AC SERVO DRIVE

Series 26M
Multi–Axis
Servo Control
(Includes 3 Phase – PO and
1 Phase – TR Versions)

Installation & Operating Manual

1/99 MN1226
 Table of Contents

Section 1
Quick Start Guide . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-1
Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-1
Quick Start Checklist . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-1
Quick Start Procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-2
Section 2
General Information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1
Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1
Limited Warranty . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-2
Safety Notice . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-3
Section 3
Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-1
Receiving & Inspection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-1
Location Considerations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-1
Mechanical Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-2
PSM Procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-2
Control Procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-2
Through the Wall Mounting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-2
Keypad Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-2
Remote Keypad Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-3
Electrical Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-4
System Grounding . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-4
Overload Protection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-6
Power Disconnect . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-6
Protection Devices . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-6
Line Reactors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-7
Power Connections . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-8
Optional PSM I/O Connections . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-12
M-Contactor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-15
Motor Connections . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-15
Dynamic Brake Resistor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-16
Resolver Feedback . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-17
Simulated Encoder Output . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-18
Control Circuit Connections . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-19
Opto Isolated Inputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-19
26M-TR Operating Mode Configurations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-20
Keypad Operating Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-20
Standard Run 3 Wire Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-22
15 Speed 2-Wire Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-24
2 Wire Multi INP Control Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-26
3 Wire Multi INP Control Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-28
Bipolar Speed or Torque Control Mode with Multiple Parameter Sets . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-30
Process Mode Connections . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-32
Specific Process Mode Outputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-34

MN1226 Table of Contents i

 26M-PO Operating Mode Configurations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-36
Keypad Operating Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-36
Standard Run 3 Wire Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-38
15 Speed 2-Wire Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-40
2 Wire Multi INP Control Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-42
3 Wire Multi INP Control Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-44
Bipolar Speed or Torque Control Mode with Multiple Parameter Sets . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-46
Process Mode Connections . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-48
Specific Process Mode Outputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-50
Analog Inputs and Outputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-52
Analog Inputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-52
Analog Outputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-53
External Trip Input . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-54
Opto-Isolated Outputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-56
Pre-Operation Checklist . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-57
Power-Up Procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-58
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 Values when Security Code Not Used . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-6
Reset Parameters to Factory Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-7
Initialize New Software . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-8
Parameter Adjustments . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-9

ii Table of Contents MN1226

Section 5
Troubleshooting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-1
Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-1
PSM-PR LEDs’ . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-1
26M-PO Ready LED . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-1
26M-TR Indicators . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-1
Control Troubleshooting 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 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-17
Plant Ground . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-17
Section 6
Manually Tuning the Series 26M 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 Tuning 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

MN1226 Table of Contents iii

Section 7
Specifications and Product Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-1
Identification . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-1
26M-TR Servo Control Specifications: . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-2
PSM-PR Power Supply Specifications: . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-4
Keypad Display: . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-5
Differential Analog Input: . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-5
Analog Outputs: . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-6
Digital Inputs: . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-6
Digital Outputs: . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-6
Diagnostic Indications: . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-6
Terminal Tightening Torque Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-7
DB Resistor Selection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-8
26M-TR Dimensions & Mounting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-10
26M-PO/PSM-PR Dimensions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-11
Size B Dimensions & Mounting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-11
Size C Dimensions & Mounting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-12
Size D Dimensions & Mounting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-13
Mounting Considerations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-14
Parameter Values . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-1
Appendix A . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-1
Appendix B . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . B-1
Remote Keypad Mounting Template . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . B-2

iv Table of Contents MN1226

Section 1
Quick Start Guide

Overview If you are an experienced user of Baldor controls, you are probably already familiar with
the keypad programming and keypad operation methods. If so, this quick start guide has
been prepared for you. This procedure will help get your system up and running in the
keypad mode quickly. This will allow motor and control operation to be verified. This
procedure assumes that the Control, Motor and Dynamic Brake hardware are correctly
installed (see Section 3 for procedures) and that you have an understanding of the
keypad programming & operation procedures. It is not necessary to wire the terminal
strip to operate in the Keypad mode (Section 3 describes terminal strip wiring
procedures). The quick start procedure is as follows:
1. Read the Safety Notice and Precautions in section 2 of this manual.
2. Mount the control. Refer to Section 3 “Mechanical Installation” procedure.
3. Connect AC power, refer to Section 3 “Power Connections”.
4. Connect the external dynamic brake resistor, if required. Refer to Section 3
“Dynamic Brake Resistor”.
5. Plug in the keypad, refer to Section 3 “Mechanical Installation”.
6. Connect the motor, refer to Section 3 “Motor Connections”.
7. Connect the resolver, refer to Section 3 “Resolver Installation”.
Note: It is not necessary to wire the terminal strip to operate in the Keypad mode.
Quick Start Checklist
CAUTION: After completing the installation but before you apply power, be
sure to check the following items.
1. Verify AC line voltage at the source matches the control rating.
2. Inspect all power connections for accuracy, workmanship and torques as well
as compliance to codes.
3. Verify control and motor are grounded to each other and the control is
connected to earth ground.
4. Check all signal wiring for accuracy.
5. Be certain all brake coils, contactors and relay coils have noise suppression.
This should be an R-C filter for AC coils and reverse polarity diodes for DC
coils. MOV type transient suppression is not adequate.
WARNING: Make sure that unexpected operation of the motor shaft during start
up will not cause injury to personnel or damage to equipment.
Check of Motors and Couplings
1. Verify freedom of motion for all motor shafts.
2. Verify that all motor couplings are tight without backlash.
3. Verify the holding brakes if any, are properly adjusted to fully release and set to
the desired torque value.

MN1226 Quick Start Guide 1-1

Section 1
General Information

Quick Start Procedure Initial Conditions

Become familiar with the keypad programming and keypad operation of the control as
described in Section 4 of this manual.
1. Verify that any enable inputs to J1B-8 are open.
2. Turn power on. Be sure there are no faults.
3. a. (PSM–PR only) Verify PSM “Ready” is ON and the “DB ON” and
“Monitor” indicators are OFF. Verify the control “Ready” is ON.
b. (26M–TR only) Verify that “Ready” is ON and the “DB” is OFF.
4. Set the Level 1 Input block, Operating Mode to “KEYPAD”.
5. Be sure the Level 2 Protection block, Local Enable INP parameter is OFF and
the Level 2 Protection block, External Trip parameter is OFF.
6. Enter the following motor data in the Level 2 Motor Data block parameters:
MOTOR RATED AMPS (from motor nameplate)
MOTOR POLES
Use the following:
BSM 50/63/80 = 4 poles
BSM 90/100 = 8 poles
BSM 4F/6F/8F = 8 poles
RESOLVER SPEEDS = 1 (Preset is “One”)
7. At the Level 2 Motor Data block, go to CALC Presets and select YES (using
the Y key). Press ENTER and let the control calculate the preset values for the
parameters that are necessary for control operation.
8. Disconnect the motor from the load (including coupling or inertia wheels). If the
load cannot be disconnected, refer to Section 6 and manually tune the control.
After manual tuning, perform steps 13 through 17.
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.
9. Go to Level 2 Autotune block, and do the following tests:
CMD OFFSET TRIM
CUR LOOP COMP
RESOLVER ALIGN
10. Remove all power from the control.
11. Couple the motor to its load.
12. Turn power on. Be sure no errors are displayed.
13. Set the Level 2 Output Limits block, “MIN OUTPUT SPEED” parameter.
14. Set the Level 2 Output Limits block, “MAX OUTPUT SPEED” parameter.
15. Go to Level 2 Autotune block, and perform the SPD CNTRLR CALC test.
16. Run the drive from the keypad using one of the following: the arrow keys for
direct speed control, keypad entered speed or the JOG mode.
17. Select and program additional parameters to suit your application.
The control is now ready for use in the Keypad mode. If a different operating mode is
desired, refer to Section 3 Control Connections and Section 4 Programming and
Operation.

1-2 Quick Start Guide MN1226

Section 2
General Information

Introduction Baldor Controls represent the latest technology in microprocessor based motor controls.
The Series 26M 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 26M 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.
26M-TR only
Figure 2-1 26M-TR Control and Motor

AC Power Motor
26M-TR
1f Control
Speed Feedback
Command

DB
Assembly

26M-PO only
This series allows one or more controls (5 maximum) to be powered from one power
supply module (PSM series). See Figure 2-2. The PSM series power supply converts
the AC line power to provide rectified DC Bus power and logic operation. DC Bus power
is converted to proper voltage levels for motor operation by the control.
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 2-2 Multiple Controls Powered from One PSM-PR

Motor
26M-PO
PSM-PR
AC Power Control
3f Speed Feedback
(Power Command
Supply
Logic Module)
Power Motor
26M-PO
1f Control
Speed Feedback
Command

DB
Assembly
Motor
26M-PO
Control
Speed Feedback
Command

MN1226 General Information 2-1

 Limited Warranty

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

Goods may be returned only with written notification including a BALDOR

Return Authorization Number and any return shipments must be prepaid.

2-2 General Information MN1226

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: This unit has an automatic restart feature that will start the motor
whenever input power is applied and a RUN (FWD or REV)
command is issued. If an automatic restart of the motor could
cause injury to personnel, the automatic restart feature should be
disabled by changing the Level 2 Miscellaneous block, Restart
Auto/Man parameter to Manual.
WARNING: Be sure the system is properly grounded before applying power.
Do not apply AC power before you ensure that grounds are
connected. Electrical shock can cause serious or fatal injury.
WARNING: Do not remove cover for at least five (5) minutes after AC power is
disconnected to allow capacitors to discharge. Electrical shock can
cause serious or fatal injury.
WARNING: Improper operation 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: 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: 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.

MN1226 General Information 2-3

Section 1
General Information

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: 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.

2-4 General Information MN1226

Section 3
Installation

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. (Refer to Section 7 of this manual).
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. The amount of heat generated within
the control can be calculated based on Table 3-1.
2. At least two inches top and bottom clearance must be provided for air flow.
3. Altitude derating. Refer to Operating Altitude in Section 7.
4. Temperature derating. From 0°C to 40°C ambient no derating required.
Above 40°C, derate the continuous and peak output current by the amount
specified in Section 7 of this manual.

Table 3-1 Multi Axis Control Watts Loss Ratings

26M-TR 26M-PO PSM-PR

115 VAC 230 VAC 230 VAC 460 VAC 230 VAC 460 VAC
3.5 Watts/ 10 Watts/ 10 Watts/ 17 Watts/ 10 Watts/ 17 Watts/
Amp Amp Amp Amp Amp Amp

MN1226 Installation 3-1

Section 1
General Information

Mechanical Installation (26M-TR Only)

Mount the control to the mounting surface. The control must be securely fastened to the
mounting surface. Use the four (4) 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.
(26M-PO Only)
Mount the PSM (Power Supply Module) and the control to the mounting surface.

PSM Procedure The PSM must be securely fastened to the mounting surface. Use the four (4) 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.
Control Procedure The control must be securely fastened to the mounting surface. Use the four (4)
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.
Through the Wall Mounting The Multi Axis Controls are designed for panel or through the wall installation.
Procedure:
1. Refer to Section 7 of this manual for drawings and dimensions of the through
the wall mounting. Use the information contained in these drawings to layout
the appropriate size hole on your enclosure and wall.
2. Cut the holes in your enclosure and wall.
3. Locate and drill holes for mounting hardware as shown in the drawings.
4. Cut foam tape (not provided) and apply to perimeter of opening as shown.
5. Secure the four (4) brackets to the exterior of the panel.
6. Secure the control to the customers panel.

Keypad Installation (PO and TR systems)

Procedure:
1. Refer to the Remote Keypad Installation procedure and mount the keypad.
2. Connect the cable for the keypad assembly to J4 of the control.

3-2 Installation MN1226

Section 1
General Information

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 Type 4 indoor enclosure, it retains the Type 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).
• RTV 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 sufficient thickness (14 gauge minimum).
2. Place the template on the mounting surface or mark the holes as shown.
3. Accurately center punch the 4 mounting holes (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 RTV 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 RTV 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 sufficient 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 RTV 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 RTV 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.

MN1226 Installation 3-3

Section 1
General Information

Electrical Installation All interconnection wires between the control, AC power source, motor, host control and
any operator interface stations should be in metal conduits. Use listed closed loop
connectors that are of appropriate size for wire gauge being used. Connectors are to be
installed using crimp tool specified by the manufacturer of the connector. Only Class 1
wiring should be used.
System Grounding Baldor Controls are designed to be powered from standard three phase lines that are
electrically symmetrical with respect to ground. System grounding is an important step in
the overall installation to prevent problems. The recommended grounding method is
shown in Figure 3-1 and 3-2.
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.

Figure 3-1 Recommended System Grounding (25M-PO)

PSM M
Power Control
Supply

L1 Note: Wiring shown for clarity of grounding method

only. Not representative of actual terminal
block location.
AC Main L2 L1 L2 L3 U V W
Supply

L3

Earth
Safety
Ground Four Wire Route all 4 wires L1, L2, L3 and Earth
“Wye” (Ground) together in conduit or cable.
Driven Earth Route all 4 wires U, V, W and Motor
Ground Rod Ground together in conduit or cable.
(Plant Ground) Connect all wires (including motor ground)
inside the motor terminal box.

Ground per NEC and

Local codes.
Figure 3-2 Recommended System Grounding (26M-TR)

26M-TR
Control Note: Wiring shown for clarity of grounding method
L
only. Not representative of actual terminal
AC Main
block location.
Supply N L N PE U V W

Safety Earth
Ground Route all 3 wires L, N, and Earth
(Ground) together in conduit or cable.
Driven Earth Route all 4 wires U, V, W and Motor
Ground Rod Ground together in conduit or cable.
(Plant Ground) Connect all wires (including motor ground) Ground per NEC and Local codes.
inside the motor terminal box.

3-4 Installation MN1226

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

Input Power Conditioning

Baldor controls are designed for direct connection to standard three phase lines that are
electrically symmetrical with respect to ground. Certain power line conditions must be
avoided. An AC line reactor or an isolation transformer may be required for some power
conditions.
S Baldor controls require a minimum line impedance of 3%. Refer to “Line
Reactors” for additional information.
S If the feeder or branch circuit that provides power to the control has
permanently connected power factor correction capacitors, an input AC line
reactor or an isolation transformer must be connected between the power factor
correction capacitors and the control.
S If the feeder or branch circuit that provides power to the control has power
factor correction capacitors that are switched on line and off line, the capacitors
must not be switched while the control is connected to the AC power line. If the
capacitors are switched on line while the control is still connected to the AC
power line, additional protection is required. TVSS (Transient Voltage Surge
Suppressor) of the proper rating must be installed between the AC line reactor
or an isolation transformer and the AC input to the control.

MN1226 Installation 3-5

 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 PSM 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 AC input power lines must have suitable protection devices 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 for115 or 230 VAC

3 phase, thermal magnetic.

Equal to GE type THQ or TEB for 230 VAC or
GE type TED for 460 VAC.
Fast Action Fuses: Buss KTN on 230 VAC or
Buss KTS on 460 VAC, Buss FRS or equivalent.
Time Delay Fuses: Buss FRN on 230 VAC or
Buss FRS on 460 VAC or equivalent.
Table 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 - (Power Supply Modules)
L1, L2, L3 Incoming Power X3 Logic Power
M i
Maximum Inp t
Input Inp t F
Input Fuse
se Wire Ga
Gauge
ge Wire Ga
Gauge
ge
Catalog Number
N mber Inputt
Inp
Continuous Breaker Fast Time
AWG mm2 Fuse AWG mm2
Amps Acting Delay
SD26M1A02-TR 2.5A 5A 4A 4A 14 2.08
SD26M1A05-TR 5A 7.5A 7.4A 6.7A 14 2.08
SD26M2A02-TR 2.5A 5A 4A 4A 14 2.08
SD26M2A05-TR 5A 7.5A 7.4A 6.7A 14 2.08
PSM2A060-PR1 60A 90A 90A 70A 6 13.3 Internal 16 1.0
PSM2A060-PR2 60A 90A 90A 70A 6 13.3 Internal 16 1.0
PSM2A100-PR1 100A 150A 150A 115A 3 26.7 Internal 16 1.0
PSM2A100-PR2 100A 150A 150A 115A 3 26.7 Internal 16 1.0
PSM4A030-PR1 30A 50A 50A 40A 8 8.37 Internal 16 1.0
PSM4A030-PR2 30A 50A 50A 40A 8 8.37 Internal 16 1.0
PSM4A050-PR1 50A 70A 80A 60A 6 13.3 Internal 16 1.0
PSM4A050-PR2 50A 70A 80A 60A 6 13.3 Internal 16 1.0
PSM4A100-PR1 100A 125A 150A 110A 1 42.4 Internal 16 1.0
PSM4A100-PR2 100A 125A 150A 110A 1 42.4 Internal 16 1.0

Note: All wire sizes are 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.

3-6 Installation MN1226

 Line Reactors 3 phase line reactors are available from Baldor. If you are providing your own line
reactor, use the following formula to calculate the minimum inductance required. Table
3-4 lists the input current required for this calculation, for each control size.
(V L*L 0.03)
L +
(I Ǹ 3 377)
Where: L Minimum inductance in henries.
VL–L Input volts measured line to line.
0.03 Desired percentage of input impedance.
I Input current rating of control.
377 Constant used with 60Hz power.
Use 314 if input power is 50Hz.

MN1226 Installation 3-7

Section 1
General Information

Power Connections
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.
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.

26M-TR Only (Refer to Figure 3-3).

1. Connect the single phase incoming power wires from the protection devices to
the control terminal X1 pins L and N, Figure 3-6. Torque as specified in Section
7.
2. Connect earth ground (plant ground) to control terminal X1 pin PE, Figure 3-6.
Torque as specified in Section 7.

PSM-PR Only (Refer to Figure 3-4).

1. Connect the 3 phase incoming power wires from the protection devices to the
PSM inputs labeled L1, L2 and L3 (Figures 3-4 and 3-10). Torque as specified.
2. Connect VCC+ bus power from the PSM VCC + to the multi axis control(s)
using the copper bus bars provided (see Figure 3-5). Torque as specified.
3. Connect VCC– bus power from the PSM VCC – to the multi axis control(s)
using the copper bus bars provided (see Figure 3-5). Torque as specified.
4. Connect bus power common from the PSM to the multi axis control(s) using
the copper bus bars provided (see Figure 3-5). Torque as specified.
5. Connect earth ground (plant ground) to PSM . Ground terminal should be on
top of bus bar and must use a separate washer and nut. Torque as specified.
6. Connect 1 phase logic power to connector X3 (Logic Power) of the PSM.
(Figures 3-4 and 3-10). Be sure to connect the proper voltage for your PSM.
Look at the last digit of the identification number to determine voltage:
PSMXAXXX-PR1 = 115VAC
PSMXAXXX-PR2 = 230VAC
Note: Power to X3 should also have a power disconnect and protective devices.
7. Connect the 24 VDC Logic Power (+24VDC & 0VDC) from X10 pins 1 & 2 of
the PSM to X10 pins 1 & 2 of the multi axis control(s) (Figures 3-4 and 3-10).
Note: More than one 24 VDC connector is provided at each X10 connector so
power to multiple drives can be daisy chained.
8. Connect “Ready” from X10 pins 3 and 4 of the PSM to X10 pins 3 and 4 of the
multi axis control(s) (Figures 3-4 and 3-10).

3-8 Installation MN1226

 Figure 3-3 Single Phase AC Power and Motor Connections (26M-TR Only)
L1 L2
Earth L1 L2

Note 1 * Circuit Alternate *

Breaker Fuse Note 1
Connection
Note 2

L N PE

26M-TR
Baldor
Control

U V W PE
Note 2
V W
U G

* Motor
Notes:

1. See Protective Device description in this section of the manual.

2. Shield wires inside a metal conduit.

* Optional components not provided with Control.

See Recommended Tightening Torques in Section 7.

MN1226 Installation 3-9

Section 1
General Information

Figure 3-4 3 Phase AC Power and Motor Connections

L1 L2 L3
L1 L2 L3
Earth
Alternate *
Note 1 * Circuit Note 5 Fuse Note 1
Breaker Connection
Note 2
A1 B1 C1 A1 B1 C1

Note 3 * Line
Reactor
A2 B2 C2
DC BUS
VCC+
Note 2
L1 L2 L3 VCC–
26M-PO
VCC+ Baldor
Multi Axis
VCC– 1 Control
Baldor
2
PSM-PR 3 X10
4
Note 6 Logic
1 Power U V W
Logic 2
Power X3 X10 3
Input 4

Notes:
Note 2
1. See Protective Device description in this section of the manual.
2. Shield wires inside a metal conduit. Connect conduits so the use of Line/Load reactors
and RC Devices do not interrupt EMI/RFI shielding.
3. See Line Impedance in this section of this manual.
V W
4. Refer to Motor Connections in this section of the manual for M-Contactor information.
5. Use the same gauge wire for Earth as used for L1, L2, L3 connections. U G
6. 230VAC 1 phase for PSMxxxxx-PR2; or 115VAC for PSMxxxxx-PR1.
* Optional components not provided with PSM or Control. * AC Motor

See Recommended Tightening Torques in Section 7.

3-10 Installation MN1226

 Figure 3-5 Copper Bus Bar Installation

VCC+ VCC+

VCC– VCC–

PSM-PR 26M-PO 26M-PO

Multi Axis Multi Axis See Terminal Tightening Torques
Control Control in Section 7 of this manual.

Figure 3-6 26M-TR Connector Locations

X1
ÎÎ
ÎÎ
X1 - Power Connector Ready
PE Earth PE

Input Power L
L AC Line J1B
N Neutral N
U Motor lead “U” U
Motor V 8 Note: J2 may be a 9 pin connector
V Motor lead “V”
W Motor lead “W” W with the following connections:
DB+ Dynamic Brake Dynamic Brake or DB+
J2 - Resolver Input - 9 pin
DB- Dynamic Brake Regen Resistor DB-
1 REF+ 6 REF–

ÎÎ
2 COS+ 7 COS–
3 SINE+ 8 SINE–

ÎÎ
4 NC 9 NC
DB ON 5 GND

BALDOR
J1B - Digital I/O
8 Enable 18 N.C.
9 FWD CMD 19 CREF (OPTO IN)
10 REV CMD 20 OUT1- J4 J4 - Keypad
11 IN1 21 OUT1+
12 IN2 22 OUT2-
13 IN3 23 OUT2+
14 IN4 24 OUT3- J3 - Buffered Encoder Output
15 IN5 25 OUT3+
16 External Trip 26 OUT4- J3 1 CHA+ 6 CHA-
17 N.C. 27 OUT4+ 2 CHB+ 7 CHB-
3 CHC+ 8 CHC-
4 N.C. 9 N.C.
1 5 DGND
J1A - Analog I/O
1 AGND 5 ANA IN 2- J2 - Resolver Input - 15 pin
2 ANA IN 1 6 ANA OUT1 J2
3 Reference 7 ANA OUT2 J1A 1 SIN+ 6 SIN– 11 EXT INDEX
4 ANA IN 2+ 2 COS+ 7 COS– 12 NC
3 REF+ 8 REF– 13 AGND
4 NC 9 NC 14 NC
5 NC 10 NC 15 NC
See Terminal Tightening Torques in
Section 7 of this manual.

MN1226 Installation 3-11

Section 1
General Information

Optional PSM I/O Connections

Connector X4 contains the input and output connections for the PSM (Power Supply
Module). Connection to the X4 I/O terminal strip is optional. No connections are required
for normal operation. However, to monitor PSM status or to “Reset” the PSM you may
make some or all of these optional connections.
Status monitor output connections
Status monitor output connections are shown in Figure 3-7. The output signals (X4-1, 2
and 3) can then be connected to an external device (referenced to X4-10). These internal
contacts close when active and apply the voltage +24VDC at the output.
Note: The maximum current draw when all three outputs are active must not exceed
100mA.
Figure 3-7 Status Monitor Output Connections
X4 - Diagnostic
Ready
1 Alarm
2 DB_ON
3
Output signals are referenced
to X4-10 (100mA maximum).

