Baldor UM Series Installation instructions

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UM Series
DC Servo Control
SERVO DRIVE
Installation & Operating Manual
4/00 MN1213

Table of Contents
Table of Contents iMN1213
Section 1
General Information 1-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Limited Warranty 1-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Product Notice 1-2. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Safety Notice 1-2. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Section 2
Product Overview 2-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Section 3
Receiving and Installation 3-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Receiving & Inspection 3-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Location Considerations 3-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Mechanical Installation 3-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Electrical Installation 3-2. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Electrical Noise Considerations 3-2. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Input Power Transformer 3-4. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Power Wiring 3-5. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Signal Wiring 3-6. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Optional Input Connections 3-8. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Section 4
Adjustments and Start-Up 4-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Overview 4-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Initial Settings 4-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Start–Up Velocity Mode 4-2. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Start–Up Torque Mode 4-3. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Test Points 4-3. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Section 5
Troubleshooting 5-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Overview 5-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Maintenance 5-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Initial Checks 5-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Reset the Servo Control 5-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Section 6
Specifications & Product Data 6-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Appendix A
Personality Module A-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Jumper and Personality Module Settings A-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Personality Module Current Settings A-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Peak and Continuous Current Levels A-2. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Record of “Set Up” Configuration A-3. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

ii Table of Contents MN1213

Section 1
General Information
General Information 1-1MN1213
Copyright Baldor 1999. All rights reserved.
This manual is copyrighted and all rights are reserved. This document may not, in
whole or in part, be copied or reproduced in any form without the prior written
consent of Baldor.
Baldor makes no representations or warranties with respect to the contents hereof
and specifically disclaims any implied warranties of fitness for any particular
purpose. The information in this document is subject to change without notice.
Baldor assumes no responsibility for any errors that may appear in this document.
Limited Warranty
For a period of two (2) years from the date of original purchase, BALDOR will repair or
replace without charge controls and accessories which our examination proves to be
defective in material or workmanship. This warranty is valid if the unit has not been
tampered with by unauthorized persons, misused, abused, or improperly installed and
has been used in accordance with the instructions and/or ratings supplied. This warranty
is in lieu of any other warranty or guarantee expressed or implied. BALDOR shall not be
held responsible for any expense (including installation and removal), inconvenience, or
consequential damage, including injury to any person or property caused by items of our
manufacture or sale. (Some states do not allow exclusion or limitation of incidental or
consequential damages, so the above exclusion may not apply.) In any event, BALDOR’s
total liability, under all circumstances, shall not exceed the full purchase price of the
control. Claims for purchase price refunds, repairs, or replacements must be referred to
BALDOR with all pertinent data as to the defect, the date purchased, the task performed
by the control, and the problem encountered. No liability is assumed for expendable items
such as fuses.
Goods may be returned only with written notification including a BALDOR Return
Authorization Number and any return shipments must be prepaid.

1-2 General Information MN1213
Product Notice Intended use:
These drives are intended for use in stationary ground based applications in
industrial power installations according to the standards EN60204 and VDE0160.
They are designed for machine applications that require variable speed controlled
three phase brushless AC motors.
These drives are not intended for use in applications such as:
–Home appliances
–Medical instrumentation
–Mobile vehicles
– Ships
– Airplanes
Unless otherwise specified, this drive is intended for installation in a suitable
enclosure. The enclosure must protect the control from exposure to excessive or
corrosive moisture, dust and dirt or abnormal ambient temperatures. The exact
operating specifications are found in Section 6 of this manual.
The installation, connection and control of drives is a skilled operation,
disassembly or repair must not be attempted.
In the event that a control fails to operate correctly, contact the place of purchase
for return instructions.
Safety Notice:This equipment contains high voltages. Electrical shock can cause serious or fatal
injury. Only qualified personnel should attempt the start–up procedure or
troubleshoot this equipment.
This equipment may be connected to other machines that have rotating parts or
parts that are driven by this equipment. Improper use can cause serious or fatal
injury. Only qualified personnel should attempt the start–up procedure or
troubleshoot this equipment.
–System documentation must be available at all times.
–Keep non-qualified personnel at a safe distance from this equipment.
–Only qualified personnel familiar with the safe installation, operation and
maintenance of this device should attempt start-up or operating
procedures.
–Always remove power before making or removing any connections to
this control.
PRECAUTIONS: Classifications of cautionary statements.
WARNING: Indicates a potentially hazardous situation which, if not avoided, could
result in injury or death.
Caution: Indicates a potentially hazardous situation which, if not avoided,
could result in damage to property.

General Information 1-3MN1213
PRECAUTIONS:
WARNING: Do not touch any circuit board, power device or electrical connection
before you first ensure that power has been disconnected and there is no
high voltage present from this equipment or other equipment to which it is
connected. Electrical shock can cause serious or fatal injury.
WARNING: Be sure that you are completely familiar with the safe operation of this
equipment. This equipment may be connected to other machines that
have rotating parts or parts that are controlled by this equipment.
Improper use can cause serious or fatal injury.
WARNING: Be sure all wiring complies with the National Electrical Code and all
regional and local codes or CE Compliance. Improper wiring may cause a
hazardous condition.
WARNING: Be sure the system is properly grounded before applying power. Do not
apply AC power before you ensure that grounds are connected. Electrical
shock can cause serious or fatal injury.
WARNING: Do not touch any electrical component for at least five (5) minutes after AC
power is disconnected to allow capacitors to discharge. Electrical shock
can cause serious or fatal injury.
WARNING: Improper operation 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: If a motor is driven mechanically, it may generate hazardous voltages that
are conducted to its power input terminals. The enclosure must be
grounded to prevent a possible shock hazard.
WARNING: When operating a motor with no load coupled to its shaft, remove the shaft
key to prevent injury if it were to fly out when the shaft rotates.
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: The user must provide an external hard-wired emergency stop circuit to
disable the control in the event of an emergency.
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
Caution: To prevent equipment damage, be certain that the input power has
correctly sized protective devices installed as well as a power disconnect.
Continued on next page.

