to earth ground.
Servo Systems Co. • 115 Main Road • P.O. Box 97 • Montville, NJ, 07045-0097
[phone] • Toll Free: [phone] • Fax: [phone]
www.servosystems.com

Installation 2-3MN1269
General Wiring Considerations Care should be taken to see that all interconnecting wiring is sized and installed in
conformance with the National Electrical Code (NEC) or Canadian Electrical Code (CEC)
and other applicable local codes.
To minimize electrical interference problems, interconnecting wires should be arranged in
groups. As a minimum, two groups should be used; (1) high current, high voltage power
wiring such as main power input, 115 VAC for fans, relays, contactors, etc. DC wiring for
motor power and (2) low level signal wiring such as input speed commands, tachometer
feedback, inhibit/enable signals, etc. It is recommended that wire groups be separated
by at least one foot, or run in separate grounded conduits. All wiring should be kept as
short as possible.
As a general rule, use only wires of adequate size for their length and current being
carried. Specific recommendations for each major group follows. For critical
applications, finer subdivision into wire groups of like functions is advised.
Power Wiring All power wiring for the cooling fans, motor power and input power connections should be
no less than 16 AWG gauge or equivalently rated wire. It is suggested that power wires
be run as twisted pairs, i.e., twist the wire carrying current with the same wire returning
the current. Twisting the wires will reduce radiated electrical noise. In systems
particularly sensitive to electrical noise, use of shielding for the motor power wiring might
be considered.
Grounding Proper grounding helps guard against electrical shock to personnel and can reduce the
effects of electrical noise interference. Each chassis/power supply assembly should be
grounded. One mounting bolt can be used to attach a ground wire. The chassis ground
wire should have a green or green with yellow stripe insulation. In addition to the chassis
grounds, the cabinet which houses the equipment should have a separate connection
direct to earth ground on the power distribution panel.
The system ground should be designed in a tree fashion with individual ground wires
converging to a single earth ground point. Ground wires should be short and large
enough to carry the maximum short circuit current rating of the circuit, as determined by
the fuse rating on the incoming power. Consult local governing codes for compliance with
safety regulations before finalizing the grounding system.
Servo Systems Co. • 115 Main Road • P.O. Box 97 • Montville, NJ, 07045-0097
[phone] • Toll Free: [phone] • Fax: [phone]
www.servosystems.com