CGND
10

Reset connection
Connection of the Reset input is shown in Figure 3-8. This is used to reset the control
after a fault condition. The reset input must be applied for at least 60 ms. Either an active
low or active high connection method may be used. An external power supply may be
used (+12VDC to +30VDC @ 10mA) or the internal supply may be used as shown.
Figure 3-8 Reset Input
Active Low Active High

X4 - Diagnostic X4 - Diagnostic

5 Reset 5 Reset
Reset 6 CREF Reset 6 CREF
9 +24VDC 9 +24VDC
10 CGND 10 CGND

Fault Relay connection

Fault Relay connection is shown in Figure 3-9. The fault relay output can be connected to
an external relay or other device. This internal normally closed contact opens when a
fault condition occurs.
Figure 3-9 Fault Relay
X4 - Diagnostic
7 Fault (+) Customer provided circuit and power source
8 Fault (–) (Internal contact rating: 115VAC @ 0.3A or
+24VDC @ 0.8A)

3-12 Installation MN1226

Section 1
General Information

Figure 3-10 PSM-PR Power Supply Connector Locations

Incoming Power To Dynamic Brake
(230 or 460 VAC 3 PH) (DB) Resistor

L1 L2 L3 R1 R2

To Multi Axis Control

VCC+ VCC+
(DC BUS)

VCC– VCC–

1 +24VDC
2 0VDC To Multi Axis Control
X10 3 Ready + (Logic Power)
4 Ready –

BALDOR
POWER SUPPLY

Monitor

ÎÎ
ÎÎ Ready

ÎÎ
ÎÎ
DB On

1 X4 - Diagnostic
1 Ready
2 Alarm
3 DB_ON
4 N.A.
X4 5 Reset
6 CREF
7 Fault+
8 Fault–
9 CIV
10 CGND

Logic Power Input X3

(230 or 115 VAC
1 Phase) See Terminal Tightening Torques
in Section 7 of this manual.

MN1226 Installation 3-13

Section 1
General Information

Figure 3-11 26M-PO Connector Locations

To
Motor

U V W

From PSM Power Supply VCC+ VCC+

(DC BUS)

VCC– VCC–

1 +24VDC
From PSM Power Supply 2 0VDC
X10 3 Ready +
(Logic Power)
4 Ready –

BALDOR

ÎÎ
ÎÎ Ready

Note: J2 may be a 9 pin connector

8 with the following connections:
J1B - Digital I/O
8 Enable 18 +24VDC J2 - Resolver Input - 9 pin
9 FWD CMD 19 CREF (OPTO IN) 1 REF+ 6 REF–
10 REV CMD 20 OUT1– J1B 2 COS+ 7 COS–
11 IN1 21 OUT1+ 3 SINE+ 8 SINE–
12 IN2 22 OUT2– 4 NC 9 NC
13 IN3 23 OUT2+ 5 GND
14 IN4 24 OUT3–
15 IN5 25 OUT3+
16 External Trip 26 OUT4–
17 24V Return 27 OUT4+

J4 J4 - Keypad

J3 - Buffered Encoder Output

1 CHA+ 6 CHA–
J3 2 CHB+ 7 CHB–
3 CHC+ 8 CHC–
4 N.A. 9 N.A.
5 DGND
J1A - Analog I/O 1
1 AGND 5 ANA IN 2– J2 J2 - Resolver Input - 15 pin
2 ANA IN 1 6 ANA OUT1 1 SIN+ 6 SIN– 11 EXT INDEX
3 Reference 7 ANA OUT2 2 COS+ 7 COS– 12 NC
4 ANA IN 2+ J1A 3 REF+ 8 REF– 13 AGND
4 NC 9 NC 14 NC
5 NC 10 NC 15 NC
See Terminal Tightening Torques in
Section 7 of this manual.

3-14 Installation MN1226

Section 1
General Information

M-Contactor If required by local codes or for safety reasons, an M-Contactor (motor circuit contactor)
may be installed. However, incorrect installation or failure of the M-Contactor or wiring
may damage the control.
Caution: If an M-Contactor is installed, the control must be disabled at least
20msec before the M-Contactor is opened. If the M-Contactor is
opened while the control is supplying voltage and current to the
motor, the control may me damaged.
A motor circuit contactor provides a positive disconnect of the motor windings from the
control. Opening the M-Contactor ensures that the control cannot drive the motor. This
may be required during certain manual operations with the load (like equipment
maintenance etc.). Figure 3-12 shows how an M-Contactor is connected to the control.
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.
Figure 3-12 M-Contactor Diagram

U V W

RC Device
To Power Source Electrocube
(Rated Coil * M-Contactor RG1781-3
Voltage)

M M M
* J4
M Enable 7 Note: Close “Enable”
V W
8
after “M” contact closure.
U G 9
M=Contacts of optional M-Contactor * Motor

See Recommended Tightening Torques in Section 7.

Motor Connections
26M-TR Only
1. Connect the “U” terminal of the 26M-TR to the U motor lead.
2. Connect the “V” terminal of the 26M-TR to the V motor lead.
3. Connect the “W” terminal of the 26M-TR to the W motor lead.
4. Connect the or“PE” terminal of the 26M-TR to motor ground (G).
PSM-PR Only
If used, load reactors should be installed as close to the control as possible.
1. Connect the “U” terminal of the PSM-PR to the U motor lead.
2. Connect the “V” terminal of the PSM-PR to the V motor lead.
3. Connect the “W” terminal of the PSM-PR to the W motor lead.
4. Connect the “ ” terminal of the PSM-PR to motor ground (G).

MN1226 Installation 3-15

Section 1
General Information

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.
Dynamic Brake Resistor An external DB (Dynamic Brake) resistor must be installed to dissipate excess power
from the DC bus during motor deceleration operations.
Note: For selection of the DB resistor, refer to the specifications located in Section 7
of this manual.
26M-TR Only (refer to Figure 3-6).
1. Mount the DB resistor near the top of the enclosure (to dissipate the heat).
Refer to Section 7 for mounting dimensions.
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.

PSM-PR Only (refer to Figure 3-10).

1. Mount the DB resistor near the top of the enclosure.
2. Connect one wire from the DB resistor to terminal R1 of the PSM.
3. Connect the other wire from the DB resistor to terminal R2 of the PSM.
Figure 3-13 DB Resistor Installation Considerations

ÉÉ
Maximum temperatures
near wall.
Maximum temperatures

ÉÉ
above the enclosure.

ÉÉ
85°C
80°C

ÉÉ 115°C

ÉÉ 70°C

ÉÉ 115°C

ÉÉ
65°C 48″

ÉÉ
200°C 36″

ÉÉ
70°C 24″

ÉÉ
12″

ÉÉ
75°C

ÉÉ
ÉÉ
ÉÉ
ÉÉ
ÉÉ
ÉÉ

3-16 Installation MN1226

Section 1
General Information

Resolver Feedback The resolver connections are made at the J2 connector as shown in Figure 3-14. The
resolver cable must be shielded twisted pair #22 AWG (0.34mm2) 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 resolver cable 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 J2-3 and SIN– to J2-8.
2. Connect the COS+ to J2-2 and COS– to J2-7.
3. Connect the REF+ to J2-1 and REF– to J2-6.
4. Connect the analog ground wire to J2-5.

Figure 3-14 Resolver Cable Connections

R2 S2 J2 – 9 Pin
P
3 SIN+
R1 S4
8 SIN–
P
S3 S1 2 COS+
7 COS–
P
1 REF+
6 REF– (Common)
5 AGND
P
= Twisted Pair

R2 S2 J2 – 15 Pin
P
1 SIN+
R1 S4
6 SIN–
P
S3 S1 2 COS+
7 COS–
P
3 REF+
8 REF– (Common)
13 AGND
P
= Twisted Pair

MN1226 Installation 3-17

Section 1
General Information

Simulated Encoder Output The control provides a simulated encoder output at connector J3 as shown in Figure
3-15. 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 3-15 Simulated Encoder Output

J3
CHA+ P
1
CHA–
6
CHB+ P
2
CHB–
To Host Position
7 Controller
CHC+ P
3
CHC–
8
DGND
5
4 N.A. P
9 N.A. = Twisted Pair

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.

3-18 Installation MN1226

Section 1
General Information

Control Circuit Connections Eight operating modes are available. These operating modes define the basic motor
control setup and the operation of the input and output terminals. After the circuit
connections are completed, the operating mode is selected in the Level 1 Input
programming block OPERATING MODE parameter. Available operating modes are:
• Keypad Mode
• Standard Run 3 Wire Mode (e.g. Potentiometer)
• 15 Speed 2 Wire Mode (e.g. Preset Speeds)
• 2 Wire Multi Input (e.g. 2 wire control mode)
• 3 Wire Multi Input (e.g. 3 wire control mode)
• Serial
• Bipolar Speed or Torque Mode (e.g. ±10VDC, ±5VDC or 4-20mA)
• Process Mode
Opto Isolated Inputs Logic input connections are made at terminal strip J1B pins 8, 9, 10, 11, 12, 13, 14, 15,
and 16. Input connections at J1B can be wired as active High or active Low as shown in
Figure 3-16. J1B pin 19 is the control reference point (CREF) for the opto isolated input
signals.
Active High (Sourcing) - If pin 19 is grounded, an input is active when it is at
+24VDC (+10VDC to +30VDC).
Active Low (Sinking) - If pin 19 is at +24VDC (+10VDC to +30VDC), an input is
active when it is grounded.
Note: (26M-PO Only) The internal 24VDC power supply can be used to power the
the opto input circuits by connecting a jumper between J1B pin 18 to J1B pin
19. This provides 24VDC at CREF and an Active Low input condition.
opto input signals can then be grounded to make the input active (use the 24V
Return at J1B pin 17 for input switching or external circuit connections).
Note: (26M-TR Only) An internal 24VDC power supply is not available to power the
the opto input circuits. An external power source must be used.
1. Select the operating mode for your application.
2. Connect the remaining control connections as shown in the diagram for that
operating mode.
Figure 3-16 Active HIGH (Sourcing)/LOW (Sinking) Relationship
Active Low Active High
GNDext Vext
(Sink) (Source) J1B
+24VDC GND Pin 19 - CREF

GND +24VDC Pin 8 - Enable

Pin 9 - FWD
Pin 10 - REV
Pin 11 - IN1
Pin 12 - IN2
Pin 13 - IN3
Pin 14 - IN4
Pin 15 - IN5
Pin 16 - External Trip
Note: These pins are shown wired together. Although this can be done, each input is usually connected to a switch for
individual control of each input condition.

MN1226 Installation 3-19

Section 1
General Information

26M-TR Operating Mode Configurations

Keypad Operating Mode (see Figure 3-17)
The Keypad operating mode allows the control to be operated from the keypad. In this
mode no control connection wiring is required. However, the Enable and External Trip
inputs may optionally be used. All other opto inputs remain inactive. However, the
analog outputs and opto-outputs remain active at all times. To use an opto input, the
associated parameter value must set.
Other modes use the “Enable” input at J1B-8. This input must be grounded (to opto input
common) before power will be applied to the motor. If your wiring scheme does not
provide switched inputs to J1B, then simply jumper J1B-8 to opto input common. To use
the Enable input at J1B-8, the Level 2 Protection block, Local Enable INP parameter must
be set to ON.
For operation in Keypad mode, set the Level 1 Input block, Operating mode parameter to
Keypad. At the keypad press the LOCAL key to change between the LOCAL and
REMOTE modes. The word “LOCAL” or “Remote” should appear on the keypad display.
The STOP key can operate in two ways:
S Press STOP key one time to brake or coast to stop.
S Press STOP key two times to disable control.
The Enable line is normally closed. When opened, the motor will COAST to a stop.
When the enable line is again closed, the motor will not start until a new direction
command is received from the keypad (Y or B key).
To activate the fault condition for a motor over temperature condition, the External Trip
input (J1B-16) must be connected and the External Trip parameter in the Level 2
Protection block must be set to “ON”. When J1B-16 is opened, the motor will coast to a
stop and an External Trip fault is displayed on the keypad.

3-20 Installation MN1226

Section 1
General Information

Figure 3-17 Keypad Mode Connection Diagram (26M-TR Only)

J1A J1B
ANALOG GND ENABLE
1 8
2 9
No 3 10
Connection No 11
4
Connection
5 12
ANALOG OUT 1
Programmable 6 13
Note 1 ANALOG OUT 2
Analog Outputs. 7 14
15
EXTERNAL TRIP
Refer to Figure 3-36 16
N.C.
17
Customer GNDext N.C.
Note 3 18
Supplied
+24VDC Source Vext CREF
19
OUT 1–
20
OUT 1 OUT 1+
21
Notes: OUT 2–
22
1. Refer to Analog Outputs description in this section. OUT 2 OUT 2+
23
2. Refer to Opto Isolated Outputs description in this section. Note 2
OUT 3–
24
3. An external +24VDC supply must be used to power the OUT 3 OUT 3+
opto isolated inputs of the 26M-TR units. 25
OUT 4–
26
OUT 4 OUT 4+
27

J1B-8 CLOSED allows current to flow in the motor.

OPEN disables the control and motor coasts to a stop (if Level 2 Protection block,
LOCAL ENABLE INP is set to ON). This input is optional.
J1B-16 OPEN causes an external trip to be received by control. The control will disable and
display External Trip when programmed “ON”. If J1B-16 is connected, you must set
Level 2 Protection block, External Trip to “ON” to recognize the J1B-16 input.
J1B-19 CREF connection. Connect to +VCC for active low or the GND for active high.

MN1226 Installation 3-21

Section 1
General Information

Standard Run 3 Wire Mode

In standard run mode, the control is operated by the opto isolated inputs at J1B-8 through
J1B-16 and the analog command input J1A pins 1, 2 and 3 (5KW pot, 0-5VDC or
0-10VDC). J1A-4 and J1A-5 can be used as the input (±5VDC, ±10VDC or 4-20mA).
The opto inputs can be switches as shown in Figure 3-18 or logic signals from another
device. The External Trip opto input at J1B-16 is active if connected as shown and the
Level 2 PROTECTION block, EXTERNAL TRIP parameter is set to ON.

The motor speed command may be one of the following:

Preset Speed (J1B–14)
Command Input (Potentiometer, 0-5VDC or 0-10VDC)
Differential analog input (±5VDC, ±10VDC or 4-20mA)

Make control connections as shown in Figure 3-18.

3-22 Installation MN1226

Section 1
General Information

Figure 3-18 Standard Run 3-Wire Mode Connection Diagram (26M-TR Only)
J1A J1B
ANALOG GND ENABLE
1 8
5kW ANALOG INPUT 1 FORWARD ENABLE
Note 1 Command Pot 2 Both CLOSED= 9
or 0-10VDC POT REFERENCE REVERSE ENABLE
3 Forward 10
STOP
ANALOG INPUT 2+
±5VDC, ±10VDC 4
Closed=JOG SPEED
11
Note 1 or 4-20mA ANALOG INPUT 2–
5 12
ACC/DEC/“S” SELECT
ANALOG OUT 1
Programmable 6 13
Note 2 PRESET SPEED #1
Analog Outputs. ANALOG OUT 2
7 14
FAULT RESET
15
EXTERNAL TRIP
Refer to Figure 3-36 16
N.C.
17
Customer GNDext N.C.
18
Supplied Vext CREF
+24VDC Source 19
OUT 1–
20
OUT 1 OUT 1+
21
Notes: OUT 2–
22
1. Refer to Analog Inputs description in this section. OUT 2 OUT 2+
23
Note 3
Note: JP1 must be properly set for either voltage or current OUT 3–
24
operation. Refer to Figure 3-37 for jumper information. OUT 3 OUT 3+
25
2. Refer to Analog Outputs description in this section. OUT 4–
26
3. Refer to opto isolated Outputs description in this section. OUT 4 OUT 4+
27

J1B-8 CLOSED allows current to flow in the motor and produce torque.
OPEN disables the control and motor coasts to a stop.
J1B-9 Momentary CLOSED starts motor operation in the Forward direction. In JOG mode
(J1-12 CLOSED), continuous CLOSED jogs motor in the Forward direction.
J1B-10 Momentary CLOSED starts motor operation in the Reverse direction. In JOG mode
(J1-12 CLOSED), CONTINUOUS closed JOGS motor in the Reverse direction.
J1B-11 When OPEN control removes power from motor and disables. Coasts or brakes to stop
depending on Keypad Stop Mode parameter setting.
J1B-12 CLOSED places control in JOG mode, Forward and Reverse run are used to jog the
motor.
J1B-13 CLOSED selects group 2.
OPEN selects ACC / DEC / S-CURVE group 1.
J1B-14 CLOSED selects preset speed #1.
OPEN allows speed command from Analog input #1 or #2.
J1B-15 CLOSED to reset fault condition.
OPEN to run,
J1B-16 OPEN causes an external trip to be received by control. The control will disable and
display External Trip when programmed “ON”. If J1B-16 is connected, you must set
Level 2 Protection block, External Trip to “ON” to recognize the J1B-16 input.
J1B-19 CREF connection. Connect to +VCC for active low or the GND for active high.

MN1226 Installation 3-23

Section 1
General Information

15 Speed 2-Wire Mode In this mode, 15 preset motor speeds are stored during setup and selected during
operation. Switch Truth Table is defined in Table 3-3. Switched inputs at J1B-11 through
J1B-14 allow selection of 15 preset speeds and provide Fault Reset.
Operation in the 15 Speed 2-Wire mode is controlled by the opto isolated inputs at
J1B-11 through J1B-15. The opto inputs can be switches as shown in Figure 3-19 or
logic signals from another device. The External Trip opto input at J1B-16 is active if
connected as shown and the Level 2 PROTECTION block, EXTERNAL TRIP parameter
is set to ON.

Switched inputs at J1B-11 through J1B-17 allow selection of 15 preset speeds and
provide Fault Reset as defined in Table 3-3.

Table 3-3 Switch Truth Table for 15 Speed, 2 Wire Control Mode
Function J1B-11 J1B-12 J1B-13 J1B-14
Preset 1 Open Open Open Open
Preset 2 Closed Open Open Open
Preset 3 Open Closed Open Open
Preset 4 Closed Closed Open Open
Preset 5 Open Open Closed Open
Preset 6 Closed Open Closed Open
Preset 7 Open Closed Closed Open
Preset 8 Closed Closed Closed Open
Preset 9 Open Open Open Closed
Preset 10 Closed Open Open Closed
Preset 11 Open Closed Open Closed
Preset 12 Closed Closed Open Closed
Preset 13 Open Open Closed Closed
Preset 14 Closed Open Closed Closed
Preset 15 Open Closed Closed Closed
Fault Reset Closed Closed Closed Closed

3-24 Installation MN1226

Section 1
General Information

Figure 3-19 15 Speed 2-Wire Mode Connection Diagram (26M-TR Only)

J1A J1B
ANALOG GND ENABLE
1 8
FORWARD ENABLE
2 Both CLOSED= Forward 9
REVERSE ENABLE
No 3 Both OPEN = Stop 10
Connection SWITCH 1
4 11
SWITCH 2
5 All CLOSED= Fault 12
SWITCH 3
ANALOG OUT 1
Programmable 6 Reset 13
Note 1 SWITCH 4
Analog Outputs. ANALOG OUT 2
7 14
ACC/DEC/“S” SELECT
15
EXTERNAL TRIP
Refer to Figure 3-36 16
N.C.
17
Customer GNDext N.C.
18
Supplied Vext CREF
+24VDC Source 19
OUT 1–
20
OUT 1 OUT 1+
21
OUT 2–
Notes: 22
OUT 2 OUT 2+
23
1. Refer to Analog Outputs description in this section. Note 2
OUT 3–
2. Refer to opto isolated Outputs description in this 24
OUT 3 OUT 3+
section. 25
OUT 4–
26
OUT 4 OUT 4+
27

J1B-8 CLOSED allows current to flow in the motor and produce torque.
OPEN disables the control & motor coasts to a stop.
J1B-9 CLOSED operates the motor in the Forward direction.
OPEN coasts brakes to stop depending on Keypad Stop mode parameter setting.
J1B-10 CLOSED operates motor in the Reverse direction.
OPEN coasts or brakes to stop depending on Keypad Stop mode parameter setting.
J1B-11 to 14 Selects programmed preset speeds as defined in Table 3-3.
J1B-15 Selects ACC/DEC group. CLOSED selects group 2. OPEN selects group 1.
J1B-16 OPEN causes an external trip to be received by control. The control will disable and
display External Trip when programmed “ON”. If J1B-16 is connected, you must set
Level 2 Protection block, External Trip to “ON” to recognize the J1B-16 input.
J1B-19 CREF connection. Connect to +VCC for active low or the GND for active high.

MN1226 Installation 3-25

Section 1
General Information

2 Wire Multi INP Control Mode

The opto inputs can be switches as shown in Figure 3-20 or logic signals from another
device. The External Trip opto input at J1B-16 is active if connected as shown and the
Level 2 PROTECTION block, EXTERNAL TRIP parameter is set to ON.
J1B-8 CLOSED allows current to flow in the motor and produce torque.
OPEN disables the control & motor coasts to a stop.
J1B-9 CLOSED to start motor operation in the Forward direction.
OPEN to initiate a stop command.
J1B-10 CLOSED to start motor operation in the Reverse direction.
OPEN to initiate a stop command.
J1B-11 CLOSED selects Analog Input #1.
OPEN selects the value of the Level 1 Input block, Command Select parameter.
Note: If Level 1 Input block, Command Select parameter is set to “Potentiometer”, then
Analog Input #1 is always selected.
J1B-12 CLOSED selects Start/Stop and Reset commands from the terminal strip.
OPEN selects Start/Stop and Reset commands from keypad.
J1B-13 CLOSED selects terminal strip speed source (Level 1 Input block, Command Select).
OPEN selects speed command from Keypad.
Note: When changing from terminal strip to keypad (J1B-12 or 13) the motor speed and
direction will remain the same after the change.
J1B-14 OPEN selects Preset Speed #1 regardless of the Speed Command input (J1B-13).
(FIRESTAT).
J1B-15 OPEN selects Preset Speed #2 regardless of the Speed Command input (J1B-13).
(FREEZESTAT).
Note: If J1B-14 and 15 are both Closed, the 5kW pot provides the speed command input.
If J1B-14 and 15 are both OPEN, Preset Speed #1 is selected.
J1B-16 OPEN causes an External Trip to be received by the control (when programmed to
“ON”). When this occurs, the control disables and an external trip error is displayed on
the keypad display (also logged into the error log).
If J1B-16 is connected, you must set Level 2 Protection block, External Trip to “ON” to
recognize the J1B-16 input.
J1B-19 CREF connection. Connect to +VCC for active low or the GND for active high.

3-26 Installation MN1226

Section 1
General Information

Figure 3-20 2 Wire Multi INP Mode Connection Diagram (26M-TR Only)
J1A J1B
ANALOG GND ENABLE
1 8
5kW ANALOG INPUT 1 FORWARD RUN
Note 1 Command Pot 2 9
Both Closed= REVERSE RUN
or 0-10VDC POT REFERENCE Fault Reset 10
3
ANALOG INPUT +2 ANALOG INPUT SELECT
4 11
Note 1 ±5VDC, ±10VDC RUN COMMAND
or 4-20mA ANALOG INPUT –2 12
5
ANALOG OUT 1 SPEED COMMAND
6 13
Note 2 Programmable PRESET SPEED #1
ANALOG OUT 2 14
Analog Outputs. 7
PRESET SPEED #2
15
EXTERNAL TRIP 16
Refer to Figure 3-36.
N.C.
17
Customer GNDext N.C.
Supplied 18
Vext CREF
+24VDC Source 19
Notes: OUT 1–
20
1. Refer to Analog Inputs description in this section. OUT 1 OUT 1+
21
Note: JP1 must be properly set for either voltage or current OUT 2–
22
operation. Refer to Figure 3-37 for jumper information. OUT 2 OUT 2+
23
2. Refer to Analog Outputs description in this section. Note 3 OUT 3–
24
3. Refer to opto isolated Outputs description in this section. OUT 3 OUT 3+
25
OUT 4–
26
OUT 4 OUT 4+
27

MN1226 Installation 3-27

Section 1
General Information

3 Wire Multi INP Control Mode

The opto inputs can be switches as shown in Figure 3-21 or logic signals from another
device. The External Trip opto input at J1B-16 is active if connected as shown and the
Level 2 PROTECTION block, EXTERNAL TRIP parameter is set to ON.
J1B-8 CLOSED allows current to flow in the motor and produce torque.
OPEN disables the control & motor coasts to a stop.
J1B-9 Momentary CLOSED to start motor operation in the Forward direction.
OPEN to initiate a stop command.
J1B-10 Momentary CLOSED to start motor operation in the Reverse direction.
OPEN to initiate a stop command.
J1B-11 OPEN causes motor to decel to stop.
J1B-12 CLOSED selects Start/Stop and Reset commands from the terminal strip.
OPEN selects Start/Stop and Reset commands from keypad.
J1B-13 CLOSED selects terminal strip speed source (Level 1 Input block, Command Select).
OPEN selects speed command from Keypad.
Note: When changing from terminal strip to keypad (J1B-12 or 13) the motor speed and
direction will remain the same after the change.
J1B-14 OPEN selects Preset Speed #1 regardless of the Speed Command input (J1B-13).
(FIRESTAT).
J1B-15 OPEN selects Preset Speed #2 regardless of the Speed Command input (J1B-13).
(FREEZESTAT).
Note: If J1B-14 and 15 are both Closed, the 5kW pot provides the speed command input.
If J1B-14 and 15 are both OPEN, Preset Speed #1 is selected.
J1B-16 OPEN causes an External Trip to be received by the control (when programmed to
“ON”). When this occurs, the control disables and an external trip error is displayed on
the keypad display (also logged into the error log).
If J1B-16 is connected, you must set Level 2 Protection block, External Trip to “ON” to
recognize the J1B-16 input.
J1B-19 CREF connection. Connect to +VCC for active low or the GND for active high.