1-4 General Information MN1213
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: For UL installations, do not connect any resolver cable shields to the
motor frame. At a minimum, resolver signal integrity will be compromised
and damage to the control may result.
Caution: Do not connect AC power to the control terminals U, V and W. Connecting
AC power to these terminals may result in damage to the control.
Caution: Baldor recommends not using “Grounded Leg Delta”transformer power
leads that may create ground loops and degrade system performance.
Instead, we recommend using a four wire Wye.
Caution: Logic signals are interruptible signals; these signals are removed when
power is removed from the drive.
Caution: Controls are intended to be connected to a permanent main power source,
not a portable power source. Suitable fusing and circuit protection devices
are required.
Caution: The safe integration of the drive into a machine system is the
responsibility of the machine designer. Be sure to comply with the local
safety requirements at the place where the machine is to be used.
Caution: Controls must be installed inside an electrical cabinet that provides
environmental control and protection. Installation information for the drive
is provided in this manual. Motors and controlling devices that connect to
the drive should have specifications compatible to the drive.
Caution: Violent jamming (stopping) of the motor shaft during operation may
damage the motor and control.
Caution: Do not tin (solder) exposed wires. Solder contracts over time and may
cause loose connections.
Caution: Electrical components can be damaged by static electricity. Use ESD
(electro-static discharge) procedures when handling this control.
Caution: Ensure that motor and tachometer wires are properly connected. Incorrect
installation may result in improper rotation or incorrect commutation.

Section 2
Product Overview
Product Overview 2-1MN1213
Overview The Baldor UM series high frequency DC servo control provides performance with
attention to economy. It is designed to operate a wide variety of Baldor DC brush
type permanent magnet servo motors. The UM series control is a key component
in motion control applications and provides 1 to six axes control. It precisely
controls both the current and velocity at the motor. Several configurations are
available to suit most application requirements.
Current mode operation is useful in applications where commanded motor torque
must be proportional to a voltage at the signal input. Since torque is proportional
to motor current, constant current must be provided to the motor to develop
constant torque. The current mode operation differs from velocity mode operation
in that the velocity loop is basically disabled (gain is reduced from 6000 A/V to
approximately 6 A/V). The current loop controls the output current proportional to
the input voltage (VCS).
Typical applications requiring current mode operation are:
SWeb controls
SBrake applications
SBolt tightening
Current mode operation is also useful if a Baldor motion controller is precisely
controlling the velocity loop. In this configuration tachometer feedback is not
required.
“UM” and “LD” series servo circuit boards are not interchangeable.
Motors Baldor servo controls are compatible with many motors from Baldor and other
manufacturers. Baldor compatible motors include:
SM2200 –Series motors
SM3300 –Series motors
SM4000 –Series motors
SM4500 –Series motors
Refer to the BR1202 catalog or contact your local Baldor distributor or sales
representative for assistance with motor sizing and compatibility.
Features Status Indicators
SFault Protection Latch or Current Foldback SExternal Reset Input
S20kHz “Inaudible” Switching SVoltage Error (VE)
STest Points to aid during setup SExcess Current (EC)
SJumper Selections to quickly tailor an application SThermal Protection (EC)
SStandard ±10VDC command input signal SGround Fault (GF)
SVelocity / Current Configuration SSurge Current (SC) and Short Circuit Protection
SDecoupled current sense (monitor absolute or actual value) SLogic Voltage Status (MV, PV) or (–15V, +15V)
SLeft and Right Limit – over travel limit SBus Voltage Status (PB) or (BUS)
SInterlock (disable output to motor) SAC Input Voltage Status (AC)
SPushbutton Reset

2-2 Product Overview MN1213
Functional Description
The servo control consists of a power amplifier, a velocity control amplifier, and
fault logic circuitry.
Power Amplifier
The power section 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 input of the amplifier and a current command is present, 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 of the power amplifier serves as the current loop
feedback mechanism. The unit isolates the high voltage motor signal from the low
voltage control circuitry.
Switching Configuration
The power amplifier contains a transistor bridge output stage that conditions the
voltage and current that is applied to the motor.
Velocity Control Amplifier
The high gain front end velocity control amplifier accepts a speed command
(Signal) and a tachometer voltage (Tach). The VCA clamped error signal (C
adjustment) is applied to the power amplifier as a current command.
Fault Logic Circuitry
The Fault Logic Circuitry functions are described in the following paragraphs.
Excess Current Limit
A comparator checks motor current for overload conditions beyond rated output. If
the comparator is tripped, it disables the control, lights the EC indicator, and pulls
the interlock line ”low”(if P4 is in latch position). The control must be reset.
Surge Current Sensor
The surge current sensor pulls the interlock line low internally if the peak output
current is exceeded. The control must be reset.
Overheat Sensor
If the thermal switch on the heatsink indicates the temperature exceeded a preset
level, the switch sets the EC (Excess Current) latch, which operates the EC fault
indicator. The fault is cleared when the heat sink temperature decreases.
Left Limit, Right Limit
Limit switches are typically mounted on machinery to restrict the load from moving
into over–travel conditions. When a limit switch is activated, travel in that direction
is not allowed. However, the motor can be reversed to move the load.
Decoupled Current Sense (DCS)
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 (TPl).
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 tachometer noise.