3-28 Installation MN1226

Section 1
General Information

Figure 3-21 3 Wire Multi INP Mode Connection Diagram (26M-TR Only)
J1A J1B
ANALOG GND ENABLE
1 8
5kW ANALOG INPUT 1 FORWARD RUN
Note 1 Command Pot 2 9
Both Closed= REVERSE RUN
or 0-10VDC POT REFERENCE Fault Reset 10
3
ANALOG INPUT +2 STOP
4 11
Note 1 ±5VDC, ±10VDC RUN COMMAND
or 4-20mA ANALOG INPUT –2 12
5
ANALOG OUT 1 SPEED COMMAND
6 13
Note 2 Programmable PRESET SPEED #1
ANALOG OUT 2 14
Analog Outputs. 7
PRESET SPEED #2
15
EXTERNAL TRIP 16
Refer to Figure 3-36.
N.C. 17
Customer GNDext N.C.
Supplied 18
Vext CREF
+24VDC Source 19
Notes: OUT 1–
20
1. Refer to Analog Inputs description in this section. OUT 1 OUT 1+
21
Note: JP1 must be properly set for either voltage or current OUT 2–
22
operation. Refer to Figure 3-37 for jumper information. OUT 2 OUT 2+
23
2. Refer to Analog Outputs description in this section. Note 3 OUT 3–
24
3. Refer to opto isolated Outputs description in this section. OUT 3 OUT 3+
25
OUT 4–
26
OUT 4 OUT 4+
27

MN1226 Installation 3-29

Section 1
General Information

Bipolar Speed or Torque Control Mode with Multiple Parameter Sets

Bipolar speed or torque control for servo motors is provided by this mode. Also, you may
store up to four (4) different complete sets of operating parameters. This is important if
you wish to store and use different acceleration rates, different jog speeds or to store
tuning parameter values for different motors.
To use multiple parameter sets: (refer to Figure 3-22 and Table 3-4.)
1. Set the level 1 Operating Mode parameter to Bipolar in each of the parameter
sets.
Note: When programming each parameter set, use the ENTER key to accept and
automatically save parameter values.
2. Set switches J1B-13 open and J1B-14 open (Parameter Table #0). Be sure
switches J1B-9 and J1B-10 are OPEN, J1B-8 is CLOSED. Use the keypad and
enter all parameter values, and autotune as instructed later in this section. This
creates and saves the first parameter set which is numbered Table#0.
3. Set switches J1B-13 closed and J1B-14 open (Parameter Table #1). Be sure
switches J1B-9 and J1B-10 are OPEN, J1B-8 is CLOSED. Use the keypad and
enter all parameter values, and autotune as instructed later in this section. This
creates and saves the second parameter set which is numbered Table#1.
4. Set switches J1B-13 open and J1B-14 closed (Parameter Table #2). Be sure
switches J1B-9 and J1B-10 are OPEN, J1B-8 is CLOSED. Use the keypad and
enter all parameter values, and autotune as instructed later in this section. This
creates and saves the third parameter set which is numbered Table#2.
5. Set switches J1B-13 closed and J1B-14 closed (Parameter Table #3). Be sure
switches J1B-9 and J1B-10 are OPEN, J1B-8 is CLOSED. Use the keypad and
enter all parameter values, and autotune as instructed later in this section. This
creates and saves the final parameter set which is numbered Table#3.
6. Remember that to change the value of a parameter in one of the parameter
tables, you must first select the table using the switches. You cannot change a
value in a table until you have first selected that table.
Note: All parameters except operating mode can be changed and saved for each
table.
Note: Preset speed does not apply to table select.

Table 3-4 Bipolar Mode Table Select Truth Table

Function J1B-13 J1B-14
Parameter Table #0 Open Open
Parameter Table #1 Closed Open
Parameter Table #2 Open Closed
Parameter Table #3 Closed Closed

3-30 Installation MN1226

Section 1
General Information

Figure 3-22 Bipolar Speed or Torque Mode Connection Diagram (26M-TR Only)
J1A J1B
ANALOG GND ENABLE
1 8
FORWARD ENABLE
2 9
No Connections REVERSE ENABLE
3 10
ANALOG INPUT +2 CLOSED=ORIENT
±5VDC, ±10VDC 4 11
Note 1 ANALOG INPUT –2 SPEED, TORQUE
or 4-20mA 5 12
ANALOG OUT 1 TABLE SELECT
6 13
Programmable ANALOG OUT 2 TABLE SELECT
Note 2 7
Analog Outputs. 14
FAULT RESET
15
EXTERNAL TRIP
Refer to Figure 3-36 16
N.C.
17
Customer GNDext N.C.
Supplied 18
Vext CREF
+24VDC Source 19
Notes: OUT 1–
20
OUT 1 OUT 1+
1. Refer to Analog Inputs description in this section. 21
Note: JP1 must be properly set for either voltage or current OUT 2–
22
operation. Refer to Figure 3-37 for jumper information. OUT 2 OUT 2+
23
2. Refer to Analog Outputs description in this section. OUT 3–
24
OUT 3 OUT 3+
3. Refer to opto isolated Outputs description in this section.
25
Note 3 OUT 4–
26
OUT 4 OUT 4+
27

J1B-8 CLOSED allows current to flow in the motor and produce torque.
OPEN disables the control & motor coasts to a stop.
J1B-9 CLOSED to enable operation in the Forward direction.
OPEN TO DISABLE Forward operation (drive will brake to a stop if a Forward command
is still present).
J1B-10 CLOSED to enable operation in the Reverse direction.
OPEN to disable Reverse operation (drive will brake to a stop if a Reverse command is
still present).
J1B-11 Causes the motor shaft to orient to a marker or external switch.
J1B-12 CLOSED puts the control in torque mode. OPEN puts the control in velocity mode.
J1B-13 & Select from four parameter tables as defined
J1B-14 in Table 3-7.
J1B-15 Momentary CLOSED to reset fault condition.
OPEN to run.
J1B-16 OPEN causes an external trip to be received by control. The control will disable and
display External Trip when programmed “ON”. If J1B-16 is connected, you must set
Level 2 Protection block, External Trip to “ON” to recognize the J1B-16 input.
J1B-19 CREF connection. Connect to +VCC for active low or the GND for active high.

MN1226 Installation 3-31

Section 1
General Information

Process Mode Connections The process control mode provides an auxiliary closed loop general purpose PID set
point control that is shown in Figure 3-23. The process control loop may be configured in
either of two ways.
1. Using two (2) inputs; a set point and a process feedback input. The error signal
(between the setpoint and the feedback signals) adjusts the speed or torque of
the motor to eliminate error.
2. Using three (3) inputs; a setpoint, process feedback and feedforward inputs.
Instead of waiting for an error signal to develop between the setpoint and the
process feedback signals, the feedforward signal adjusts the speed or torque of
the motor to reduce the amount of error that will develop between the feedback
and setpoint inputs.
The objective of either method is to force the process feedback to be as close to the
setpoint as possible and eliminate process error.
Two Input Configuration
For 2 input operation, several parameters must be set as follows:
1. Level 2 Process Control block, “Process Feedback” parameter must be set to
the type of feedback signal used. The process feedback signal can be any
Analog input available at the J1A terminal strip or expansion board. Selections
are shown in Figure 3-23. A signal compatibility matrix is shown in Table 3-5.
2. Level 2 Process Control block, “Setpoint Source” parameter must be set to the
type of set point being used.
A. A fixed value setpoint is a keypad programmed parameter value. To
program a fixed setpoint, do the following:
i. Set the Level 2 Process Control block, “Setpoint Source” parameter
to Setpoint CMD.
ii. Set the Level 2 Process Control block, “Setpoint CMD” parameter
to a value between –100% to +100% of the process feedback input.
B. If a variable value setpoint is used, the Setpoint Source must be set to any
available terminal strip or expansion board input not being used for the
process feedback input. Selections are shown in Figure 3-23. A signal
compatibility matrix is shown in Table 3-5.
3. Level 1 Input block “Command Select” parameter must be set to “None”.
Three Input Configuration
For 3 input operation, several parameters must be set as follows:
1. Level 2 Process Control block “Process Feedback” parameter must be set to
the type of feedback signal used. The process feedback signal can be any
Analog input available at the J1A terminal strip or expansion board. Selections
are shown in Figure 3-23. A signal compatibility matrix is shown in Table 3-5.
2. Level 2 Process Control block “Setpoint Source” parameter must be set to the
type of set point being used.
A. If a fixed value setpoint is used, set the Level 2 Process Control block,
Setpoint Source parameter to “Setpoint CMD”. Set the Level 2 Process
Control block “Setpoint Command” parameter to a value between –100%
to +100% of the process feedback.
B. If a variable value setpoint is used, set the Level 2 Process Control block,
Setpoint Source parameter to any Analog1, Analog2 or expansion board
input not being used for the process feedback input. Selections are shown
in Figure 3-23. A signal compatibility matrix is shown in Table 3-5.

3-32 Installation MN1226

Section 1
General Information

3. Level 1 Input block “Command Select” parameter must be set to the

feedforward signal type. This signal may be any Analog1, Analog2 or
expansion board input not being used for the process feedback or setpoint
source inputs. Selections are shown in Figure 3-31.
Note: An input can only be used one time for Process Feedback, OR Setpoint
Source, OR Feedforward.

Figure 3-23 Simplified Process Control Block Diagram

SETPOINT COMMAND

Differential
PROCESS FEEDBACK
+ Gd s +
Available sources are: Proportional
Potentiometer +
± 10 Volts –
± 5 Volts ∑ Gp ∑
4 TO 20 mA Integral
5V EXB Gi
10V EXB +
s
4-20mA EXB Auxiliary PID Control
None

Closed When Process

Mode is Enabled (J1B–13)
Set Point adjustment limit
w/ integral clamp to max
limit value

PROCESS FEEDFORWARD Existing Baldor Control System

COMMAND SELECT Motor Control
Available sources are:
Potentiometer Differential
± 10 Volts +
+ Gd s
± 5 Volts Proportional
4 TO 20 mA +
ACC/DEC +
10 V w/Torq FF
EXB Pulse FOL
S–Curve
Profiler
∑ Gp ∑ Amp Motor
5V EXB Integral
10V EXB Gi
– +
4-20mA EXB s
Serial
None
s Res.

Differentiator

MN1226 Installation 3-33

Section 1
General Information

Table 3-5 Process Mode Input Signal Compatibility

Feedback
Setpoint or
4-20mA 3-15 PSI
Feedforward J1A-1 & 2 J1A-4 & 5 5V EXB
10V EXB

EXB
EXB
J1A-1 & 2
J1A-4 & 5
5V EXB

10V EXB

4-20mA EXB

3-15 PSI EXB
Serial 

Requires expansion board EXB103M01 (Serial + High Resolution Analog I/O for M Series controls).
 Requires expansion board EXB102M01 (Serial + Pulse Follower for M Series controls).
 Requires expansion board EXB101M01 (Serial Communications for M Series controls).
Conflicting inputs. Do not use same input signal multiple times.

Note: Only one expansion board may be installed.

Specific Process Mode Outputs

Process Mode Only, Analog Monitoring Outputs
Name Description
Process FDBK Process Feedback scaled input. Useful for observing or tuning the
process control loop.
Setpoint CMD Setpoint Command scaled input. Useful for observing or tuning the
process control loop.
Speed Command Commanded Motor Speed. Useful for observing or tuning the output of
the control loop.

Process Mode Only, Opto Isolated Outputs

Name Description
Process Error CLOSED when the Process Feedback is within the specified tolerance
band. OPEN when the Process Feedback is greater than the specified
tolerance band. The width of the tolerance band is adjusted by the
Level 2 Process Control block PROCESS ERR TOL parameter value.

3-34 Installation MN1226

Section 1
General Information

Figure 3-24 Process Mode Connection Diagram (26M-TR Only)

J1A J1B
ANALOG GND ENABLE
1 8
5kW ANALOG INPUT 1 FORWARD ENABLE
Note 1 Command Pot 2 9
POT REFERENCE Both REVERSE ENABLE
or 0-10VDC 3 OPEN = Stop 10
ANALOG INPUT +2 TABLE SELECT
±5VDC, ±10VDC 4 11
Note 1 ANALOG INPUT –2 No Connection
or 4-20mA 5 12
ANALOG OUT 1 Process Mode Enable
6 13
Note 2 Programmable JOG (FWD only)
ANALOG OUT 2
Analog Outputs. 7 14
FAULT RESET
15
EXTERNAL TRIP
Refer to Figure 3-36. 16
N.C.
17
Customer GNDext N.C.
Supplied 18
+24VDC Source Vext CREF
19
Notes: OUT 1–
20
1. Refer to Analog Inputs description in this section. OUT 1 OUT 1+
21
Note: JP1 must be properly set for either voltage or current OUT 2–
22
operation. Refer to Figure 3-37 for jumper information. OUT 2 OUT 2+
23
2. Refer to Analog Outputs description in this section. Note 3 OUT 3–
24
3. Refer to opto isolated Outputs description in this section. OUT 3 OUT 3+
25
OUT 4–
26
OUT 4 OUT 4+
27

J1B-8 CLOSED allows current to flow in the motor and produce torque.
OPEN disables the control & motor coasts to a stop.
J1B-9 CLOSED to enable operation in the Forward direction.
OPEN TO DISABLE Forward operation.
J1B-10 CLOSED to enable operation in the Reverse direction.
OPEN to disable Reverse operation.
J1B-11 OPEN=Table 0, CLOSED=Table 1.
J1B-13 CLOSED to enable the Process Mode.
J1B-14 CLOSED puts the control in JOG Mode. Control will only JOG in the forward direction.
OPEN allows PID & Feedforward Speed or Torque control.
J1B-15 Momentary CLOSED to reset fault condition.
OPEN to run.
J1B-16 OPEN causes an External Trip to be received by the control (when programmed to
“ON”). When this occurs, the control disables and an external trip error is displayed on
the keypad display (also logged into the error log).
If J1B-16 is connected, you must set Level 2 Protection block, External Trip to “ON” to
recognize the J1B-16 input.
J1B-19 CREF connection. Connect to +VCC for active low or the GND for active high.

MN1226 Installation 3-35

Section 1
General Information

26M-PO Operating Mode Configurations

Keypad Operating Mode (see Figure 3-25)
The Keypad operating mode allows the control to be operated from the keypad. In this
mode no control connection wiring is required. However, the Enable and External Trip
inputs may optionally be used. All other opto inputs remain inactive. However, the
analog outputs and opto-outputs remain active at all times. To use an opto input, the
associated parameter value must set.
Other modes use the “Enable” input at J1B-8. This input must be grounded (to opto input
common) before power will be applied to the motor. If your wiring scheme does not
provide switched inputs to J1B, then simply jumper J1B-8 to opto input common. To use
the Enable input at J1B-8, the Level 2 Protection block, Local Enable INP parameter must
be set to ON.
For operation in Keypad mode, set the Level 1 Input block, Operating mode parameter to
Keypad. At the keypad press the LOCAL key to change between the LOCAL and
REMOTE modes. The word “LOCAL” or “Remote” should appear on the keypad display.
The STOP key can operate in two ways:
S Press STOP key one time to brake or coast to stop.
S Press STOP key two times to disable control.
The Enable line is normally closed. When opened, the motor will COAST to a stop.
When the enable line is again closed, the motor will not start until a new direction
command is received from the keypad (Y or B key).
To activate the fault condition for a motor over temperature condition, the External Trip
input (J1B-16) must be connected and the External Trip parameter in the Level 2
Protection block must be set to “ON”. When J1B-16 is opened, the motor will coast to a
stop and an External Trip fault is displayed on the keypad.

3-36 Installation MN1226

Section 1
General Information

Figure 3-25 Keypad Mode Connection Diagram (26M-PO Only)

J1A J1B
ANALOG GND ENABLE
1 8
2 9
No 3 10
Connection No 11
4
Connection
5 12
ANALOG OUT 1
Programmable 6 13
Note 1 ANALOG OUT 2
Analog Outputs. 7 14
15
EXTERNAL TRIP
Refer to Figure 3-36 16
OPTO INPUT COMMON
17
+24VDC
18
CREF
Notes: 19
OUT 1–
20
1. Refer to Analog Outputs description in this section. OUT 1 OUT 1+
21
2. Refer to opto isolated Outputs description in this OUT 2–
section. 22
OUT 2 OUT 2+
23
Note 2
OUT 3–
24
OUT 3 OUT 3+
25
OUT 4–
26
OUT 4 OUT 4+
27

J1B-8 CLOSED allows current to flow in the motor.

OPEN disables the control and motor coasts to a stop (if Level 2 Protection block,
LOCAL ENABLE INP is set to ON). This input is optional.
J1B-16 OPEN causes an external trip to be received by control. The control will disable and
display External Trip when programmed “ON”. If J1B-16 is connected, you must set
Level 2 Protection block, External Trip to “ON” to recognize the J1B-16 input.
J1B-18 & 19 Jumper J1B-19 to J1B-18 (+24VDC) for “Active Low” operation of input signals at J1B-8
to 16. J1B-17 is then used as switch common.

MN1226 Installation 3-37

Section 1
General Information

Standard Run 3 Wire Mode

In Standard Run mode, the control is operated by the opto isolated inputs at J1B-8
through J1B-16 and the analog command input J1A pins 1, 2 and 3 (5KW pot, 0-5VDC or
0-10VDC). J1A-4 and J1A-5 can be used as the input (±5VDC, ±10VDC or 4-20mA).
The opto inputs can be switches as shown in Figure 3-26 or logic signals from another
device. The External Trip opto input at J1B-16 is active if connected as shown and the
Level 2 PROTECTION block, EXTERNAL TRIP parameter is set to ON.

The motor speed command may be one of the following:

Preset Speed (J1B–14)
Command Input (Potentiometer, 0-5VDC or 0-10VDC)
Differential analog input (±5VDC, ±10VDC or 4-20mA)

Make control connections as shown in Figure 3-26.

3-38 Installation MN1226

Section 1
General Information

Figure 3-26 Standard Run 3-Wire Mode Connection Diagram (26M-PO Only)
J1A J1B
ANALOG GND ENABLE
1 8
5kW ANALOG INPUT 1 FORWARD ENABLE
Note 1 Command Pot 2 9
Both CLOSED= Forward REVERSE ENABLE
or 0-10VDC POT REFERENCE
3 10
STOP
ANALOG INPUT 2+
Note 1 ±5VDC, ±10VDC 4
Closed=JOG SPEED
11
or 4-20mA ANALOG INPUT 2–
5 12
ACC/DEC/“S” SELECT 1
ANALOG OUT 1
Programmable 6 13
Note 2 PRESET SPEED #1
Analog Outputs. ANALOG OUT 2
7 14
FAULT RESET
15
EXTERNAL TRIP
Refer to Figure 3-36 16
OPTO INPUT COMMON
17
+24VDC
18
CREF
19
OUT 1–
20
OUT 1 OUT 1+
21
Notes: OUT 2–
22
1. Refer to Analog Inputs description in this section. OUT 2 OUT 2+
23
Note 3
Note: JP1 must be properly set for either voltage or current operation. OUT 3–
24
Refer to Figure 3-37 for jumper information. OUT 3 OUT 3+
25
2. Refer to Analog Outputs description in this section. OUT 4–
26
3. Refer to opto isolated Outputs description in this section. OUT 4 OUT 4+
27

J1B-8 CLOSED allows current to flow in the motor and produce torque.
OPEN disables the control and motor coasts to a stop.
J1B-9 Momentary CLOSED starts motor operation in the Forward direction. In JOG mode
(J1-12 CLOSED), continuous CLOSED jogs motor in the Forward direction.
J1B-10 Momentary CLOSED starts motor operation in the Reverse direction. In JOG mode
(J1-12 CLOSED), CONTINUOUS closed JOGS motor in the Reverse direction.
J1B-11 When OPEN control removes power from motor and disables. Coasts or brakes to stop
depending on Keypad Stop Mode parameter setting.
J1B-12 CLOSED places control in JOG mode, Forward and Reverse run are used to jog the
motor.
J1B-13 CLOSED selects group 2.
OPEN selects ACC / DEC / S-CURVE group 1.
J1B-14 CLOSED selects preset speed #1.
OPEN allows speed command from Analog input #1 or #2.
J1B-15 CLOSED to reset fault condition.
OPEN to run,
J1B-16 OPEN causes an external trip to be received by control. The control will disable and
display External Trip when programmed “ON”. If J1B-16 is connected, you must set
Level 2 Protection block, External Trip to “ON” to recognize the J1B-16 input.
J1B-18 & 19 Jumper J1B-19 to J1B-18 (+24VDC) for “Active Low” operation of input signals at J1B-8
to 16. J1B-17 is then used as switch common.

MN1226 Installation 3-39

Section 1
General Information

15 Speed 2-Wire Mode In this mode, 15 preset motor speeds are stored during setup and selected during
operation. Switch Truth Table is defined in Table 3-6.
Operation in the 15 Speed 2-Wire mode is controlled by the opto isolated inputs at
J1B-11 through J1B-15. The opto inputs can be switches as shown in Figure 3-27 or
logic signals from another device. The External Trip opto input at J1B-16 is active if
connected as shown and the Level 2 PROTECTION block, EXTERNAL TRIP parameter
is set to ON.

Switched inputs at J1B-11 through J1B-17 allow selection of 15 preset speeds and
provide Fault Reset as defined in Table 3-6.

Table 3-6 Switch Truth Table for 15 Speed, 2 Wire Control Mode
Function J1B-1 J1B-1 J1B-1 J1B-1
1 2 3 4
Preset 1 Open Open Open Open
Preset 2 Closed Open Open Open
Preset 3 Open Closed Open Open
Preset 4 Closed Closed Open Open
Preset 5 Open Open Closed Open
Preset 6 Closed Open Closed Open
Preset 7 Open Closed Closed Open
Preset 8 Closed Closed Closed Open
Preset 9 Open Open Open Closed
Preset 10 Closed Open Open Closed
Preset 11 Open Closed Open Closed
Preset 12 Closed Closed Open Closed
Preset 13 Open Open Closed Closed
Preset 14 Closed Open Closed Closed
Preset 15 Open Closed Closed Closed
Fault Reset Closed Closed Closed Closed

3-40 Installation MN1226

Section 1
General Information

Figure 3-27 15 Speed 2-Wire Mode Connection Diagram (26M-PO Only)

J1A J1B
ANALOG GND ENABLE
1 8
FORWARD ENABLE
2 Both CLOSED= Forward 9
Both OPEN = Stop REVERSE ENABLE
No 3 10
Connection SWITCH 1
4 11
SWITCH 2
5 All CLOSED= Fault 12
SWITCH 3
ANALOG OUT 1
Programmable 6 Reset 13
Note 1 SWITCH 4
Analog Outputs. ANALOG OUT 2
7 14
ACC/DEC/“S” SELECT 1
15
EXTERNAL TRIP
Refer to Figure 3-36 16
OPTO INPUT COMMON
17
+24VDC
18
CREF
19
OUT 1–
20
OUT 1 OUT 1+
21
OUT 2–
Notes: 22
OUT 2 OUT 2+
23
1. Refer to Analog Outputs description in this section. Note 2
OUT 3–
2. Refer to opto isolated Outputs description in this 24
OUT 3 OUT 3+
section. 25
OUT 4–
26
OUT 4 OUT 4+
27

J1B-8 CLOSED allows current to flow in the motor and produce torque.
OPEN disables the control & motor coasts to a stop.
J1B-9 CLOSED operates the motor in the Forward direction.
OPEN coasts brakes to stop depending on Keypad Stop mode parameter setting.
J1B-10 CLOSED operates motor in the Reverse direction.
OPEN coasts or brakes to stop depending on Keypad Stop mode parameter setting.
J1B-11 to 14 Selects programmed preset speeds as defined in Table 3-6.
J1B-15 Selects ACC/DEC group. CLOSED selects group 2. OPEN selects group 1.
J1B-16 OPEN causes an external trip to be received by control. The control will disable and
display External Trip when programmed “ON”. If J1B-16 is connected, you must set
Level 2 Protection block, External Trip to “ON” to recognize the J1B-16 input.
J1B-18 & 19 Jumper J1B-19 to J1B-18 (+24VDC) for “Active Low” operation of input signals at J1B-8
to 16. J1B-17 is then used as switch common.

MN1226 Installation 3-41

Section 1
General Information

2 Wire Multi INP Control Mode

The opto inputs can be switches as shown in Figure 3-28 or logic signals from another
device. The External Trip opto input at J1B-16 is active if connected as shown and the
Level 2 PROTECTION block, EXTERNAL TRIP parameter is set to ON.
J1B-8 CLOSED allows current to flow in the motor and produce torque.
OPEN disables the control & motor coasts to a stop.
J1B-9 CLOSED to start motor operation in the Forward direction.
OPEN to initiate a stop command.
J1B-10 CLOSED to start motor operation in the Reverse direction.
OPEN to initiate a stop command.
J1B-11 CLOSED selects Analog Input #1.
OPEN selects the value of the Level 1 Input block, Command Select parameter.
Note: If Level 1 Input block, Command Select parameter is set to “Potentiometer”, then
Analog Input #1 is always selected.
J1B-12 CLOSED selects Start/Stop and Reset commands from the terminal strip.
OPEN selects Start/Stop and Reset commands from keypad.
J1B-13 CLOSED selects terminal strip speed source (Level 1 Input block, Command Select).
OPEN selects speed command from Keypad.
Note: When changing from terminal strip to keypad (J1B-12 or 13) the motor speed and
direction will remain the same after the change.
J1B-14 OPEN selects Preset Speed #1 regardless of the Speed Command input (J1B-13).
(FIRESTAT).
J1B-15 OPEN selects Preset Speed #2 regardless of the Speed Command input (J1B-13).
(FREEZESTAT).
Note: If J1B-14 and 15 are both Closed, the 5kW pot provides the speed command input.
If J1B-14 and 15 are both OPEN, Preset Speed #1 is selected.
J1B-16 OPEN causes an External Trip to be received by the control (when programmed to
“ON”). When this occurs, the control disables and an external trip error is displayed on
the keypad display (also logged into the error log).
If J1B-16 is connected, you must set Level 2 Protection block, External Trip to “ON” to
recognize the J1B-16 input.
J1B-18 & 19 Jumper J1B-19 to J1B-18 (+24VDC) for “Active Low” operation of input signals at J1B-8
to 16. J1B-17 is then used as switch common.

3-42 Installation MN1226

Section 1
General Information

Figure 3-28 2 Wire Multi INP Mode Connection Diagram (26M-PO Only)
J1A J1B
ANALOG GND ENABLE
1 8
5kW ANALOG INPUT 1 FORWARD RUN
Note 1 Command Pot 2 9
Both Closed= REVERSE RUN
or 0-10VDC POT REFERENCE Fault Reset 10
3
ANALOG INPUT +2 ANALOG INPUT SELECT
4 11
Note 1 ±5VDC, ±10VDC RUN COMMAND
or 4-20mA ANALOG INPUT –2 12
5
ANALOG OUT 1 SPEED COMMAND
6 13
Note 2 Programmable PRESET SPEED #1
ANALOG OUT 2 14
Analog Outputs. 7
PRESET SPEED #2
15
EXTERNAL TRIP 16
OPTO INPUT COMMON 17
+24VDC
18
Refer to Figure 3-36. CREF
19
Notes: OUT 1–
20
1. Refer to Analog Inputs description in this section. OUT 1 OUT 1+
21
Note: JP1 must be properly set for either voltage or current OUT 2–
operation. Refer to Figure 3-37 for jumper information. 22
OUT 2 OUT 2+
23
2. Refer to Analog Outputs. Note 3 OUT 3–
3. Refer to opto isolated Outputs. 24
OUT 3 OUT 3+
25
OUT 4–
26
OUT 4 OUT 4+
27

MN1226 Installation 3-43

Section 1
General Information

3 Wire Multi INP Control Mode

The opto inputs can be switches as shown in Figure 3-29 or logic signals from another
device. The External Trip opto input at J1B-16 is active if connected as shown and the
Level 2 PROTECTION block, EXTERNAL TRIP parameter is set to ON.
J1B-8 CLOSED allows current to flow in the motor and produce torque.
OPEN disables the control & motor coasts to a stop.
J1B-9 Momentary CLOSED to start motor operation in the Forward direction.
OPEN to initiate a stop command.
J1B-10 Momentary CLOSED to start motor operation in the Reverse direction.
OPEN to initiate a stop command.
J1B-11 OPEN causes motor to decel to stop.
J1B-12 CLOSED selects Start/Stop and Reset commands from the terminal strip.
OPEN selects Start/Stop and Reset commands from keypad.
J1B-13 CLOSED selects terminal strip speed source (Level 1 Input block, Command Select).
OPEN selects speed command from Keypad.
Note: When changing from terminal strip to keypad (J1B-12 or 13) the motor speed and
direction will remain the same after the change.
J1B-14 OPEN selects Preset Speed #1 regardless of the Speed Command input (J1B-13).
(FIRESTAT).
J1B-15 OPEN selects Preset Speed #2 regardless of the Speed Command input (J1B-13).
(FREEZESTAT).
Note: If J1B-14 and 15 are both Closed, the 5kW pot provides the speed command input.
If J1B-14 and 15 are both OPEN, Preset Speed #1 is selected.
J1B-16 OPEN causes an External Trip to be received by the control (when programmed to
“ON”). When this occurs, the control disables and an external trip error is displayed on
the keypad display (also logged into the error log).
If J1B-16 is connected, you must set Level 2 Protection block, External Trip to “ON” to
recognize the J1B-16 input.
J1B-18 & 19 Jumper J1B-19 to J1B-18 (+24VDC) for “Active Low” operation of input signals at J1B-8
to 16. J1B-17 is then used as switch common.

3-44 Installation MN1226

Section 1
General Information

Figure 3-29 3 Wire Multi INP Mode Connection Diagram (26M-PO Only)
J1A J1B
ANALOG GND ENABLE
1 8
5kW ANALOG INPUT 1 FORWARD RUN
Note 1 Command Pot 2 9
Both Closed= REVERSE RUN
or 0-10VDC POT REFERENCE Fault Reset 10
3
ANALOG INPUT +2 STOP
4 11
Note 1 ±5VDC, ±10VDC RUN COMMAND
or 4-20mA ANALOG INPUT –2 12
5
ANALOG OUT 1 SPEED COMMAND
6 13
Note 2 Programmable PRESET SPEED #1
ANALOG OUT 2 14
Analog Outputs. 7
PRESET SPEED #2
15
EXTERNAL TRIP 16
OPTO INPUT COMMON 17
+24VDC
18
Refer to Figure 3-36. CREF
19
Notes: OUT 1–
20
OUT 1 OUT 1+
1. Refer to Analog Inputs description in this section. 21
Note: JP1 must be properly set for either voltage or current OUT 2–
22
operation. Refer to Figure 3-37 for jumper information. OUT 2 OUT 2+
23
2. Refer to Analog Outputs. Note 3 OUT 3–
24
3. Refer to opto isolated Outputs. OUT 3 OUT 3+
25
OUT 4–
26
OUT 4 OUT 4+
27

MN1226 Installation 3-45

Section 1
General Information

Bipolar Speed or Torque Control Mode with Multiple Parameter Sets

Bipolar speed or torque control for servo motors is provided by this mode. Also, you may
store up to four (4) different complete sets of operating parameters. This is important if
you wish to store and use different acceleration rates, different jog speeds or to store
tuning parameter values for different motors.
To program and use multiple parameter sets: (refer to Figure 3-30 and Table 3-7.)
1. Set the level 1 Operating Mode parameter to Bipolar in each of the parameter
sets.
Note: When programming each parameter set, use the ENTER key to accept and
automatically save parameter values.
2. Set switches J1B-13 open and J1B-14 open (Parameter Table #0). Be sure
switches J1B-9 and J1B-10 are OPEN, J1B-8 is CLOSED. Use the keypad and
enter all parameter values, and autotune as instructed later in this section. This
creates and saves the first parameter set which is numbered Table#0.
3. Set switches J1B-13 closed and J1B-14 open (Parameter Table #1). Be sure
switches J1B-9 and J1B-10 are OPEN, J1B-8 is CLOSED. Use the keypad and
enter all parameter values, and autotune as instructed later in this section. This
creates and saves the second parameter set which is numbered Table#1.
4. Set switches J1B-13 open and J1B-14 closed (Parameter Table #2). Be sure
switches J1B-9 and J1B-10 are OPEN, J1B-8 is CLOSED. Use the keypad and
enter all parameter values, and autotune as instructed later in this section. This
creates and saves the third parameter set which is numbered Table#2.
5. Set switches J1B-13 closed and J1B-14 closed (Parameter Table #3). Be sure
switches J1B-9 and J1B-10 are OPEN, J1B-8 is CLOSED. Use the keypad and
enter all parameter values, and autotune as instructed later in this section. This
creates and saves the final parameter set which is numbered Table#3.
6. Remember that to change the value of a parameter in one of the parameter
tables, you must first select the table using the switches. You cannot change a
value in a table until you have first selected that table.
Note: All parameters except operating mode can be changed and saved for each
table.
Note: Preset speed does not apply to table select.

Table 3-7 Bipolar Mode Table Select Truth Table

Function J1B-13 J1B-14
Parameter Table #0 Open Open
Parameter Table #1 Closed Open
Parameter Table #2 Open Closed
Parameter Table #3 Closed Closed

3-46 Installation MN1226

Section 1
General Information

Figure 3-30 Bipolar Speed or Torque Mode Connection Diagram (26M-PO Only)
J1A J1B
ANALOG GND ENABLE
1 8
5kW FORWARD ENABLE
Note 1 Command Pot 2 9
No Connections REVERSE ENABLE
or 0-10VDC 3 10
ANALOG INPUT +2 CLOSED=ORIENT
±5VDC, ±10VDC 4 11
Note 1 ANALOG INPUT –2 SPEED, TORQUE
or 4-20mA 5 12
ANALOG OUT 1 TABLE SELECT
6 13
Programmable TABLE SELECT
Note 2 ANALOG OUT 2
Analog Outputs. 7 14
FAULT RESET
15
EXTERNAL TRIP
Refer to Figure 3-36 16
OPTO INPUT COMMON
17
+24VDC
18
CREF
19
Notes: OUT 1–
20
OUT 1 OUT 1+
1. Refer to Analog Inputs description in this section. 21
Note: JP1 must be properly set for either voltage or current operation. OUT 2–
22
Refer to Figure 3-37 for jumper information. OUT 2 OUT 2+
23
2. Refer to Analog Outputs description in this section. OUT 3–
24
OUT 3 OUT 3+
3. Refer to opto isolated Outputs description in this section. 25
Note 3 OUT 4–
26
OUT 4 OUT 4+
27

J1B-8 CLOSED allows current to flow in the motor and produce torque.
OPEN disables the control & motor coasts to a stop.
J1B-9 CLOSED to enable operation in the Forward direction.
OPEN TO DISABLE Forward operation (drive will brake to a stop if a Forward command
is still present).
J1B-10 CLOSED to enable operation in the Reverse direction.
OPEN to disable Reverse operation (drive will brake to a stop if a Reverse command is
still present).
J1B-11 Causes the motor shaft to orient to a marker or external switch.
J1B-12 CLOSED puts the control in torque mode. OPEN puts the control in velocity mode.
J1B-13 & Select from four parameter tables as defined
J1B-14 in Table 3-7.
J1B-15 Momentary CLOSED to reset fault condition.
OPEN to run.
J1B-16 OPEN causes an external trip to be received by control. The control will disable and
display External Trip when programmed “ON”. If J1B-16 is connected, you must set
Level 2 Protection block, External Trip to “ON” to recognize the J1B-16 input.
J1B-18 & 19 Jumper J1B-19 to J1B-18 (+24VDC) for “Active Low” operation of input signals at J1B-8
to 16. J1B-17 is then used as switch common.

MN1226 Installation 3-47

Section 1
General Information

Process Mode Connections The process control mode provides an auxiliary closed loop general purpose PID set
point control that is shown in Figure 3-31. The process control loop may be configured in
either of two ways.
1. Using two (2) inputs; a set point and a process feedback input. The error signal
(between the setpoint and the feedback signals) adjusts the speed or torque of
the motor to eliminate error.
2. Using three (3) inputs; a setpoint, process feedback and feedforward inputs.
Instead of waiting for an error signal to develop between the setpoint and the
process feedback signals, the feedforward signal adjusts the speed or torque of
the motor to reduce the amount of error that will develop between the feedback
and setpoint inputs.
The objective of either method is to force the process feedback to be as close to the
setpoint as possible and eliminate process error.
Two Input Configuration
For 2 input operation, several parameters must be set as follows:
1. Level 2 Process Control block, “Process Feedback” parameter must be set to
the type of feedback signal used. The process feedback signal can be any
Analog input available at the J1A terminal strip or expansion board. Selections
are shown in Figure 3-31. A signal compatibility matrix is shown in Table 3-8.
2. Level 2 Process Control block, “Setpoint Source” parameter must be set to the
type of set point being used.
A. A fixed value setpoint is a keypad programmed parameter value. To
program a fixed setpoint, do the following:
i. Set the Level 2 Process Control block, “Setpoint Source” parameter
to Setpoint CMD.
ii. Set the Level 2 Process Control block, “Setpoint CMD” parameter
to a value between –100% to +100% of the process feedback input.
B. If a variable value setpoint is used, the Setpoint Source must be set to any
available terminal strip or expansion board input not being used for the
process feedback input. Selections are shown in Figure 3-31. A signal
compatibility matrix is shown in Table 3-8.
3. Level 1 Input block “Command Select” parameter must be set to “None”.
Three Input Configuration
For 3 input operation, several parameters must be set as follows:
1. Level 2 Process Control block “Process Feedback” parameter must be set to
the type of feedback signal used. The process feedback signal can be any
Analog input available at the J1A terminal strip or expansion board. Selections
are shown in Figure 3-31. A signal compatibility matrix is shown in Table 3-8.
2. Level 2 Process Control block “Setpoint Source” parameter must be set to the
type of set point being used.
A. If a fixed value setpoint is used, set the Level 2 Process Control block,
Setpoint Source parameter to “Setpoint CMD”. Set the Level 2 Process
Control block “Setpoint Command” parameter to a value between –100%
to +100% of the process feedback.
B. If a variable value setpoint is used, set the Level 2 Process Control block,
Setpoint Source parameter to any Analog1, Analog2 or expansion board
input not being used for the process feedback input. Selections are shown
in Figure 3-31. A signal compatibility matrix is shown in Table 3-8.

3-48 Installation MN1226

Section 1
General Information

3. Level 1 Input block “Command Select” parameter must be set to the

feedforward signal type. This signal may be any Analog1, Analog2 or
expansion board input not being used for the process feedback or setpoint
source inputs. Selections are shown in Figure 3-31.
Note: An input can only be used one time for Process Feedback, OR Setpoint
Source, OR Feedforward.

Figure 3-31 Simplified Process Control Block Diagram

SETPOINT COMMAND

Differential
PROCESS FEEDBACK
+ Gd s +
Available sources are: Proportional
Potentiometer +
± 10 Volts –
± 5 Volts ∑ Gp ∑
4 TO 20 mA Integral
5V EXB Gi
10V EXB +
s
4-20mA EXB Auxiliary PID Control
None

Closed When Process

Mode is Enabled (J1B–13)
Set Point adjustment limit
w/ integral clamp to max
limit value

PROCESS FEEDFORWARD Existing Baldor Control System

COMMAND SELECT Motor Control
Available sources are:
Potentiometer Differential
± 10 Volts +
+ Gd s
± 5 Volts Proportional
4 TO 20 mA +
ACC/DEC +
10 V w/Torq FF
EXB Pulse FOL
S–Curve
Profiler
∑ Gp ∑ Amp Motor
5V EXB Integral
10V EXB Gi
– +
4-20mA EXB s
Serial
None
s Res.

Differentiator

MN1226 Installation 3-49

Section 1
General Information

Table 3-8 Process Mode Input Signal Compatibility

Feedback
Setpoint or
4-20mA 3-15 PSI
Feedforward J1A-1 & 2 J1A-4 & 5 5V EXB
10V EXB

EXB
EXB
J1A-1 & 2
J1A-4 & 5
5V EXB

10V EXB

4-20mA EXB

3-15 PSI EXB
Serial 

Requires expansion board EXB103M01 (Serial + High Resolution Analog I/O for M Series controls).
 Requires expansion board EXB102M01 (Serial + Pulse Follower for M Series controls).
 Requires expansion board EXB101M01 (Serial Communications for M Series controls).
Conflicting inputs. Do not use same input signal multiple times.

Note: Only one expansion board may be installed.

Specific Process Mode Outputs

Process Mode Only, Analog Monitoring Outputs
Name Description
Process FDBK Process Feedback scaled input. Useful for observing or tuning the
process control loop.
Setpoint CMD Setpoint Command scaled input. Useful for observing or tuning the
process control loop.
Speed Command Commanded Motor Speed. Useful for observing or tuning the output of
the control loop.

Process Mode Only, Opto Isolated Outputs

Name Description
Process Error CLOSED when the Process Feedback is within the specified tolerance
band. OPEN when the Process Feedback is greater than the specified
tolerance band. The width of the tolerance band is adjusted by the
Level 2 Process Control block PROCESS ERR TOL parameter value.

3-50 Installation MN1226

Section 1
General Information

Figure 3-32 Process Mode Connection Diagram (26M-PO Only)

J1A J1B
ANALOG GND ENABLE
1 8
5kW ANALOG INPUT 1 FORWARD ENABLE
Note 1 Command Pot 2 9
POT REFERENCE Both REVERSE ENABLE
or 0-10VDC 3 OPEN = Stop 10
ANALOG INPUT +2 TABLE SELECT
±5VDC, ±10VDC 4 11
Note 1 ANALOG INPUT –2 No Connection
or 4-20mA 5 12
ANALOG OUT 1 Process Mode Enable
6 13
Note 2 Programmable JOG (FWD only)
ANALOG OUT 2
Analog Outputs. 7 14
FAULT RESET
15
EXTERNAL TRIP
16
OPTO INPUT COMMON
17
+24VDC
18
Refer to Figure 3-36. CREF
19
Notes: OUT 1–
20
1. Refer to Analog Inputs description in this section. OUT 1 OUT 1+
21
Note: JP1 must be properly set for either voltage or current OUT 2–
22
operation. Refer to Figure 3-37 for jumper information. OUT 2 OUT 2+
23
2. Refer to Analog Outputs. Note 3 OUT 3–
24
3. Refer to opto isolated Outputs. OUT 3 OUT 3+
25
OUT 4–
26
OUT 4 OUT 4+
27

J1B-8 CLOSED allows current to flow in the motor and produce torque.
OPEN disables the control & motor coasts to a stop.
J1B-9 CLOSED to enable operation in the Forward direction.
OPEN TO DISABLE Forward operation.
J1B-10 CLOSED to enable operation in the Reverse direction.
OPEN to disable Reverse operation.
J1B-11 OPEN=Table 0, CLOSED=Table 1.
J1B-13 CLOSED to enable the Process Mode.
J1B-14 CLOSED puts the control in JOG Mode. Control will only JOG in the forward direction.
OPEN allows PID & Feedforward Speed or Torque control.
J1B-15 Momentary CLOSED to reset fault condition.
OPEN to run.
J1B-16 OPEN causes an External Trip to be received by the control (when programmed to
“ON”). When this occurs, the control disables and an external trip error is displayed on
the keypad display (also logged into the error log).
If J1B-16 is connected, you must set Level 2 Protection block, External Trip to “ON” to
recognize the J1B-16 input.
J1B-18 & 19 Jumper J1B-19 to J1B-18 (+24VDC) for “Active Low” operation of input signals at J1B-8
to 16. J1B-17 is then used as switch common.

MN1226 Installation 3-51

Section 1
General Information

Analog Inputs and Outputs (Applies to both the 26M-TR and 26M-PO)
Analog Inputs Two analog inputs are available: analog input #1 (J1A-1 and J1A-2) and analog input #2
(J1A-4 and J1A-5) as shown in Figure 3-33. Either analog input #1 or #2 may be
grounded provided the common mode range is not exceeded. Either analog input may
be selected in the Level 1 INPUT block, COMMAND SELECT parameter value. Analog
input #1 is selected if parameter value “POTENTIOMETER” is selected. Analog input #2
is selected if parameter value “+/–10Volts, +/–5 Volts or 4-20mA” is selected. Only one
analog input can be used but either may be selected.
Figure 3-33 Analog Inputs and Outputs
J1A

Command Pot Analog Ground

5kW
or
0-10VDC Analog Input #1

Pot Reference

Analog Input #2(+)

Differential ±5VDC, ±10VDC
or 4-20 mA Input
Analog Input #2(–)

Programmable 0-10VDC Analog Output 1

Programmable 0-10VDC Analog Output 2

Analog Input #1 The single ended analog input #1 can be used in one of three ways. Speed command
(Level 1 Input block Command Select = Potentiometer) , process feedback (Level 2
Process Control block Process Feedback = Potentiometer) or setpoint source (Level 2
Process Control block Setpoint Source = Potentiometer). Only one may be selected and
the respective parameter must be set to “POTENTIOMETER”.
1. Connect the wires from the 5kW ½ Watt potentiometer as shown in Figure 3-33.
One end of the pot is connected to J1A-1 (analog ground) and the other end is
connected to J1A-3 (Pot Reference).
2. Connect the wiper of the pot to J1A-2. The voltage across terminals J1A-1 and
J1A-2 is the input signal.
3. A 0-10VDC input signal may be connected across J1A-1 and J1A-2 instead of
using a 5kW pot.
Analog Input #2 Analog input #2 accepts a differential command ±5VDC, ±10VDC or 4-20 mA. The
operating mode is defined in the Level 1 Input block COMMAND SELECT parameter.
Note: Analog Input #2 is used with Standard Run 3-Wire or Bipolar Control modes
and not used for the 15 Speed 2 Wire mode.
1. Connect the Analog Input 2(+) wire to J1A-4 and the 2(–) wire to J1A-5.
2. JP1 must be properly set for either voltage or current operation. Refer to
Figure 3-37 for jumper information.
Note: Analog Input #2 can be connected for single ended operation by grounding
either of the inputs, provided the common mode voltage range is not
exceeded. The common mode voltage can be measured with a voltmeter.
Apply the maximum command voltage to analog input 2 (J1A-4, 5). Measure
the AC and DC voltage across J1A-1 to J1A-4. Add the AC and DC readings
together. Measure the AC and DC voltage from J1A-1 to J1A-5. Add the AC
and DC readings together.
If either of these measurement totals exceeds a total of ±15 volts, then the
common mode voltage range has been exceeded. If the common mode
voltage range has been exceeded, the solution is either to change the
command voltage source or isolate the command voltage with a commercially
available signal isolator.

3-52 Installation MN1226

Section 1
General Information

Figure 3-34 Analog Inputs Equivalent Circuits

30kW 5.1V Zener
J1A
-15VDC
.033 mF
1
5kW

20kW
2 –
To Microprocessor
+

1.96kW
3 +15VDC

10kW 10kW
4 JP1
4-20mA +
To Microprocessor
500W –
X N/C 10kW 10kW
5

Notes: +
All OP Amps are TL082 or TL084
–

Analog Ground is separated from

Chassis Ground. Electrically they
are separated by an RC network.
Analog Outputs Two programmable analog outputs are provided on J1A-6 and J1A-7. The actual output
voltage for each analog output condition can be 0-10VDC or ±10VDC depending upon
the output condition selected (1mA maximum output current) and can provide real-time
status of various control conditions. The output conditions are defined in Section 4 of this
manual.
The return for these outputs is J1A-1 analog ground. Each output is programmed in the
Level 1 Output block.
1. Connect the Output #1 wires to J1A-6 and J1A-1.
2. Connect the Output #2 wires to J1A-7 and J1A-1.

MN1226 Installation 3-53

Section 1
General Information

Figure 3-35 Analog Outputs Equivalent Circuits

.033 mF J1A
10kW 10kW
49.9W
From +
Microprocessor 6
–

.033 mF 10kW

.033 mF
Notes:

10kW 10kW +
49.9W All OP Amps are TL082 or TL084
From + –
Microprocessor 7
–

.033 mF Analog Ground is separated from

10kW
Chassis Ground. Electrically they
are separated by an RC network.
1

External Trip Input Terminal J1B-16 is available for connection to a normally closed thermostat or overload
relay contact in all operating modes as shown in Figure 3-36. The thermostat or overload
relay should be a dry contact type with no power available from the contact. If the motor
thermostat or overload relay activates, (opens the J1B-16 to J1B-17 connection) the
control will automatically shut down and give an External Trip fault.
The optional relay (CR1) shown provides the isolation required. The N.O. contact shown
is closed when power is applied to the relay and the motor is cold.
Connect the External Trip Input wires to J1B-16 and J1B-17 (or GNDext ). Do not place
these wires in the same conduit as the motor power leads.
To activate the External Trip input, the External Trip parameter in the programming
Protection Block must be set to “ON”.
Figure 3-36 Motor Temperature Relay
Note: Add appropriately rated
U V W protective device for AC relay
Customer Provided
Source Voltage (snubber) or DC relay (diode).
Internal CREF
External or remote motor J1B
overload protection may *
be required by National CR1
Electrical Code or equivalent 16 External Trip
17

M M M Do not run these wires in External Customer Supply

same conduit as motor J1B
leads or AC power wiring.

V W G 16 External Trip
U Motor Thermostat Leads
* Motor TO GNDext of
* Must be ordered separately.
Customer Supply

3-54 Installation MN1226

Section 1
General Information

Figure 3-37 Jumper Locations

1
3 2 1

JP1
Table 3-9 Jumper Positions
Jumper Jumper Position Description of Jumper Position Setting
JP1 1–2 Voltage Command Signal. (Factory Setting)
2–3 4–20mA Command Signal.

Note: Early production boards also had JP2 jumper. If present, leave JP2 on pins 1
& 2.
Figure 3-38 Opto-Input Equivalent Circuit (using external supply)

J1B J1B

Opto Input 1 Opto Input 1

8 8
Opto Input 2 Opto Input 2
9 9
Opto Input 3 10 Opto Input 3 10
Opto Input 4 11 Opto Input 4
11
Opto Input 5 Opto Input 5
12 12
Opto Input 6 Opto Input 6
13 13
Opto Input 7 Opto Input 7
14 14
Opto Input 8 Opto Input 8
15 15
Opto Input 9 Opto Input 9
16 16
* User VCC (+) 19 * User VCC (–) 19
* User VCC (–) * User VCC (+)

Opto Inputs Closing to Ground * User VCC = 10 - 30VDC Opto Inputs Closing to +VCC
External Power Source

MN1226 Installation 3-55

Section 1
General Information

Opto-Isolated Outputs Four programmable Opto-isolated outputs are available at terminals J1B-20 through
J1B-27. See Figure 3-39.
The Opto-isolated outputs may be configured for sinking or sourcing 50 mA each.
However, all must be configured the same. The maximum voltage from opto output to
common when active is 1.0 VDC (TTL compatible). The Opto-isolated outputs may be
connected in different ways as shown in Figure 3-39.
If the opto outputs are used to directly drive a relay, a flyback diode rated at 1A, 100 V
(1N4002) minimum should be connected across the relay coil. See Electrical Noise
Considerations in Section 5 of this manual.
1. Connect OPTO OUT #1 wires to J1B-20 and J1B-21.
2. Connect OPTO OUT #2 wires to J1B-22 and J1B-23.
3. Connect OPTO OUT #3 wires to J1B-24 and J1B-25.
4. Connect OPTO OUT #4 wires to J1B-26 and J1B-27.
Each Opto Output is programmed in the Level 1 Output programming block.

Figure 3-39 Opto-Isolated Output Configurations

17   17  
Optional Customer
18 +24V Supplied Relays 

Optional Customer
Supplied Relays
19  19 
20   20  
21  
21  

22   22  
Available with
23  
23  

26M-PO Only.
24   24  
25  
25  

26   26  
27  
27  

Using Internal Supply Using Internal Supply

(Sinking the Relay) (Sourcing the Relay)

+ +
Optional Customer Supplied Optional Customer Supplied
+24VDC Source +24VDC Source
– –
17   Optional Customer 17  
Optional Customer 18 +24V Supplied Relays 18 +24V
Supplied Relays Available with
19 CREF 19 CREF 26M-PO and
20   20   26M-TR
21  
21  

22   22  
23  
23  

24   24  
25  
25  

26   26  
27  
27  

Using External Supply Using External Supply
(Sinking the Relay) (Sourcing the Relay)

Note: Shows typical flyback diode rated at least 1Amp/100V (1N4002) across each
relay coil (if coil does not have built in flyback).

3-56 Installation MN1226

Section 1
General Information

Pre-Operation Checklist This procedure will help get your drive up and running in the Keypad mode quickly. This
will allow you to prove the motor and control operation. You should have an
understanding of the keypad programming & operation procedures described in Section 4
of this manual.
Note: The control terminal strip does not require any connections to operate in the
Keypad mode (if Level 2 Protection block, External Trip parameter is set to
OFF and Level 2 Protection block, Local INP Enable is set to “OFF”).
CAUTION: After completing the installation but before you apply power, be
sure to check the following items.
1. Measure the AC line voltage and verify it matches the control rating.
2. Inspect all power connections for accuracy, workmanship and tightness and
compliance to codes.
3. Verify control and motor are grounded to each other and the control is
connected to earth ground.
4. Check all signal wiring for accuracy.
5. Be certain all brake coils, contactors and relay coils have noise suppression.
This should be an R-C filter for AC coils and reverse biased diodes for DC coils.
MOV type transient suppression is not adequate.
WARNING: Make sure that unexpected operation of the motor shaft during start
up will not cause injury to personnel or damage to equipment.
Check of Motors and Couplings
1. Verify freedom of motion for all motor shafts.
2. Verify that all motor couplings are tight without backlash.
3. Verify the holding brakes if any, are properly adjusted to fully release and set to
the desired torque value.

MN1226 Installation 3-57

Section 1
General Information

Power-Up Procedure You should have an understanding of the keypad programming & operation procedures
described in Section 4 of this manual.
Initial Conditions
Be sure the PSM, Control, Motor and DB resistor are wired according to the procedures
described in this section. Become familiar with the keypad programming and keypad
operation of the control as described in Section 4 of this manual.
1. Verify that any enable inputs to J1B-8 are open.
2. Turn power on. Be sure there are no faults.
3. a. (PSM–PR only) Verify PSM “Ready” is ON and the “DB ON” and
“Monitor” indicators are OFF. Verify the control “Ready” is ON.
b. (26M–TR only) Verify that “Ready” is ON and the “DB” is OFF.
4. Set the Level 1 Input block, Operating Mode to “KEYPAD”.
5. Be sure the Level 2 Protection block, Local Enable INP parameter is OFF and
the Level 2 Protection block, External Trip parameter is OFF.
6. Enter the following motor data in the Level 2 Motor Data block parameters:
MOTOR RATED AMPS (from motor nameplate)
MOTOR POLES
Use the following:
BSM 50/63/80 = 4 poles
BSM 90/100 = 8 poles
BSM 4F/6F/8F = 8 poles
RESOLVER SPEEDS = 1 (Preset is “One”)
7. At the Level 2 Motor Data block, go to CALC Presets and select YES (using
the Y key). Press ENTER and let the control calculate the preset values for the
parameters that are necessary for control operation.
8. Disconnect the motor from the load (including coupling or inertia wheels). If the
load cannot be disconnected, refer to Section 6 and manually tune the control.
After manual tuning, perform steps 13 through 17.
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.
9. Go to Level 2 Autotune block, and do the following tests:
CMD OFFSET TRIM
CUR LOOP COMP
RESOLVER ALIGN
10. Remove all power from the control.
11. Couple the motor to its load.
12. Turn power on. Be sure no errors are displayed.
13. Set the Level 2 Output Limits block, “MIN OUTPUT SPEED” parameter.
14. Set the Level 2 Output Limits block, “MAX OUTPUT SPEED” parameter.
15. Go to Level 2 Autotune block, and perform the SPD CNTRLR CALC test.
16. Run the drive from the keypad using one of the following: the arrow keys for
direct speed control, keypad entered speed or the JOG mode.
17. Select and program additional parameters to suit your application.
The control is now ready for use in the Keypad mode. If a different operating mode is
desired, refer to Section 3 Control Connections and Section 4 Programming and
Operation.

3-58 Installation MN1226

Section 4
26M
Programming and Operation

Overview The keypad is used to program the control parameters; to operate the motor when
programmed for the Keypad operating mode; and to monitor the status and outputs of the
control by accessing the display options, the diagnostic menus and the fault log.
Figure 4-1 Keypad
JOG - (Green) lights when Jog is active.
FWD - (Green) lights when FWD direction is commanded.
REV - (Green) lights when REV direction is commanded.
STOP - (Red) lights when motor STOP is commanded.
Indicator Lights

Keypad Display - Displays status

information during Local or Remote
operation. It also displays information
during parameter setup and fault or
Diagnostic Information.
JOG - Press JOG to select the
preprogrammed jog speed. After the jog
key has been pressed, use the FWD or
REV keys to run the motor in the
direction that is needed. The JOG key is
only active in the local mode. PROG - Press PROG to enter the
program mode. While in the program
FWD - Press FWD to initiate forward mode the PROG key is used to edit a
rotation of the motor. This key is only parameter setting.
active in the Keypad or local mode.
Y - (UP Arrow)
Press Y to change the value of the
REV - Press REV to initiate reverse parameter being displayed. Pressing Y
rotation of the motor. This key is active increments the value to the next greater
only in the Keypad or local mode. value. Also, when the fault log or
parameter list is displayed, the Y key will
STOP - Press STOP to initiate a stop DISP - Press DISP to return to display scroll upward through the list. In the
sequence. Depending on the setup of the mode from programming mode. Provides local mode pressing the Y key will
control, the motor will either regen or operational status and advances to the increase motor speed to the next greater
coast to a stop. This key is operational next display menu item. value.
in all modes of operation unless it has
been disabled by the Keypad Stop
parameter in the Keypad (programming) SHIFT - Press SHIFT in the program ENTER - Press ENTER to save
Setup Block. mode to control cursor movement. parameter value changes and move
Pressing the SHIFT key once moves the back to the previous level in the
Note: If the control is operating in
blinking cursor one character position to programming menu. In the display mode
remote mode and the stop key the ENTER key is used to directly set the
is pressed the control will the right. While in program mode, a
parameter value may be reset to the local speed reference. It is also used to
change to the local mode when select other operations when prompted
factory preset value by pressing the
the stop command is initiated. by the keypad display.
SHIFT key until the arrow symbols at the
To resume operation in the
far left of the keypad display are flashing,
remote mode, press the LOCAL then press an arrow key. In the display B - (Down Arrow)
key. mode the SHIFT key is used to adjust Press B to change the value of the
the keypad contrast. parameter being displayed. Pressing B
LOCAL - Press LOCAL to change decrements the value to the next lesser
between the local (keypad) and remote value. Also, when the fault log or
operation. When the control is in the RESET - Press RESET to clear all fault parameter list is displayed, the B key will
local mode all other external commands messages (in local mode). Can also be scroll downward through the list. In the
to the J1B terminal strip will be ignored used to return to the top of the block local mode pressing the B key will
with the exception of the external trip programming menu without saving any decrease motor speed to the next lower
input. parameter value changes. value.

MN1226 Programming & Operation 4-1

Display Mode During normal operation, the control is in the DISPLAY MODE. In this mode, the Keypad
Display shows the status of the control as in the following example.

Motor Status Output Condition

Control Operation Value and Units

The DISPLAY MODE is used to view DIAGNOSTIC INFO and the FAULT LOG. The
description of how to do these tasks are described on the following pages.
Adjusting Display Contrast When AC power is applied to the control the keypad should display the status of the
control. At power up, the display may be blank if the contrast is improperly set. Use the
following procedure to adjust the display contrast. (Contrast may be adjusted in display
mode when motor is stopped or running).

Action Description Display Comments

Apply Power No visible display

Press DISP Key Places control in display mode

Press SHIFT SHIFT Allows display contrast

adjustment

Press Y or B Key Adjusts display intensity

Press ENTER Saves level of contrast and exits Typical display

to display mode

4-2 Programming & Operation MN1226

Display Mode Continued
Display Screens & Diagnostic Information Access

Action Description Display Comments

Apply Power Logo display for 5 seconds.

Display mode showing motor No faults present. Local keypad

speed. mode. If in remote/serial mode,
press local for this display.
Press DISP key First screen in Display Mode.

Press key Scroll to diagnostic info block.

Press ENTER key Access diagnostic information. Displays commanded speed,

direction of rotation, Local/
Remote.
Press DISP key Display mode showing control Displays operating temperature in
temperature. degrees C.

Press DISP key Display mode showing bus

voltage.

Press DISP key Display mode showing %

overload current remaining.

Press DISP key Display mode showing real time Opto Inputs states (Left);
opto inputs & outputs. Opto Outputs states (Right).
0=Open, 1=Closed.
Press DISP key Display mode showing actual HR.MIN.SEC format.
drive running time.

Press DISP key Display mode showing operating

zone, voltage and control type.

Press DISP key Display mode showing continuous

amps; PK amps rating; amps/volt
scale of feedback, power base ID.
Press DISP key Display mode showing which
Group1 or 2 expansion boards
are installed.
Press DISP key Display mode showing motor
shaft revolutions from the REV
home set point.
Press DISP key Displays the parameter table
selected for Bipolar mode.

Press DISP key Display mode showing software

version and revision installed in XXX-X.XX
the control.
Press DISP key Displays exit choice. Press ENTER to exit diagnostic
information.

MN1226 Programming & Operation 4-3

Display Mode Continued
Fault Log Access When a fault condition occurs, motor operation stops and a fault code is displayed on the
Keypad display. The control keeps a log of up to the last 31 faults. If more than 31 faults
have occurred, the oldest fault will be deleted from the fault log to make room for the
newest fault. To access the fault log perform the following procedure:

Action Description Display Comments

Apply Power Logo display for 5 seconds.

Display mode showing motor Display mode.

speed.

Press DISP key Press DISP several times to scroll

to the Fault Log entry point.

Press ENTER key Display first fault and time fault 1 = Most Recent fault displayed.
occurred (time from startup). 2 = Next most recent etc.

Press key Scroll through fault messages. If no messages, the fault log exit
choice is displayed.

Press ENTER key Return to display mode. Display mode stop key LED is on.

4-4 Programming & Operation MN1226

Program Mode The Program Mode is used to:
1. Enter or change parameter values.
2. Enter Motor Data.
3. Autotune the motor.
From the Display Mode press the PROG key to access the Program Mode.
Note: When a parameter is selected, alternately pressing the Disp and Prog keys
will toggle between the Display Mode and the selected parameter. When a
parameter is selected for programming, the keypad display provides the
following information:

Parameter
Parameter Status Value and Units

Parameter Status. All programmable parameters are displayed with a “P:” in the lower
left corner of the keypad display. If a parameter is displayed with a “V:”, the parameter
value may be viewed but not changed while the motor is operating. If the parameter is
displayed with an “L:”, the value is locked and the security access code must be entered
before its’ value can be changed.
Parameter Blocks Access for Programming
Use the following procedure to access parameter blocks to program the control.

Action Description Display Comments

Apply Power Keypad Display shows this Logo display for 5 seconds.
opening message.

If no faults and programmed for Display mode.

LOCAL operation.

If no faults and programmed for Display mode.

REMOTE operation.

If fault is displayed, refer to the

Troubleshooting section of this
manual.
Press PROG key Press ENTER to access Preset
Speed parameters.

Press Y or B key Scroll to the ACCEL/DECEL Press ENTER to access Accel

block. and Decel rate parameters.

Press Y or B key Scroll to the Level 2 Block. Press ENTER to access Level 2
Blocks.

Press ENTER key First Level 2 block display.

Press Y or B key Scroll to Programming Exit menu. Press ENTER to return to Display
mode.

Press ENTER key Return to display mode.

MN1226 Programming & Operation 4-5

Program Mode Continued
Changing Parameter Values when Security Code Not Used
Use the following procedure to program or change a parameter already programmed into
the control when a security code is not being used.
The example shown changes the operating mode from Keypad to Bipolar.

Action Description Display Comments

Apply Power Keypad Display shows this Logo display for 5 seconds.
opening message.

If no faults and programmed for Display mode. Stop LED on.

LOCAL operation.

Press PROG key Access programming mode.

Press Y or B key Scroll to Level 1 Input Block. Press ENTER to access INPUT
Then press ENTER to access block parameter.
Input Block.
Press PROG key Access Operating Mode. Keypad mode shown is the
factory setting.

Press Y key Scroll to make your selection. Typical selection.

Press ENTER or PROG Save selection to memory.

Press Y key Scroll to menu exit.

Press ENTER key Return to Input Block.

Press DISP key Return to Display Mode. Typical display mode.

4-6 Programming & Operation MN1226

Program Mode Continued
Reset Parameters to Factory Settings
Sometimes it is necessary to restore the parameter values to the factory settings. Follow
this procedure to do so.
Note: All parameter values already programmed will be changed when resetting the
control to factory settings.
Note: After factory settings are restored, motor data must be programmed and the
drive must be autotuned.

Action Description Display Comments

Apply Power Keypad Display shows this Logo display for 5 seconds.
opening message.

If no faults and programmed for Display mode. Stop LED on.

LOCAL operation.

Press PROG key Enter program mode.

Press Y or B key Scroll to Level 2 Blocks.

Press ENTER key Select Level 2 Blocks.

Press Y or B key Scroll to the Miscellaneous block.

Press ENTER key Select Miscellaneous block.

Press Y key Scroll to Factory Settings

parameter.

Press ENTER key Access Factory Settings

parameter.
V represents blinking cursor.
Press Y key Scroll to YES, to choose original
factory settings.

Press ENTER key Restores factory settings. “Loading Presets” is first message
“Operation Done” is next
“No” is displayed last.
Press Y key Scroll to menu exit.

Press ENTER key Return to display mode. Display mode. Stop LED on.

MN1226 Programming & Operation 4-7

Program Mode Continued
Initialize New Software
After new software is installed, the control must be initialized to the new software version
and memory locations. Use the following procedure to initialize the software.
Note: All parameter values already programmed will be changed when resetting the
control to factory settings.
Note: After factory settings are restored, motor data must be programmed and the
drive must be autotuned.
Action Description Display Comments
Apply Power Keypad Display shows this Logo display for 5 seconds.
opening message.

If no faults and programmed for Display mode. Stop LED on.

LOCAL operation.

Press PROG key Enter program mode.

Press Y or B key Scroll to Level 2 Blocks.

Press ENTER key Select Level 2 Blocks.

Press Y or B key Scroll to the Miscellaneous block.

Press ENTER key Select Miscellaneous block.

Press Y key Scroll to Factory Settings

parameter.

Press ENTER key Access Factory Settings

parameter.
V represents blinking cursor.
Press Y key Scroll to YES, to choose original
factory settings.

Press ENTER key Restores factory settings. “Loading Presets” is first message
“Operation Done” is next
“No” is displayed last.
Press Y key Scroll to menu exit.

Press ENTER key Return to display mode. Display mode. Stop LED on.

Press Y key Scroll to diagnostic info block.

Press ENTER key Access diagnostic information. Displays commanded speed,

direction of rotation, Local/
Remote and motor speed.
Press DISP key Display mode showing software Verify new software version.
version and revision installed in XXX-X.XX
the control.
Press DISP key Displays exit choice. Press ENTER to exit diagnostic
information.

4-8 Programming & Operation MN1226

Parameter Adjustments To make programming easier, parameters have been arranged into the two level
structure shown in Table 4-1. Press the PROG key to enter the programming mode. The
first programming block to be displayed is “Preset Speeds”. Use the Up (Y) and Down
(B) arrows to scroll through the parameter blocks. Press ENTER to access parameters
within a programing block.
Tables 4-2 and 4-3 provide an explanation of each parameter. A complete Parameter
Block Values list is located in Appendix A of this manual. This list defines the
programmable range and factory preset value for each parameter. The list has a space
to record your settings for future reference.
Table 4-1 List of Parameters
LEVEL 1 BLOCKS LEVEL 2 BLOCKS
Preset Speeds Input Output Limits Motor Data
Preset Speed #1 Operating Mode Min Output Speed Motor Rated Amps
Preset Speed #2 Command Select Max Output Speed Motor Poles
Preset Speed #3 ANA CMD Inverse PK Current Limit Resolver Speeds
Preset Speed #4 ANA CMD Offset PWM Frequency CALC Presets
Preset Speed #5 ANA 2 Deadband CUR Rate Limit
Preset Speed #6 ANA 1 CUR LIMIT
Preset Speed #7 Process Control
Preset Speed #8 Output Custom Units Process Feedback
Preset Speed #9 Opto Output #1 Decimal Places Process Inverse
Preset Speed #10 Opto Output #2 Value at Speed Setpoint Source
Preset Speed #11 Opto Output #3 Units of Measure Setpoint Command
Preset Speed #12 Opto Output #4 Set PT ADJ Limit
Preset Speed #13 Zero SPD Set PT Protection Process ERR TOL
Preset Speed #14 At Speed Band Overload Process PROP Gain
Preset Speed #15 Set Speed External Trip Process INT Gain
Analog Out #1 Local Enable Input Process DIFF Gain
Accel / Decel Rate Analog Out #2 Following Error Follow I:O Ratio
Accel Time #1 Analog #1 Scale Follow I:O OUT
Decel Time #1 Analog #2 Scale Miscellaneous Master Encoder
S-Curve #1 Position Band Restart Auto/Man
Accel Time #2 Restart Fault/Hr Communications
Decel Time #2 Brushless Control Restart Delay Protocol
S-Curve #2 Resolver Align Factory Settings Baud Rate
Speed Filter Homing Speed Drive Address
Jog Settings Feedback Align Homing Offset
Jog Speed Current Prop Gain
Jog Accel Time Current Int Gain Security Control
Jog Decel Time Speed Prop Gain Security State Auto-Tuning
Jog S-Curve Time Speed Int Gain Access Timeout CALC Presets
Speed Diff Gain Access Code CMD Offset Trim
Keypad Setup Position Gain CUR Loop Comp
Keypad Stop Key Resolver Align
Keypad Stop Mode SPD CNTRLR CALC
Keypad Run Fwd
Keypad Run Rev
Keypad Jog Fwd
Keypad Jog Rev

MN1226 Programming & Operation 4-9

 Table 4-2 Level 1 Parameter Block Definitions
Block Title Parameter Description
PRESET Preset Speeds Allows selection of 15 predefined motor operating speeds.
SPEEDS #1 – #15 Each speed may be selected using external switches connected to terminals at J1B.
For motor operation, a motor direction command must be given along with a preset
speed command.
ACCEL/DECEL Accel Time #1,2 Accel time is the number of seconds required for the motor to increase at a linear rate
RATE from 0 RPM to the RPM specified in the “Max Output Speed” parameter in the Level 2
Output Limits block. Accel Time #2 is accessible in Standard Run 3 Wire and 15
Speed 2 Wire modes only.
Example: Maximum Output Speed =1000 RPM; Preset Speed = 500 RPM, Accel
Time=10 Sec.
In this example, motor will be at 500 RPM 5 seconds after commanded because preset
is half the max speed.
Decel Time #1,2 Decel time is the number of seconds required for the motor to decrease at a linear rate
from the speed specified in the “Max Output Speed” parameter to 0 RPM.
S-Curve #1,2 S-Curve is a percentage of the total Accel or Decel time and provides smooth starts and
stops.
Figure 4-2 illustrates how motor acceleration is changed using a 40% S-Curve.
0% represents no “S” and 100% represents full “S” with no linear segment.
Note: Accel #1, Decel #1 and S-Curve #1 are associated together. Likewise,
Accel #2, Decel #2 and S-Curve #2 are associated together. These
associations can be used to control any Preset Speed or External Speed
Command (Pot).
Note: If faults (motor trips) occur during rapid Accel or Decel, selecting an S-curve
may eliminate the faults without affecting the overall ramp time.
JOG SETTINGS Jog Speed Jog Speed changes motor speed to a new preset value for jog mode. To cause motor to
g Speed the FWD or REV key must be pressed or external command
operate at Jog
Forward (J1B-9)
(J1B 9) or Reverse (J1B-10).
(J1B 10) The motor will run at jog speed until FWD or
REV key is released or external command signal is removed. Jog speed can be less
than the minimum speed
s eed parameter
arameter setting.
Jog Accel Time Jog Accel Time changes the Accel Time to a new preset value for jog mode.
Jog Decel Time Jog Decel Time changes the Decel Time to a new preset value for jog mode
mode.
Jog S-Curve Jog S-Curve changes the S-Curve to a new preset value for jog mode.

Figure 4-2 S-Curve Example

40% 40%
Curve Curve

0% 20 0%
Curve % 20 Curve
Output Speed

Output Speed

20 %
% 20
%

0 Accel Time Max 0 Decel Time Max

Accel S-Curves Decel S-Curves

4-10 Programming & Operation MN1226

 Table 4-2 Level 1 Parameter Block Definitions - Continued
Block Title Parameter Description
KEYPAD SETUP Keypad Stop Key Allows keypad STOP key to initiate motor stop during remote or serial operation (if Stop
key is programmed to Remote ON). If active, pressing STOP automatically selects
Local mode and initiates the stop command.
Keypad Stop Mode Causes the motor to COAST to a stop or REGEN to a stop. In COAST, the motor is
turned off and allowed to coast to a stop. In REGEN, the voltage and frequency to the
motor is reduced at a rate set by Decel Time.
Note: In REGEN mode, it is possible
ossible to cause an Overvoltage Trip
Tri if
REGEN to stop decelerates the motor too quickly. If a fault occurs,
increase the DECEL time.
Keypad Run FWD Makes the keypad FWD key active in Local mode.
Keypad Run REV Makes the keypad REV key active in Local mode.
Keypad Jog FWD Makes the keypad FWD key active in Local Jog mode.
Keypad Jog REV Makes the keypad REV key active in Local Jog mode.
INPUT Operating Mode Eight “Operating Modes” are available. Choices are: Keypad, Standard Run, 15 Speed,
2 Wire Multi INP, 3 Wire Multi INP, Serial, Bipolar or Process Control. External
connections to the control are made at the J1B terminal strip (wiring diagrams are
shown in Section 3).
Command Select Selects the external speed reference to be used.
Potentiometer is the easiest method of speed control. Select POTENTIOMETER and
connect a 5KW pot to J1A-1, J1A-2, and J1A-3.
±5 or ±10VDC input command can be applied to J1A-4 and J1A-5.
4 TO 20 mA - If long distance is required between the external speed control and the
control, the 4-20mA selections at J1A-4 and J1A-5 should be considered. Current
loop allows long cable lengths without attenuation of the command signal.
Note: JP1 jumper on the main control board must be in the correct position for current
or voltage operation. Refer to Figure 3-37.
10 VOLT W/TORQ FF - when a differential command is present at J1A-4 and 5, allows
additional torque feedforward input at J1A-1, 2 and 3 to set a predetermined amount
of torque inside the rate loop with high gain settings.
EXB PULSE FOL - selects optional Master Pulse Reference/Isolated Pulse Follower
expansion board if installed.
5V EXB - selects optional High Resolution I/O expansion board if installed.
10V EXB - selects optional High Resolution I/O expansion board if installed.
4-20mA EXB - selects optional High Resolution I/O expansion board if installed.
3-15 PSI EXB selects optional 3-15 PSI expansion board if installed.
Tachometer EXB- selects optional DC Tachometer expansion board if installed.
Serial -selects optional Serial Communications expansion board if installed.
ANA CMD Inverse “OFF” will cause a low input voltage (e.g. 0VDC) to be a low motor speed command and
a maximum input voltage (e.g. 10VDC) to be a maximum motor speed command.
“ON” will cause a low input voltage (e.g. 0VDC) to be a maximum motor speed
command and a maximum input voltage (e.g. 10VDC) to be a low motor speed
command.
ANA CMD Offset Provides an offset to the Analog Input to minimize signal drift. For example, if the
minimum speed signal is 1VDC (instead of 0VDC) the ANA CMD Offset can be set to
-10% so the minimum voltage input is seen by the control as 0VDC. The value of this
ANA 2 Deadband parameter is automatically adjusted by the autotune CMD Offset Trim test.
Allows a defined range of voltage to be a deadband. A command signal within this
range will not affect the control output. The deadband value is the voltage above and
below the zero command signal level.
ANA 1 CUR Limit Allows the 5V input at J1A-2 (referenced to J1A-1) to be used for reduction of the
programmed current limit parameter for torque trimming during operation.

MN1226 Programming & Operation 4-11

 Table 4-2 Level 1 Parameter Block Definitions - Continued
Block Title Parameter Description
OUTPUT OPTO OUTPUT Four optically isolated digital outputs that have two operating states, logical High or Low.
#1 – #4 Each output may be configured to any of the following conditions:
Condition Description
Ready - Active when power is applied and no faults are present.
Zero Speed - Active when output speed is below the programmed value of the
“Zero SPD Set Pt” Level 1 Output parameter.
At Speed - Active when output speed is within the speed range defined by the
“At Speed Band” Level 1 Output parameter.
Overload - Active during an Overload fault caused by a timeout when the output
current is greater than Rated Current.
Keypad Control - Active when control is in Local keypad control.
At Set Speed - Active when output speed is at or above the “Set Speed Point” Level
1 Output parameter.
Fault - Active when a fault condition is present.
Following ERR - Active when the motor speed is outside the user specified
tolerance band defined by the ACCEL, DECEL, and S-Curve
parameters.
Motor Direction - Active High when REV direction command received. Active Low
when FWD direction command received.
Drive On - Active when control is “Ready” (has reached excitation level and
capable of producing torque).
CMD Direction - Active at all times. Logical output state indicates Forward or
Reverse direction.
AT Position - Active during a positioning command when control is within the
tolerance band.
Over Temp Warn - Active when control heatsink temperature is within 3°C of the INT.
Overtemp value.
Process Error - Active when the process feedback signal is outside the process error
tolerance (PROC ERR TOL) parameter value. Turns off when
process feedback error is within tolerance.
Drive Run - Active when drive is Ready, Enabled, Speed or Torque command is
received and FWD or REV command is issued.
Zero SPD Set PT Sets the RPM at which the Zero Speed opto output becomes active (turns on). When
the speed is less than the ZERO SPD SET PT, the opto output becomes active. This
is useful when a motor brake is to interlock operation with a motor.
At Speed Band The At Speed Band serves two opto output conditions and the Level 2 Protection block
Following Error:
Sets the speed range in RPM at which the At Speed opto output turns on and remains
active within the range.
Sets the Following Error Tolerance Band for the Level 1 OUTPUT, opto output condition
Following ERR. The opto output is active if the motor speed is outside this band.
Sets allowable following error speed band of the drive. This value is used by the Level 2
Protection block, Following Error parameter (if it is set to ON). If the drive speed falls
out of this band, the Level 2 Protection block, Following Error parameter will shut
down the drive (if it is set to ON).
Set Speed Point Sets the RPM at which the AT Set Speed opto output becomes active (turns on). When
the speed is greater than the SET SPEED POINT, the opto output becomes active.
This is useful when another machine must not start until the motor exceeds a
predetermined speed.

4-12 Programming & Operation MN1226

 Table 4-2 Level 1 Parameter Block Definitions - Continued
Block Title Parameter Description
OUTPUT Analog Output Two Linear Analog outputs may be configured to represent any of the following
(Continued) #1 and #2 conditions: (note 0-10VDC or ±10VDC operation per condition)
Condition Description
ABS Speed - Represents the absolute motor speed where 0VDC = 0 RPM and
10VDC = MAX RPM.
ABS Torque - Represents the absolute value of torque where
10VDC = Torque at CURRENT LIMIT.
Speed Command - Represents the absolute value of commanded speed where
0VDC=0 RPM and +10VDC = MAX RPM.
PWM Voltage - Represents the amplitude of PWM voltage where
10VDC = MAX AC Voltage.
Flux Current - 0-10VDC represents actual portion of total current used for
excitation. 10VDC = Maximum flux current.
CMD Flux CUR - 0-10VDC represents calculated portion of total current used for
excitation. 10VDC = Maximum commanded flux current.
Load Current - ± 10VDC represents actual portion of total current used to produce
torque (CW and CCW torque). +10VDC=Maximum CW Torque,
–10VDC= Maximum CCW Torque.
CMD Load Current - 0-10VDC represents calculated portion of total current used to
produce torque. 10VDC=Maximum commanded load current.
Motor Current - Amplitude of continuous current including motor excitation current.
10V = rated Current.
Load Component - Amplitude of load current not including the motor excitation
current. 10V = rated current.
Quad Voltage - Load controller output. Useful when diagnosing control problems.
Direct Voltage - 0-10VDC represents flux controller output. Useful to troubleshoot
control problems.
AC Voltage - PWM control voltage which is proportional to AC line to line motor
terminal voltage. 0VDC = Neg. Peak PWM voltage, 5V centered,
10VDC = Pos. Peak PWM voltage. At rated motor voltage, a full 0 to
10V sinusoidal waveform at or greater than the motor base
frequency would be present. At half the motor base frequency, a
2.5V to 7.5V sinusoidal waveform would be present. The waveform
is centered around 5V.
Bus Voltage - Amplitude of control bus voltage, 10V = 1000VDC.
Torque - Bipolar torque output. 0V = Max negative torque, 5V centered,
10V = Max Positive Torque.
Power - Bipolar power output. 0V = negative rated peak power,
5V = Zero Power, 10V = Positive rated peak power.
Velocity - Represents motor speed scaled to 0V = negative max RPM,
5V = Zero Speed, 10V = positive max RPM.
Overload - (Accumulated current)2 x (time), Overload indication occurs at 10V.
PH 2 Current - Sampled AC phase 2 motor current. 0V = negative rated peak amps,
5V = zero amps, 10V = positive rated peak amps.
PH 1 Current - Sampled AC phase 1 motor current. 0V = negative rated peak amps,
5V = zero amps, 10V = positive rated peak amps.
Process FDBK - ± 10VDC represents ±100% of Process Feedback signal.
Setpoint CMD - ± 10VDC represents ±100% of Setpoint signal.
Position - Position within a single revolution. 10V = 1 complete revolution.
The counter will reset to 0 every revolution.
Analog Scale Scale factor for the Analog Output voltage. Useful to set the zero value or full scale
#1 and #2 range for external meters.
Position Band Sets the acceptable range in digital counts (pulses) at which the AT Position Opto
becomes active (turns on).

MN1226 Programming & Operation 4-13

 Table 4-2 Level 1 Parameter Block Definitions - Continued
Block Title Parameter Description
Brushless Control Resolver Alignment A numerical alignment value. The autotune procedure aligns the motor and resolver
positions. 22.3 degrees is correct for all Baldor BSM motors.
Speed Filter The number of input samples by the control microprocessor over which to filter and
determine the resolver speed. It is automatically set to suit the resolver resolution.
The preset filter may be reduced to obtain smoother slow speed operation. The
greater the number, the more filtered the signal becomes and the bandwidth is also
reduced.
Feedback Align Sets the electrical direction of rotation of the resolver. May be set to forward or reverse
to match the motor rotation.
Current Prop Gain Sets the current loop proportional gain.
Current Int Gain Sets the current loop integral gain.
Speed Prop Gain Sets the speed (velocity) loop proportional gain.
Speed Int Gain Sets the speed (velocity) loop integral gain.
Speed Diff Gain Sets the speed (velocity) loop differential gain.
Position Gain Sets the position loop proportional gain.
LEVEL 2 BLOCK ENTERS LEVEL 2 MENU

4-14 Programming & Operation MN1226

 Table 4-3 Level 2 Parameter Block Definitions
Block Title Parameter Description
OUTPUT LIMITS MIN Output Speed Sets the minimum motor speed in RPM. During operation, the motor speed will not be
allowed to go below this value except for motor starts from 0 RPM or during a stop.
MAX Output Speed Sets the maximum motor speed in RPM.
PK Current Limit The maximum output peak current to the motor. Values above 100% of the rated current
are available depending upon the operating zone selected.
PWM Frequency The frequency that the output transistors are switched. PWM frequency is also referred
to as “Carrier” frequency. PWM should be as low as possible to minimize stress on
the output transistors and motor windings. It is recommended that the PWM
frequency be set to approximately 15 times the maximum output frequency of the
control. Ratios less than 15 will result in non-Sinusoidal current waveforms.
CUR Rate Limit Limits the rate of change of a torque command.
CUSTOM UNITS Decimal Places The number of decimal places of the Output Rate display on the Keypad display. This
value will be automatically reduced for large values. The output rate display is only
available if the Value At Speed parameter value is nonzero.
Value At Speed Sets the desired output rate per RPM of motor speed. Two numbers are displayed on
the keypad display (separated by a slash “/”). The first number (left most) is the value
you want the keypad to display at a specific motor speed. The second number (right
most) is the motor RPM corresponding to the units in the first number. A decimal may
be inserted into the numbers by placing the flashing cursor over the up/down arrow
and using the arrow keys.
Units of Measure Allows user specified units of measure to be displayed on the Output Rate display. Use
the shift and arrow keys to scroll to the first and successive characters. If the
character you want is not displayed, move the flashing cursor over the special
up/down character arrow on the left side of the display. Use the up/down arrows and
the shift key to scroll through all 9 character sets. Use the ENTER key to save your
selection.
PROTECTION Overload Sets the protection mode to Fault (trip off during overload condition) or to Foldback
(automatically reduce the output current below the continuous output level) during an
overload. Foldback is the choice if continuous operation is desired. Fault will require
the control be “Reset” after an overload.
External Trip OFF - External Trip is Disabled.
ON - A normally closed contact at J1B-16 is opened will cause an External Trip fault
and will cause the drive to shut down.
Local Enable INP OFF – Local Enable Input is disabled.
ON – Input is enabled and a normally closed contact is required at J1B-8 (to J1B–17
common) for control operation.
Following Error This parameter determines if the control is to monitor the amount of following error that
occurs in an application. Following Error is the programmable tolerance for the AT
Speed opto output. Operation outside the tolerance range will cause a fault and the
drive will shut down.

MN1226 Programming & Operation 4-15

 Table 4-3 Level 2 Parameter Block Definitions Continued
Block Title Parameter Description
MISCELLANEOUS Restart Auto/Man Manual - If a fault occurs, the control must be manually reset to resume operation.
Automatic - If a fault occurs, the control will automatically reset to resume operation.
Restart Fault/Hr The maximum number of automatic restart attempts before requiring a manual restart.
After one hour without reaching the maximum number of faults or if power is turned
off and on again, the fault count is rest to zero.
Restart Delay The amount of time allowed after a fault condition for an automatic restart to occur.
Useful to allow sufficient time to clear a fault before restart is attempted.
Factory Settings Restores factory settings for all parameter values. Select YES and press “ENTER” key
to restore factory parameter values. The keypad Display will show “Operation Done”
then return to “NO” when completed.
Note: When factory settings are reset, the Motor Rated Amps value is reset to
999.9 amps. This Level 2 Motor Data block parameter value must be
changed to the correct value (located on the motor rating plate) before
attempting to start the drive.
Homing Speed In the BIPOLAR and SERIAL Operating Modes, this control features an ability to rotate
(ORIENT) the motor shaft to a ”home” position when the Orient input switch (J1B-11)
is activated. This parameter sets the speed at which the motor will rotate in the
Forward direction when the Orient input switch is closed. The speed can be faster or
slower than your ”normal” operating speed.
Homing Offset In Bipolar mode, this parameter sets the distance past the index marker at which the
motor will stop. The distance is set by the number of digital pulses that the control
expects before stopping motor rotation. The control has 4096 digital pulses per
resolver speed per revolution of the motor shaft. The recommended minimum offset is
at least 100 encoder counts to provide deceleration distance for a smooth stop.
Note: Homing direction is always in the drive forward direction.
SECURITY Security State Off - No security Access Code required to change parameter values.
CONTROL Local - Requires security Access Code to be entered (using the keypad) before
parameter changes can be made using the Keypad.
Total - Requires security Access Code to be entered (using the keypad) before
parameter changes can be made using the Keypad.
Note: If security is set to Local or Total you can press PROG and scroll through
the parameter values that are programmed but you are not allowed to
change them unless you enter the correct access code.
Access Timeout The time in seconds the security access remains enabled after leaving the programming
mode. If you exit and go back into the program Mode within this time limit, the
security Access Code does not have to be re-entered. This timer starts when leaving
the Program Mode (by pressing DISP). Only active with Local security.
Access Code A 4 digit number code. Only persons that know the code can change secured
parameter values. When changing the code, the new number will not be displayed.
Note: Please record your access code and store it in a safe place. If you cannot
gain entry into parameter values to change a protected parameter, please
contact your local Baldor office. Be prepared to give the 5 digit code shown
on the lower right side of the Keypad Display at the Security Control Access
Code parameter prompt.
MOTOR DATA Motor Rated Amps The rated current of the motor (listed on the rating plate). If the motor current exceeds
this value for a period of time, an Overcurrent fault will occur.
Motor Poles The number of motor poles. This value is for correct electronic commutation of the
brushless motor. Standard Baldor motor poles are:
BSM50= 4 poles
BSM 63/80 = 4 poles
BSM 90/100= 8 poles
BSM4F/6F/8F= 8 poles
Resolver Speed The number of speeds of the resolver. All standard BSM motors use a 1 speed resolver.
CALC Presets This procedure loads preset values into memory that are required to perform Auto Tune.
Always run CALC Presets as the first step of Auto Tune.

4-16 Programming & Operation MN1226

 Table 4-3 Level 2 Parameter Block Definitions Continued
Block Title Parameter Description
PROCESS Process Feedback Sets the type of signal used for the process feedback signal.
CONTROL Process Inverse Causes the process feedback signal to be inverted. Used with reverse acting processes
that use a unipolar signal such as 4-20mA. If “ON”, 20mA will decrease motor speed
and 4mA will increase motor speed.
Setpoint Source Sets the source input signal type to which the process feedback will be compared.
If “Setpoint CMD” is selected, the fixed value of the set point is entered in the Setpoint
Command parameter value.
Setpoint Command Sets the value of the setpoint the control will try to maintain by adjusting motor speed.
This is only used when the Setpoint Source is a fixed value “Setpoint CMD” under
Setpoint Source.
Set PT ADJ Limit Sets the maximum speed correction value to be applied to the motor (in response to the
maximum feedback setpoint error). For example, if the max motor speed is 1750
RPM, the setpoint feedback error is 100% and the setpoint adjustment limit is 10%,
the maximum speed the motor will run in response to the setpoint feedback error is
±175 RPM.
Process ERR TOL Sets the width of the comparison band (% of setpoint) with which the process input is
compared. The result is that if the process input is within the comparison band the
corresponding opto output will become active.
Process PROP Sets the PID loop proportional gain. This determines how much adjustment to motor
Gain speed or torque (within the Set PT ADJ Limit) is made to reduce process error.
Process INT Gain Sets the PID loop Integral gain. This determines how quickly the motor speed or torque
is adjusted to correct long term error.
Process DIFF Gain Sets the PID loop differential gain. This determines how much adjustment to motor
speed or torque (within the Set PT ADJ Limit) is made for transient error.
Follow I:O Ratio Sets the ratio of the Master to the Follower in Master/Follower configurations. Requires
the Master Pulse Reference/ Isolated Pulse Follower expansion board. For example,
the master encoder you want to follow is a 1024 count encoder. The follower motor
you wish to control also has a 1024 count encoder on it. If you wish the follower to
run twice the speed of the master, a 1:2 ratio is entered. Fractional ratios such as
0.5:1 are entered as 1:2. Ratio limits are (1-65,535) : (1-65,535).
Note: The Master Encoder parameter must be defined if a value is entered in the
Follow I:O Ratio parameter.
Follow I:O OUT This parameter is used only when Serial Communications is used to operate the control.
A Master Pulse Reference/ Isolated Pulse Follower expansion board is required. This
parameter represents the FOLLOWER portion of the ratio. The MASTER portion of
the ratio is set in the Follow I:O Ratio parameter.
Master Encoder Only used if an optional Master Pulse Reference/Isolated Pulse Follower expansion
board is installed and the Level 1 Input block, Command Select parameter is set to
MPR/F EXB. Defines the number of pulses per revolution of the master encoder.
Programmed into follower drives only.
COMMUNICATIONS Protocol Sets the type of communication the control is to use RS-232 or RS-485 ASCII (text)
protocol.
Baud Rate Sets the speed at which communication is to occur.
Drive Address Sets the address of the control for communication.

MN1226 Programming & Operation 4-17

 Table 4-3 Level 2 Parameter Block Definitions Continued
Block Title Parameter Description
AUTO TUNING The Auto Tune procedure is used to automatically measure and calculate certain
parameter values. Occasionally, the Auto Tune procedure cannot be run due to
various circumstances such as the load cannot be uncoupled from the motor. The
control can be manually tuned by entering the parameter values based on
calculations you have made. Refer to “Manually Tuning the Control” in the
Troubleshooting section of this manual.
CALC Presets This procedure loads preset values into memory that are required to perform Auto Tune.
Always run CALC Presets as the first step of Auto Tune.
CMD Offset Trim This procedure trims offset voltage at the differential analog input at J1A-4 and J1A-5.
CUR Loop COMP Measures current response while running motor at one half the rated motor current.
Resolver Align This procedure checks the electrical alignment of the resolver with respect to the motor
stator. This test locks the motor rotor into a reference position and proceeds to check
are re-adjust if necessary.
SPD CNTRLR Should be performed with the load coupled to the motor shaft. Sets the motor current to
CALC acceleration ratio, Integral gain and Differential gain values. If done under no load,
the Integral gain will be too large for high inertia loads if the PK Current Limit is set too
low. If the control is too responsive when the motor is loaded, adjust the PK Current
Limit parameter to a greater value and repeat this test.
LEVEL 1 BLOCK ENTERS LEVEL 1 MENU

4-18 Programming & Operation MN1226

Section 5
Troubleshooting

Overview The Baldor Series 26M Control requires very little maintenance and should provide years
of trouble free operation when installed and applied correctly. Occasional visual
inspection and cleaning should be considered to ensure tight wiring connections and to
remove dust, dirt, or foreign debris which can reduce heat dissipation.
Operational failures called “Faults” will be displayed on the Keypad Display as they occur.
A comprehensive list of these faults, their meaning and how to access the fault log and
diagnostic information is provided later in this section. Troubleshooting information is
provided in table format later in this section.
Before attempting to service this equipment, all input power should be removed from the
control to avoid the possibility of electrical shock. The servicing of this equipment should
be handled by a qualified electrical service technician experienced in the area of high
power electronics.
It is important to familiarize yourself with the following information before attempting any
troubleshooting or service of the control. Most troubleshooting can be performed using
only a digital voltmeter having an input impedance exceeding 1 megohm. In some cases,
an oscilloscope with 5 MHZ minimum bandwidth may be useful. Before consulting the
factory, check that all power and control wiring is correct and installed per the
recommendations given in this manual.
PSM-PR LEDs’ The system troubleshooting procedures involves observing the status of the “Ready”
LED, the “DB On” LED and the “Monitor” 7 segment display. Table 5-1 provides
information related to the indications provided by these devices.
Display
Identification The DB LED is on whenever Dynamic Brake power is dissipated into the optional DB
(Dynamic Brake) resistor.
Table 5-1 Operating Mode Indications
Ready Monitor Status
OFF OFF Control disabled or powered off
Green Decimal Control enabled, normal operation, no faults
Point
PSM
OFF 0 Logic supply power loss
OFF 1 Logic supply undervoltage

ÎÎ OFF 2 Bus undervoltage

Monitor

Ready OFF 3 Loss of one or more power phases (L1, L2, L3)
DB ON
OFF 4 Overtemperature
OFF 5 Dynamic brake fault
OFF 6 Reduced voltage starting feature is active and
input AC power is too high (L1, L2, L3)
Green L Reduced voltage starting feature is active

26M-PO Ready LED The 26M-PO control has a “Ready” LED on the panel. If a PSM fault occurs, the Ready
LED will be OFF for all controls connected to that PSM and those controls are disabled.
Additional troubleshooting procedures are described on the following pages “Control
Troubleshooting Procedure”.
26M-TR Indicators The control has a “Ready” LED on the panel. If a fault occurs, the Ready LED will be
OFF and the control is disabled. Additional troubleshooting procedures are described on
the following pages “Control Troubleshooting Procedure”.
The DB LED is on whenever Dynamic Brake power is dissipated into the DB (Dynamic
Brake) resistor. The DB resistor is also called a Regen resistor.

MN1226 Troubleshooting 5-1

Control Troubleshooting Procedure
No Keypad Display - Display Contrast Adjustment
Be sure the keypad is plugged into J4 of the control.
At power up, the display may be blank if the contrast is improperly set. Use the following
procedure to adjust the display contrast.

Action Description Display Comments

Apply Power No visible display.

Press DISP key Ensures control in Display mode. Display mode.

Press SHIFT key 2 times Allows display contrast

adjustment.

Press Y or B key Adjusts display contrast

(intensity).

Press ENTER key Saves display contrast

adjustment level and exits to
display mode.

5-2 Troubleshooting MN1226

 Table 5-2 Fault Messages

FAULT MESSAGE DESCRIPTION

Current Sens FLT Defective phase current sensor or open circuit detected between control board and current
sensor.
DC Bus High Bus over voltage condition occurred.
DC Bus Low Bus under voltage condition occurred.
External Trip An external over temperature condition occurred or open circuit on J1B-16.
Following ERR Excessive following error detected between command and feedback signals.
GND FLT Low impedance path detected between an output phase and ground.
INT Over-Temp Temperature of control heatsink exceeded safe level.
Invalid Base ID Control does not recognize power base ID.
Logic Supply FLT Logic power supply not working properly.
Lost User Data Battery backed RAM parameters have been lost or corrupted.
When fault cleared (Reset), the control will reset to factory preset values.
Memory Error Memory error occurred. Contact Baldor.
New Base ID Control board was changed since last operation.
No Faults Fault log is empty.
No EXB Installed Programmed parameter requires an expansion board.
Over Current FLT Instantaneous over current condition detected by bus current sensor.
Overload - 7 sec Output current exceeded 7 second rating.
Overload - 1.5 sec Output current exceeded 1.5 second rating.
Over speed Motor RPM exceeded 110% of programmed MAX Motor Speed.
mP Reset Power cycled before the residual Bus voltage reached 0VDC.
Power Module Affects shared bus multi axis systems only. Indicates power supply failure.
PWR Base FLT Desaturation of power device occurred or bus current threshold exceeded.
Feedback Loss Check resolver connections, noise on resolver lines, resolver power supply loss or Level 2
Motor Data block motor poles parameter value.
Torque Prove FLT Unbalanced current between all 3 motor phases.
User Fault Text Custom software operating fault occurred.
Co Processor FLT Fault detected in the Co Processor function.
Feedback Indicates a problem with the feedback device.

MN1226 Troubleshooting 5-3

 How to Access the Fault Log
When a fault condition occurs, motor operation stops and a fault code is displayed on the
Keypad display. The control keeps a log of up to the last 31 faults. If more than 31 faults
have occurred, the oldest fault will be deleted from the fault log to make room for the
newest fault. To access the fault log use the following procedure:

Action Description Display Comments

Apply Power Logo display for 5 seconds.

Display mode showing output Display mode.

frequency

Press DISP key Use DISP key to scroll to the

Fault Log entry point.

Press ENTER key Display first fault type and time Typical display.
fault occurred.

Press Y key Scroll through fault messages. If no messages, the fault log exit
choice is displayed.

Press ENTER key Return to display mode. Display mode stop key LED is on.

How to Clear the Fault Log Use the following procedure to clear the fault log.

Action Description Display Comments

Apply Power Logo display for 5 seconds.

Display mode showing output Display mode.

frequency.

Press DISP key Press DISP to scroll to the Fault

Log entry point.

Press ENTER key Displays most recent message.

Press SHIFT key

Press RESET key

Press SHIFT key

Press ENTER key Fault log is cleared. No faults in fault log.

Press Y or B key Scroll Fault Log Exit.

Press ENTER key Return to display mode.

5-4 Troubleshooting MN1226

 How to Access Diagnostic Information

Action Description Display Comments

Apply Power Logo display for 5 seconds.

Display mode showing output No faults present. Local keypad

frequency mode. If in remote/serial mode,
press local for this display.
Press DISP key First screen in Display Mode.

Press key Scroll to diagnostic info block.

Press ENTER key Access diagnostic information. Displays commanded speed,

direction of rotation, Local/
Remote and motor speed.
Press DISP key Display mode showing control Displays operating temperature in
temperature. degrees C.

Press DISP key Display mode showing bus

voltage.

Press DISP key Display mode showing %

overload current remaining.

Press DISP key Display mode showing real time Opto Inputs states (Left);
opto inputs & outputs. Opto Outputs states (Right).
(0=Open, 1=Closed).
Press DISP key Display mode showing actual HR.MIN.SEC format.
drive running time since last
power up.
Press DISP key Display mode showing operating
zone, voltage and control type.

Press DISP key Display mode showing continuous

amps; PK amps rating; amps/volt
scale of feedback, power base ID.
Press DISP key Display showing which Group1 or
2 expansion boards are installed.

Press DISP key Display mode showing motor

shaft revolutions from the REV
home set point.
Press DISP key Display mode showing parameter
table selected.

Press DISP key Display mode showing software

version and revision installed in XXX-X.XX
the control.
Press DISP key Displays exit choice. Press ENTER to exit diagnostic
information.

MN1226 Troubleshooting 5-5

 Table 5-3 Troubleshooting
INDICATION POSSIBLE CAUSE CORRECTIVE ACTION
No Display Lack of input voltage (Logic Power). Check input power for proper voltage.
Loose connections. Check input power termination.
Verify connection of operator keypad.
Adjust display contrast. See Adjust Display Contrast in Sec. 4.
Auto Tune Resolver miswired. Correct wiring problems.
Resolver Test failed Check resolver speed.
Check the number of motor poles.
Excessive noise on resolver lines. Check resolver connections.
Separate resolver leads from power wiring.
Cross resolver wires and power leads at 90° angles.
Number of motor poles parameter Verify the Level 2 Motor Data block motor poles parameter value.
setting is incorrect.
Current Sense FLT Open circuit between control board Check connections between control board and current sensor.
and current sensor.
Defective current sensor. Replace current sensor.
DC Bus High Excessive DB power. Increase the DECEL time.
Add optional DB resistor.
DB resistor wiring problem. Check DB resistor wiring.
Input voltage too high. Verify proper AC line voltage.
Use step down transformer if needed.
Use line reactor to minimize spikes.
DC Bus Low Input voltage too low. Disconnect DB resistor and repeat operation.
Verify proper AC line voltage.
Use step up transformer if needed.
Check power line disturbances (sags caused by start up of
other equipment).
Monitor power line fluctuations with date and time imprint
to isolate power problem.
System Doesn’t Power Supply Module Failure Check PSM for a fault condition.
operate Check input power to PSM.

5-6 Troubleshooting MN1226

 Table 5-3 Troubleshooting Continued
INDICATION POSSIBLE CAUSE CORRECTIVE ACTION
External Trip Motor ventilation insufficient. Check external blower for operation.
Motor draws excessive current. Check motor for overloading.
Verify proper sizing of control and motor.
No thermostat connected. Connect thermostat.
Verify connection of all external trip circuits used with thermostat.
Disable thermostat input at J1B-9 (External Trip Input).
Poor thermostat connections. Check thermostat connections.
External trip parameter incorrect. Verify connection of external trip circuit at J1B-9.
Set external trip parameter to “OFF” if no connection made
at J1B-9..
Following ERR Speed proportional gain set too low. Increase Speed PROP Gain parameter value.
Current limit set too low. Increase Current Limit parameter value.
ACCEL/DECEL time too short. Increase ACCEL/DECEL parameter time
Excessive load. Verify proper sizing of control and motor.
GND FLT Improper wiring. Disconnect wiring between control and motor. Retry test.
If GND FLT is cleared, reconnect motor leads and retry the test.
Wiring shorted in conduit. Rewire as necessary.
Motor winding shorted. Repair motor.
If GND FLT remains, contact Baldor.
INT Over-Temp Motor Overloaded. Correct motor loading.
Verify proper sizing of control and motor.
Ambient temperature too high. Relocate control to cooler operating area.
Add cooling fans or air conditioner to control cabinet.
Invalid Base ID Control does not recognize power Press “RESET” key on keypad. If fault remains access ”Diagnostic Info”
base ID. and compare reported ID number with Table 5-4. If different, call Baldor.
Logic Supply FLT Power supply malfunctioned. Replace logic power supply.
Lost User Data Battery backed memory failure. Parameter data was erased. Disconnect power to control and
apply power (cycle power). Enter all parameters.
Cycle power. If problem persists, contact your local Baldor office.
Low INIT Bus V Improper AC line voltage. Disconnect DB resistor and retry test.
Check input AC voltage level.
Memory Error EPROM memory fault occurred. Press “RESET” key on keypad. If fault remains, contact your local Baldor
office.
mP Reset Power was cycled before Bus Press “RESET” key on keypad.
voltage reached 0VDC. Disconnect power and allow at least 5 minutes for
Bus capacitors to discharge before applying power.
If fault remains, contact your local Baldor office.

MN1226 Troubleshooting 5-7

 Table 5-3 Troubleshooting Continued
INDICATION POSSIBLE CAUSE CORRECTIVE ACTION
Motor has wrong Input common mode voltage may Connect control input source common to control common to minimize
response to be excessive. common mode voltage. Maximum common mode voltage at terminals
Speed Command J1A-4 and J1A-5 is ±15VDC referenced to chassis common.
Motor Will Not Not enough starting torque. Increase Current Limit setting.
Start
Motor overloaded. Check for proper motor loading.
Check couplings for binding.
Verify proper sizing of control and motor.
Control not in local mode of Place control in local mode.
operation.
Incorrect Command Select Change Command Select parameter to match wiring at J1A and J1B.
parameter.
Incorrect speed command. Verify control is receiving proper command signal at J1A and J1B.
Motor Will Not Max Output Speed parameter set Adjust MAX Output Speed parameter value.
Reach Maximum too low.
Speed
Motor overloaded. Check for mechanical overload. If unloaded motor shaft does not rotate
freely, check motor bearings.
Improper speed command. Verify control is receiving proper command signal at input terminals.
Verify control is set to proper operating mode to receive speed command.
Speed potentiometer failure. Replace potentiometer.
Motor Will Not MIN Output Speed parameter value Reduce MIN Output Speed parameter value.
Stop Rotation set too high.
Improper speed command. Verify control is receiving proper command signal at input terminals.
Verify control is set to receive speed command.
Speed potentiometer failure. Replace potentiometer.

5-8 Troubleshooting MN1226

 Table 5-3 Troubleshooting Continued
INDICATION POSSIBLE CAUSE CORRECTIVE ACTION
New Base ID Software parameters are not Press “RESET” key on keypad to clear the fault condition. Reset
initialized on newly installed parameter values to factory settings. Re-enter the Parameter Block Values
control board. you recorded in the User Settings at the end of this manual. Autotune the
control.
Over Current FLT Current Limit parameter set too low. Increase PK Current Limit parameter in the Level 2
Output Limits block.
ACCEL/DECEL time too short. Increase ACCEL/DEC parameters in the Level 1
ACCEL/DECEL Rate block.
Excessive noise on resolver lines. Check encoder connections.
Separate encoder leads from power wiring.
Cross encoder wires and power leads at 90°.
Electrically isolate encoder from motor.
Install optional Isolated Encoder Feedback expansion board.
Electrical noise from external DC Install reverse biased diodes across all external DC relay coils as shown in
coils. the Opto Output circuit examples of this manual. See Electrical Noise
Considerations in Section 5 of this manual.
Electrical noise from external AC Install RC snubbers on all external AC coils. See Electrical Noise
coils. Considerations in Section 5 of this manual.
Excessive load. Reduce the motor load.
Verify proper sizing of control and motor.
Overload Peak output current exceeded 1.5 Check PK Current Limit parameter in the Level 2
second rating. Output Limits block.
Change Overload parameter In the Level 2 Protection block
from Trip to Foldback.
Check motor for overloading.
Increase ACCEL time.
Reduce motor load.
Verify proper sizing of control and motor.
Over Speed Motor exceeded 110% of MAX Check Max Output Speed in the Level 2 Output Limits block.
Speed parameter value. Increase Speed PROP Gain in the Level 1 Brushless Control block.

MN1226 Troubleshooting 5-9

 Table 5-3 Troubleshooting Continued
INDICATION POSSIBLE CAUSE CORRECTIVE ACTION
Power Module Power supply failure. Press “RESET” key on keypad. If fault remains, reset the PSM. If fault
remains, replace Power Supply. If problem persists, contact your local
Baldor office.
PWR Base FLT Excessive current usage. Disconnect motor leads from control and retry test. If problem persists,
contact your local Baldor office.
Excessive noise on resolver lines. Check resolver connections.
Separate resolver leads from power wiring.
Cross resolver wires and power leads at 90°.
Electrically isolate resolver from motor.
Install optional Isolated resolver Feedback expansion board.
Electrical noise from external DC Install reverse biased diodes across all external DC relay coils as shown in
coils. the Opto Output circuit examples of this manual. See Electrical Noise
Considerations in Section 5 of this manual.
Electrical noise from external AC Install RC snubbers on all external AC coils. See Electrical Noise
coils. Considerations in Section 5 of this manual.
Excessive load. Correct motor load.
Verify proper sizing of control and motor.
Excessive power in DB circuit. Verify proper Ohm and Watt parameters of DC Injection Braking.
Increase decel time.
Add optional DB resistor.
Resolver Loss Resolver failure. Check resolver to motor coupling (align or replace if needed).
Verify correct wiring.
Torque Prove FLT Unbalanced current in 3 motor Check continuity from control to motor windings and verify motor
phases. connections.
Unknown Fault Fault occurred but cleared before its Check AC line for high frequency noise.
source could be identified. Check input switch connections and switching noise.
User Fault Text Fault detected by custom software. Refer to custom software fault list.

5-10 Troubleshooting MN1226

 Table 5-4 26M-PO Power Base ID
230 VAC Control Power 460 VAC Control Power
Catalog Numbers
N mbers Base Catalog Numbers
N mbers Base
ID No. ID No.
SD26M2A05-P0 16 SD26M4A02-P0 1E
SD26M2A10-P0 17 SD26M4A07-P0 20
SD26M2A15-P0 18 SD26M4A15-P0 21
SD26M2A25-P0 19 SD26M4A25-P0 26
SD26M2A35-P0 1A SD26M4A35-P0 22
SD26M2A45-P0 1B SD26M4A45-P0 23
SD26M2A60-P0 1C SD26M4A60-P0 24
SD26M2A90-P0 1D SD26M4A90-P0 25

Table 5-5 26M-TR Power Base ID

115 VAC Control Power 230 VAC Control Power
Catalog Numbers
N mbers Base Catalog Numbers
N mbers Base
ID No. ID No.
SD26M1A02-PR 49 SD26M2A02-PR 09
SD26M1A05-PR 4B SD26M2A05-PR 0B

Note: The Power Base ID number of a control is displayed in a Diagnostic

Information screen.

MN1226 Troubleshooting 5-11

Electrical Noise Considerations All electronic devices are vulnerable to significant electronic interference signals
(commonly called “Electrical Noise”). At the lowest level, noise can cause intermittent
operating errors or faults. From a circuit standpoint, 5 or 10 millivolts of noise may cause
detrimental operation. For example, analog speed and torque inputs are often scaled at 5
to 10 VDC maximum with a typical resolution of one part in 1,000. Thus, noise of only 5
mV represents a substantial error.
At the extreme level, significant noise can cause damage to the drive. Therefore, it is
advisable to prevent noise generation and to follow wiring practices that prevent noise
generated by other devices from reaching sensitive circuits. In a control, such circuits
include inputs for speed, torque, control logic, and speed and position feedback, plus
outputs to some indicators and computers.
Causes and Cures Unwanted electrical noise can be produced by many sources. Depending upon the
source, various methods can be used to reduce the effects of this noise and to reduce the
coupling to sensitive circuits. All methods are less costly when designed into a system
initially than if added after installation.
Figure 5-1 shows an oscilloscope trace of noise induced (as the coil circuit is opened) in
a 1 ft. wire located next to a lead for a size 2 contactor coil. Scope input impedance is
10kW for all scope traces. Maximum peak voltage is over 40V. Unless well filtered this is
often enough noise to ruin the output of a productive machine.
Figure 5-1 Electrical Noise Display

Relay and Contactor Coils Among the most common sources of noise are the ever-present coils of contactors and
relays. When these highly inductive coil circuits are opened, transient conditions often
generate spikes of several hundred volts in the control circuit. These spikes can induce
several volts of noise in an adjacent wire that runs parallel to a control-circuit wire.
To suppress these noise generators, add an R-C snubber across each relay and
contactor coil. A snubber consisting of a 33W resistor in series with a 0.47mF capacitor
usually works well. The snubber reduces the rate of rise and peak voltage in the coil
when current flow is interrupted. This eliminates arcing and reduces the noise voltage
induced in adjacent wires. In our example, the noise was reduced from over 40V peak to
about 16V peak as shown in Figure 5-2.
Figure 5-2 R-C Snubber Circuit

5-12 Troubleshooting MN1226

Electrical Noise Considerations Continued
Using an R-C snubber and shielded twisted-pair cable keeps the voltage in a circuit to
less than 2 V for a fraction of a millisecond. Note that the vertical scale is 1 V/div., rather
than the 20 V/div. in figures 5-1 and 5-2.
Figure 5-3 R-C Snubber Circuit & twisted-pair

A reverse biased diode across a DC coil achieves the same result as adding an R-C
snubber across an AC coil, (Figure 5-4).
Figure 5-4 AC and DC Coil Noise Suppression

RC snubber +

0.47 mf
AC Coil DC Coil Diode
33 W
(1N4002)

MN1226 Troubleshooting 5-13

Electrical Noise Considerations Continued
Wires between Controls and Motors
Output leads from a typical 460 VAC drive controller contain rapid voltage rises created
by power semiconductors switching 650V in less than a microsecond, 1,000 to 10,000
times a second. These noise signals can couple into sensitive drive circuits as shown in
Figure 5-5. For this waveform, a transient induced in 1 ft. of wire adjacent to the motor
lead of a 10 hp, 460 VAC drive. Scope is set at 5 V/div. and 2 msec/div.
Figure 5-5 10HP, 460VAC Drive

If the shielded pair cable is used, the coupling is reduced by nearly 90%, Figure 5-6.
Figure 5-6 10HP, 460VAC Drive, Shielded

The motor leads of DC motors contain similar voltage transients. The switching rate is
about 360 times a second. Noise transients can produce about 2V of noise induced in a
wire adjacent to the motor lead. The noise induced by a 30HP, 500VDC Drive, is shown
in Figure 5-7. Scope is set at 1 V/div. and 5 msec/div.
Figure 5-7 30HP, 500VDC Drive

Again, replacing a single wire with a shielded pair cable reduces the induced noise to less
than 0.3 V, Figure 5-8.
Figure 5-8 30HP, 500VDC Drive, Shielded

5-14 Troubleshooting MN1226

Electrical Noise Considerations Continued
Even input AC power lines contain noise and can induce noise in adjacent wires. This is
especially severe with SCR controlled DC drives, current-source and six-step inverters.
Figure 5-9 shows a transient induced in 1 ft. wire adjacent to the AC input power wire of a
30 hp, DC drive. Scope is set at 500 mV/div. and 2msec/div.
Figure 5-9 30HP, 500VDC Drive, Shielded

To prevent induced transient noise in signal wires, all motor leads and AC power lines
should be contained in rigid metal conduit, or flexible conduit. The conduit should be
grounded to form a shield to contain the electrical noise within the conduit path. Signal
wires - even ones in shielded cable should never be placed in the conduit with motor
power wires.
If flexible conduit is required, the wires should be shielded twisted-pair. Although this
practice gives better protection than unshielded wires, it lacks the protection offered by
rigid metal conduit.
Special Drive SituationsFor severe noise situations, it may be necessary to reduce transient voltages in the wires
to the motor by adding load reactors. Load reactors are installed between the control and
motor. These are often required where a motor housing lacks the necessary shielding
(typically linear motors mounted directly to machine frames) or where the power wires to
motors are contained in flexible cables.
Reactors are typically 3% reactance and are designed for the frequencies encountered in
PWM drives. Reactors reduce ripple current in the motor windings and often improve
motor life. For maximum benefit, the reactors should be mounted in the drive enclosure
with short leads between the control and the reactors.
Drive Power Lines The same type of reactor installed on the load side of the control can also suppress
transients on incoming power lines. Connected on the line side of the drive, the reactor
protects the adjustable-speed drive from some transients generated by other equipment
and suppresses some of the transients produced by the drive itself.
Radio Transmitters Not a common cause of noise. Radio frequency transmitters, such as commercial
broadcast stations, fixed short-wave stations, and mobile communications equipment
(including walkie talkies) create electrical noise. The probability of this noise affecting an
adjustable-speed drive increases with the use of open control enclosures, open wiring,
and poor grounding.

MN1226 Troubleshooting 5-15

Electrical Noise Considerations Continued
Control Enclosures The cure for some electrical noise may be a grounded metallic control enclosure. The
enclosure should be grounded to the building ground with a short, heavy gauge wire.
Also, the power conduit, motor lead conduit and signal wire conduit must be grounded to
the enclosure. Sometimes paint and seals prevent electrical contact between conduit
and the cabinet. Sometimes wire or straps are used to ensure good electrical grounding.

Special Motor Considerations Motor frames are also on the required grounding list. As with control enclosures,
motors should be grounded directly to plant ground with as short a ground wire as
possible. Capacitive coupling within the motor windings produces transient voltages
between the motor frame and ground. The severity of these voltages increases with the
length of the ground wire. Installations with the motor and control mounted on a common
frame, and with heavy ground wires less than 10 ft. long, rarely have a problem caused
by these motor-generated transient voltages.
Another cure may be needed when the motor frame transient voltages are capacitively
coupled to feedback devices mounted on the motor shaft. Especially with optical
encoders, these transients create noise on the signal leads and disrupt drive operation.
To prevent this problem, add electrical isolation between the motor and the feedback
device to stop the current flow and the resulting transients. The most simple isolation
method, shown in Figure 5-10, has two parts: 1) A plate of electrical insulating material
placed between the motor mounting surface and the feedback device. 2) An insulating
coupling between motor shaft and the shaft of the feedback device.
Figure 5-10 Isolated Mounting Method
Insulating Coupling
Insulating plate

Resolver or other
feedback device

Mounting bracket

5-16 Troubleshooting MN1226

Wiring Practices The type of wire used and how it is installed for specific applications makes the difference
between obtaining reliable operation and creating additional problems.
Power Wiring Conductors carrying power to anything (motor, heater, brake coil, or lighting units, for
example) should be contained in conductive conduit that is grounded at both ends.
These power wires must be routed in conduit separately from signal and control wiring.
Control-logic Conductors Typically, operator’s controls (push buttons and switches), relay contacts, limit switches,
PLC I/O’s, operator displays, and relay and contactor coils operate at low current levels.
However, switching noise is caused by contact open/closure and solid-state switch
operations. Therefore, these wires should be routed away from sensitive signal wires
and contained within conduits or bundled away from open power and signal wires.
Analog Signal Wires Analog signals generally originate from speed and torque controls, plus DC tachometers
and process controllers. Reliability is often improved by the following noise reduction
techniques:
• Use shielded twisted-pair wires with the shield grounded at the drive end only.
• Route analog signal wires away from power or control wires (all other wiring
types).
• Cross power and control wires at right angles (90°) to minimize inductive noise
coupling.
Optical Isolation
Two methods of optical isolation are commonly used; optical couplers and fiber optics.
Optical Couplers The common term for optical couplers, opto couplers use a light transmitter and light
receiver in the same unit to transmit data while electrically isolating two circuits. This
isolation rejects some noise. The magnitude of noise rejection is usually specified by the
“common mode rejection, dv/dt rating”. Typically, low cost opto couplers have a common
mode rejection of 100 to 500 V/msec, which is adequate for most control logic signals.
High performance opto couplers with common mode ratings up to 5,000 V/msec are
installed for the most severe noise environments.
Fiber Optics Special plastic or glass fiber stands transmit light over long as well as short distances.
Because the fibers are immune to electromagnetic energy, the use of fiber optic bundles
eliminate the problem of coupling noise into such circuits. These noise-free fiber optic
cables can be run with power or motor conductors because noise cannot be inductively or
capacitively coupled into the fiber optic strands.
Plant Ground Connecting electrical equipment to a good ground is essential for safety and reliable
operation. In many cases, what is perceived as a ground is not ground.
Result: equipment malfunctions or electrical shock hazard exists.
It may be necessary to retain the services of an electrical consultant, who is also a
licensed professional engineer experienced in grounding practices to make the necessary
measurements to establish if the plant ground is really grounded.

MN1226 Troubleshooting 5-17

5-18 Troubleshooting MN1226
Section 6
Manually Tuning the Series 26M Control

Explanation of Closed Loop Block Diagrams

Control systems are usually represented by a series of interconnected blocks. The
blocks represent the individual functions of the system. The blocks are interconnected by
a series of lines, which represent the variable or quantity involved with directional arrows
showing the direction of information flow. See Figure 6-1.
Figure 6-1 Block Diagram of a Closed Loop System

Summing Junction
(error detector) Power Input Load Disturbance
Error 4
2 Signal Controlled
Input Command 3 Variable
(Desired Value) S Output Control Motor
e

Feedback

1 Measuring
Means Controlled Variable

Any closed loop system can be divided into four basic operations:
1. Measurement of the controlled variable. The controlled variable can be
velocity, torque, etc. This measuring means is accomplished using a sensor
that converts the variable to an electrical signal that is compatible with the
control inputs, usually voltage or current. This signal now represents the
controlled variable (Feedback).
2. Determination of the error. The summing junction compares the measured
value of the controlled variable (Feedback Input) with the Input Command
(desired value) and generates a error signal. The operation is a simple
mathematical subtraction operation as follows:
Error Signal ( e ) = Input Command - Feedback
3. The error signal is then used by the control to change the motor speed or
torque.
4. The motor speed or torque is then used to reduce the error signal by driving the
control, and the final controlled variable, so that the actual value of the
controlled variable approaches the Input Command value or desired value. It
should be noted that closed loop control systems are error actuated. In other
words, an error must be present before the system will try to correct for it.
Definition of Input Command (Desired value)
The Input Command is the input signal set by the operator. This can represent speed or
torque level.
Definition of Feedback Feedback is the signal which represents the actual measured value from the controlled
variable. This can represent a pressure, flow, speed, torque, level or temperature sensor.
This input is usually a sensor voltage or current representing the measured value.
Definition of Error Error is the result of subtracting the Input Command and Feedback signals.
Error is mathematically defined as:
Error Signal ( e ) = Input Command - Feedback

MN1226 Manually Tuning the Series 26M Control 6-1

Section 1
General Information

Definition of “P” (Proportional gain)

Proportional gain is the amplification that is applied to the process error signal, which will
result in a particular control output.
Proportional gain is mathematically defined as;
Aout = Kp

Where;
Aout = Control output
Kp = Proportional gain

= Error signal = (Input Command - feedback)
In Figure 6-2 we see that the amplitude of the output of the control is dependent on the
error, multiplied by the proportional gain.
For a given amount of error, the greater the proportional gain, the greater the output.
It is also true that, for a given amount of proportional gain, the greater the error, the
greater the output.
Figure 6-2 Block Diagram of the P Element

Summing Junction
(error detector) Power Input Load Disturbance
Error
Signal Controlled
Output Variable
Input A out + K pĂe Control Motor
Command

Feedback
Input
Feedback

Measuring
Means Controlled Variable

6-2 Manually Tuning the Series 26M Control MN1226

Section 1
General Information

Definition of “I” (Integral gain)

Integral gain (like proportional gain) is amplification of the process error signal, but is time
dependent. If a steady state error exists for long periods of time, it is known as an offset.
Integral gain compensates for this long term error or offset. Generally speaking, if you
were to use only proportional control in a process, the control output would never get the
controlled variable exactly equal to the input command. You would always have some
small amount of error. This is often called offset. The Integral term senses this long term
offset, and corrects the control output to reduce the effect of offset.
Integral gain is mathematically defined as:

A out + K i ŕ eĂDtĂ
Where Aout = Controller output
Ki = Integral gain
s = Integrator symbol
e = Process error signal = (setpoint - feedback)
Dt = Change in time
This formula states that a given control output (Aout) is equal to integral gain (Ki),
multiplied by the integral ( s ) of the error ( e ), multiplied by the change (D) in time (t).
What all of this says is simply that in an Integrator loop is used and error is accumulated
over time (or integrated), and integral gain is used to reduce long term error. Figure 6-3
shows this process.
Figure 6-3 Block Diagram of the I Element

Summing Junction
(error detector) Power Input Load Disturbance
Error
Signal Controlled

Input
Command
S Output
e
A out + K i ŕ eĂDtĂ Control Motor
Variable

Feedback
Input
Feedback

Measuring
Means Controlled Variable

MN1226 Manually Tuning the Series 26M Control 6-3

Section 1
General Information

To illustrate the concept of offset, refer to the following waveform. When the feedback has
stabilized, it is not equal to input command. In this case, the difference between the input
command and the feedback is the offset. Note that the integral gain is set to zero.

Input Command
Feedback Offset

Gain Settings:
Proportional gain=25
Integral gain=0.00 Hz

(Oscilloscope set to:

vertical=1 V/ division
horizontal=1.0 sec/division

The next waveform illustrates what happens when the proportional gain is increased from
25 to 100. An increase in the proportional gain causes the controlled variable to respond
more quickly as indicated by the feedback signal.

Input Command
Feedback Offset

Process Gain Settings:

Proportional gain=100
Integral gain=0.00 Hz

(Oscilloscope set to:

vertical=1 V/ division
horizontal=1.0 sec/division

6-4 Manually Tuning the Series 26M Control MN1226

Section 1
General Information

The next waveform illustrates what happens to the system offset when we apply integral
gain. With the addition of integral gain (2.00 Hz), the system offset is reduced to zero.

Setpoint Command
Process Feedback

Process Gain Settings:

Proportional gain=100
Integral gain=2.00 Hz

(Oscilloscope set to:

vertical=1 V/ division
horizontal=1.0 sec/division

Manually Tuning the Control In some applications the drive cannot be accurately auto-tuned. In these cases it is
necessary to calculate the values needed to tune the drive and manually enter these
calculated parameter values.
Current Prop Gain Parameter This parameter is located in the Level 1, Brushless Control Block. The Current
Prop Gain parameter is normally autotuned when motor inductance is not known. Where
autotuning can’t be used, the proper manual setting for the proportional gain can be
calculated by:
ƪ740 x L x ǒAńVǓƫ
Current PROP Gain +
VAC
Where:
L = Line to neutral inductance of the motor in mH
VAC = Nominal line Volts
A/V = The Amps/Volt scaling of the current feedback
Motor line to neutral inductance can be obtained either from the motor manufacturer or by
measuring the line–to–line inductance and dividing by two.
The A/V scaling for the control can be found in the diagnostic information located in the
DISPLAY MODE.
For most applications setting the Current Prop Gain parameter to a value of 60 will yield
adequate performance.

MN1226 Manually Tuning the Series 26M Control 6-5

Section 1
General Information

Current Int Gain Parameter

The Current Int Gain parameter located in the Level 1 Brushless Control Block is factory
preset at 150 Hz. This setting is suitable for essentially all systems. DO NOT CHANGE
WITHOUT FACTORY APPROVAL.
Speed Prop Gain Parameter
The Speed Prop Gain parameter located in the Level 1 Brushless Control Block is factory
set to 10. This gain may be increased or decreased to suit the application. Increasing
the Speed Prop Gain parameter will result in faster response, excessive proportional gain
will cause overshoot and ringing. Decreasing the Speed Prop Gain parameter will cause
slower response and decrease overshoot and ringing caused by excessive proportional
gain.
Speed Int Gain Parameter
The Speed Int Gain parameter located in the Level 1 Brushless Control Block is set to 3
Hz and may be set at any value from zero to 9.99 Hz.
Setting the Speed Int Gain parameter to 0Hz removes integral compensation. This
results in a proportional loop only. This selection is ideal for systems where overshoot
must be avoided and substantial stiffness (ability of the control to maintain commanded
speed despite varying torque loads) isn’t required.

Increasing values of the Speed Int Gain parameter increases the low frequency gain and
stiffness of the control. An excessive integral gain setting will cause overshoot for
transient speed commands and may lead to oscillation. If the Speed Prop Gain
parameter and the Speed Int Gain parameter are set too high, an overshoot condition
can also occur.
To manually tune the control, the following procedure is used:
1. Set the speed Int Gain parameter = 0 (remove integral gain).
2. Increase the Speed Prop Gain parameter setting until adequate response to
step speed commands is attained.
3. Increase the Speed Int Gain parameter setting to increase the stiffness of the
drive, or ability to maintain speed with dynamic load changes.
Note: It is convenient to monitor speed step response with a strip chart recorder or
storage oscilloscope connected to J1–6 or –7 with Level 1, Output Block
Analog Out #1 or #2 set to ABS SPEED, 0 VDC = zero speed. See Section 3
for a discussion of analog outputs.

6-6 Manually Tuning the Series 26M Control MN1226

Section 7
Specifications and Product Data

Identification
Servo Control SD 26 M X A X X –P O

Servo Drive
Control Type
M-Series

Input DC Power
(4=DC Rectified from 460VAC)
(2=DC Rectified from 230VAC)
(1=DC Rectified from 115VAC)
A=Amps
Control Current Rating
P=Panel Mounting
T=Reduced package size w/internal PSM
O=No Internal DB Capability
R=Regen resistor required

Identification
Power Supply PS M X AXXX – P R X

Power Supply
M-Series
Input AC Power
(4=460VAC)
(2=230VAC)
A=Amps
Power Supply Current Rating
Panel Mounting
External DB Resistor
Logic Input Power
1=115VAC
2=230VAC

MN1226 Specifications and Product Data 7-1

26M-TR Servo Control Specifications: (115VAC)
Description Unit SD26M1A02–TR SD26M1A05-TR
Nominal Input Voltage (Range) VAC 115 (97-125) 1f
Input Frequency Hz 50/60 ±5%
Nominal Output Bus Voltage (Range) VDC 160 (50-176)
Nominal Output Bus Current ARMS 2.5 5.0
Peak Output Bus Current (±10%); 2.5s ±.5s ARMS 5.0 10.0
Nominal Output Power kW 0.5 1.0
Efficiency % >97
Minimum Load Inductance mH 400
Nominal Switching Frequency kHz 8.0
Mounting – Panel
Package Size – AA AB
Weight lb(kg) 2.73 (1.24) 4.69 (2.13)
Operating Altitude ft(M) To 3300ft (1000M).
Above 3300 ft, derate 11% per 1000ft (300M).
Operating Shock G 1G
Operating Vibration G 1.0G (10-60Hz)
Operating Temperature Range °C 5 to 40°C.
Maximum Operating Temperature °C 40°C Maximum.
Storage Temperature Range °C –25 to +70°C
Speed Command Potentiometer 5kW or 10kW, 0.5watt
All values at ambient temperature of 25°C unless otherwise stated.

26M-TR Servo Control Specifications: (230VAC)

Description Unit SD26M2A02–TR SD26M2A05–TR
Nominal Input Voltage (Range) VAC 230 (220-250) 1f
Input Frequency Hz 50/60 ±5%
Nominal Output Bus Voltage (Range) VDC 300 (50-350)
Nominal Output Bus Current ARMS 2.5 5
Peak Output Bus Current (±10%); 2.5s ±.5s ARMS 5.0 10.0
Nominal Output Power kW 1.01 2.17
Efficiency % >97
Minimum Load Inductance mH 400
Nominal Switching Frequency kHz 8.0
Mounting – Panel
Package Size – AA AB
Weight lb(kg) 2.73 (1.24) 4.69 (2.13)
Operating Altitude ft(M) To 3300ft (1000M).
Above 3300 ft, derate 11% per 1000ft (300M).
Operating Shock G 1G
Operating Vibration G 1.0G (10-60Hz)
Operating Temperature Range °C 5 to 40 °C
Maximum Operating Temperature °C 40°C Maximum
Storage Temperature Range °C –25 to +70°C
Speed Command Potentiometer 5kW or 10kW, 0.5watt
All values at ambient temperature of 25°C unless otherwise stated.

7-2 Specifications and Product Data MN1226

26M-PO Servo Control Specifications: (230VAC)
SD26M 2AXX–PO
Description
D i ti Unit
U it 05–PO 10–PO 15–PO 25–PO 35–PO 45–PO 60–PO 90–PO
Input Bus Voltage (Nominal) VDC 320
Input Logic & Fan Power VDC +24 (+20% –15%)
ADC 1.6
Nominal Output Bus Voltage VDC 320
Nominal Output Bus Current ARMS 5 10 15 25 35 45 60 90
Peak Output Bus Current (±10%); 1.5s ARMS 10 20 30 50 70 90 120 180
Nominal Output Power kW 1.1 2.2 3.4 5.7 7.9 10.2 13.7 20.5
Efficiency % >97
Minimum Load Inductance
H 200
Nominal Switching Frequency kHz 8.0
Mounting * – Panel or Through Wall
Package Size B B B B B C D D
Weight lb(kg)  
 
 
 
 
 
 
 

Operating Altitude ft(M) To 3300ft (1000M). Above 3300 ft, derate 2% per 1000ft
(300M).
Operating Shock G 1G
Operating Vibration G 0.5G (10-60Hz)
Operating Temperature Range °C 0 to 40. Derate output by 2% per °C above 40°C. (60°C Max.)
Maximum Operating Temperature °C 60°C Maximum with derating.
Storage Temperature Range °C –25 to +70°C
Speed Command Potentiometer 5k or 10k , 0.5watt
All values at ambient temperature of 25°C unless otherwise stated.
* Thru wall mounting is possible. Refer to mounting dimensions.
26M-PO Servo Control Specifications: (460VAC)
SD26M4AXX–PO
Description
D i ti Unit
U it 02–PO 07–PO 15–PO 25–PO 35–PO 45–PO 60–PO 90–PO
Input Bus Voltage (Nominal) VDC 650
Input Logic & Fan Power VDC +24 (+20% –15%)
ADC 1.6
Nominal Output Bus Voltage VDC 650
Nominal Output Bus Current ARMS 2 7 15 25 35 45 60 90
Peak Output Bus Current (±10%); 1.5s ARMS 4 14 30 50 70 90 120 180
Nominal Output Power kW 0.9 3.2 6.9 11.6 16.2 20.8 27.8 41.7
Efficiency % >97
Minimum Load Inductance
H 200
Nominal Switching Frequency kHz 8.0
Mounting * – Panel or Through Wall
Package Size B B B B C D D D
Weight
 
 
 
 
 
 
 
 

Operating Altitude ft(M) To 3300ft (1000M). Above 3300 ft, derate 2% per 1000ft
(300M).
Operating Shock G 1G
Operating Vibration G 0.5G (10-60Hz)
Operating Temperature Range °C 0 to 40. Derate output by 2% per °C above 40°C. (60°C Max.)
Maximum Operating Temperature °C 60°C Maximum with derating.
Storage Temperature Range °C –25 to +70°C
Speed Command Potentiometer 5k or 10k , 0.5watt
All values at ambient temperature of 25°C unless otherwise stated.
* Thru wall mounting is possible. Refer to mounting dimensions.

MN1226 Specifications and Product Data 7-3

PSM-PR Power Supply Specifications:
PSM2AXXX-PR1 PSM4AXXX-PR1
Description
D i ti Unit
U it 060-PR1 100-PR1 030-PR1 050-PR1 100-PR1
Input Bus Voltage – Nominal (Range) VAC 230 (3 ) 460 (3 )
(180-264; 60Hz (400-528; 60Hz
180-230; 50Hz) 340-457; 50Hz)
Input Frequency Hz 50 / 60 ±5%
Nominal Output Bus Voltage VDC 320 650
Nominal Output Bus Current ARMS 60 100 30 50 100
Peak Output Bus Current ARMS 120 200 60 100 200
Input Logic Voltage – Nominal (Range) VAC 115 (+6% –10%; 60Hz only 1 phase)
Input Logic Current – Nominal (Range) * AMP 2.4A (@115)
Output Logic VDC +24 (+20% – 15%)
Output Logic ADC 8.0
Mounting – Panel or Thru Wall
Package Size B B B B D
Weight lb(kg) 33(15) 33(15) 33(15) 33(15) 63(28.6)
All values at 25°C unless otherwise stated.
* Maximum surge current <100msec = 6A (230V); 12A (115V)
PSM2AXXX-PR2 PSM4AXXX-PR2
Description
D i ti Unit
U it 060-PR2 100-PR2 030-PR2 050-PR2 100-PR2
Input Bus Voltage – Nominal (Range) VAC 230 (3 ) 460 (3 )
(180-264; 60Hz (400-528; 60Hz
180-230; 50Hz) 340-457; 50Hz)
Input Frequency Hz 50 / 60 ±5%
Nominal Output Bus Voltage VDC 320 650
Nominal Output Bus Current ARMS 60 100 30 50 100
Peak Output Bus Current ARMS 120 200 60 100 200
Input Logic Voltage – Nominal (Range) VAC 230 (+6% –10%; 50/60Hz 1 phase)
Input Logic Current – Nominal (Range) * AMP 1.2A (@230)
Maximum Input Surge Current (for 100ms) ARMS 6
Output Logic VDC +24 (+20% – 15%)
Output Logic ADC 8.0
Mounting – Panel or Through Wall
Package Size B B B B D
Weight lb(kg) 33(15) 33(15) 33(15) 33(15) 63(28.6)
All values at 25°C unless otherwise stated.
* Maximum surge current<100msec = 6A (230V); 12A (115V)

7-4 Specifications and Product Data MN1226

Keypad Display:
Display Backlit LCD Alphanumeric
2 Lines x 16 Characters
Keys 12 key membrane with tactile response
Functions Output status monitoring
Digital speed control
Parameter setting and display
Fault log display
Motor run and jog
Local/Remote toggle
LED Indicators Forward run command
Reverse run command
Stop command
Jog active
Remote Mount 100 feet max from control

Control Signal Levels:

Description Unit 26M-PO and 26M-TR
Command Input VDC 0-10, ±5, ±10 or (4-20mA)
Command Signal Resolution bits 9 bits plus sign
Feedback System – Resolver
Feedback Resolution bits 12
Resolver Pole Pairs – 1-8
Resolver Winding Ratio – 0.5
Simulated Encoder Output – RS422 (5V @ 500kHz maximum) (Differential line Driver)
Encoder Simulation Resolution ppr 1024

Differential Analog Input:

Description Unit 26M-PO and 26M-TR
Common Mode Rejection db 40 db
Full Scale Range VDC ±5VDC, ±10VDC, 4-20 mA
Auto-selectable Resolutions bits 9 bits + sign
Update rate msec .480

Other Analog Input:

Description Unit 26M-PO and 26M-TR
Full Scale Range VDC 0 - 10 VDC
Resolution bits 9 bits + sign
Update Rate msec .480

MN1226 Specifications and Product Data 7-5

Analog Outputs:
Description Unit 26M-PO and 26M-TR
Analog Outputs 2 Assignable
Full Scale Range VDC 0-10VDC or ±10VDC (depends on output condition selected)
Source Current mA 1 mA maximum
Resolution bits 9 bits + sign
Update Rate msec 1.92

Digital Inputs:
Description Unit 26M-PO and 26M-TR
Opto-isolated Logic Inputs 9 Assignable
Rated Voltage VDC 10 - 30 VDC (closed contacts std)
Input Impedance k 6.8 k Ohms
Leakage Current
A 10
A maximum
Update Rate msec 15.36

Digital Outputs:
Description Unit 26M-PO and 26M-TR
Opto-isolated Logic Outputs 4 Assignable
ON Current Sink mA 60 mA Max
ON Voltage Drop VDC 2 VDC Max
Update Rate msec 30.72

Diagnostic Indications:
Current Sense Fault Regeneration (db) Overload
Ground Fault (26M-TR only) Soft Start Fault (26M-TR only)
Instantaneous Over Current Under Voltage
Invalid Power Base ID Ready
Line Power Loss Parameter Loss
Microprocessor Failure Overload
Over temperature (Motor or Control) Overvoltage
Over speed Torque Proving
Following Error Co-Processor

Note: All specifications are subject to change without notice.

7-6 Specifications and Product Data MN1226

Section 1
General Information

Terminal Tightening Torque Specifications

Table 7-1 Tightening Torque Specifications – 26M-TR Controls
Tightening Torque Power
26M-TR
26M TR Control
VAC PE, L, N, U, V, W, DB, DB–
Lb-in Nm
Size AA – 115VAC 7 0.8
Size AB – 230VAC 7 0.8

Table 7-2 Tightening Torque Specifications – 26M-PO Controls

26M-PO Tightening Torque
Control
U, V and W GND +VCC, –VCC, GND
Lb-in Nm Lb-in Nm Lb-in Nm
Size B 20-27 2.3-3.0 35-46 4.0-5.0 35-46 4.0-5.0
Size C 20-27 2.3-3.0 35-46 4.0-5.0 35-46 4.0-5.0
Size D 22-27 2.5-3.0 22-27 2.5-3.0 52 6.0

Table 7-3 Tightening Torque Specifications – PSM-PR

PSM-PR Tightening Torque
GND L1, L2, L3 R1, R2 +VCC, –VCC, GND
Lb-in Nm Lb-in Nm Lb-in Nm Lb-in Nm
Size B 35-46 4.0-5.0 20-27 2.3-3.0 20-27 2.3-3.0 35-46 4.0-5.0
Size D 22-27 2.5-3.0 22-27 2.5-3.0 10.6-12.3 1.2-1.4 52 6.0

MN1226 Specifications and Product Data 7-7

DB Resistor Selection
Size RG
1.7 (45)

3.9
3.54
(100)
(90)

X
M4 2.6
X= 4.3(123) for 44 watts
13.2 (337) for 320/640 watt
(65)

Size RGA
11.00 (279,4)

9.75
(247,7) 6.65 (168,9)

CAUTION

ATTENTION

Table 7-4 DB Resistor (26M-TR)

44 Continuous Watts
Power Supply Peak
Catalog No. Catalog Max. Peak Watts
No. Watts Max.
Duty%
SD26M1A02-TR RG27 880 2.5

SD26M1A05-TR RG27 880 2.5

SD26M2A02-TR RG56 880 2.5

SD26M2A05-TR RG56 880 2.5

7-8 Specifications and Product Data MN1226

DB Resistor Selection – Continued
Table 7-5 DB Resistor (PSM-PR)
320 Continuous Watts 640 Continuous Watts 1200 Continuous Watts
Power Supply Max. Peak Max. Peak Max. Peak
Catalog No. Catalog Peak Watts Catalog Peak Watts Catalog Peak Watts
No. Watts Max. No. Watts Max. No. Watts Max.
Duty% Duty% Duty%
PSM2A060-PR2 RG6.8 6400 2.5 RGA606* 17,000 3.5 RGA1210 10,240 11.7
PSM2A100-PR2 RG4.1 12,800 2.5 RGA1204 25,600 5.0
PSM2A060-PR1 RG6.8 6400 2.5 RGA606* 17,000 3.5 RGA1210 10,240 11.7
PSM2A100-PR1 RG4.1 12,800 2.5 RGA1204 25,600 5.0
PSM4A030-PR2 RG23 12,800 2.5 RGA1224 17,600 6.8
PSM4A050-PR2 RG16 12,800 2.5 RGA1220 21,000 5.7
PSM4A100-PR2 RGA1210 42,250 2.8
PSM4A030-PR1 RG23 12,800 2.5 RGA1224 17,600 6.8
PSM4A050-PR1 RG16 12,800 2.5 RGA1220 21,000 5.7
PSM4A100-PR1 RGA1210 42,250 2.8

* 600 watt resistors.

Not available.

Table 7-5 DB Resistor (PSM-PR) – Continued

Power Supply 2400 Continuous Watts 4800 Continuous Watts

Catalog No.
No
Part Max. Peak Part Max. Peak
No. Peak Watts No. Peak Watts
Watts Max. Watts Max.
Duty% Duty%
PSM2A060-PR2 RGA2410 10,240 23.0 RGA4810 10,240 46.8
PSM2A100-PR2 RGA2404 25,600 9.3 RGA4804 25,600 18.7
PSM2A060-PR1 RGA2410 10,240 23.0 RGA4810 10,240 23.4
PSM2A100-PR1 RGA2404 25,600 9.3 RGA4804 25,600 18.7
PSM4A030-PR2 RGA2424 17,600 13.6 RGA4824 17,600 27.2
PSM4A050-PR2 RGA2420 21,000 11.4 RGA4820 21,000 22.8
PSM4A100-PR2 RGA2410 42,250 5.7 RGA4810 42,250 11.3
PSM4A030-PR1 RGA2424 17,600 13.6 RGA4824 17,600 27.2
PSM4A050-PR1 RGA2420 21,000 11.4 RGA4820 21,000 22.8
PSM4A100-PR1 RGA2410 42,250 5.7 RGA4810 42,250 11.3

MN1226 Specifications and Product Data 7-9

Section 1
General Information

26M-TR Dimensions & Mounting

A
B
B A

0.93
(23.5) 0.66
(17)

6.0
152.5 C

6.81″
(173mm)
6.81
(173)

8.1
205

0.22
(5.5)

Package Size
Dimension
AA AB
A 1.6 (40) 1.6 (40)
B 0.6 (15) 0.9 (23)
C 2.66 (67.5) 3.64 (92.5)

7-10 Specifications and Product Data MN1226

26M-PO/PSM-PR Dimensions
Size B Dimensions & Mounting

Reference this edge to

measure distance to mount 4.13
next enclosure. (105)

14.38 (385) B B
13.99 (355) A A
13.25 (337)

Cutout
for
Thru-Wall
Mounting

15.75
(400)

0.00 15.14
A A
0.55 (14) (385)
0.77 (20) B B
1.16 (30)
0.57 (15)

2.38 (61)
2.97 (76)
3.54 (90)
0.00

14.05
Thru Wall Surface (357)
Mounting Mount
Holes coded “A” and “B”. Flange Flange
Mounting hole locations for surface
mounting. Recommended hardware
1/4″-20 or M6 thru hole .25″(6.4mm)dia.

Thru Wall
Dimensions

8.58 4.33
(218) (110)

MN1226 Specifications and Product Data 7-11

26M-PO/PSM-PR Dimensions Continued
Size C Dimensions & Mounting

Reference this edge to

measure distance to mount 5.50
next enclosure. (140)
A A
B B
14.38 (385)
13.99 (355)
13.25 (337)

Cutout
for
Thru-Wall
Mounting

15.75
(400)

0.00 15.14
A A
0.55 (14) (385)
0.77 (20) B B
4.90 (125)
4.34 (110)
0.56 (14)
1.15 (29)

3.75 (95)
0.00

14.05
Thru Wall Surface (357)
Mounting Mount
Holes coded “A” and “B”. Flange Flange
Mounting hole locations for surface
mounting. Recommended hardware
1/4″-20 or M6 thru hole .25″(6.4mm)dia.

Thru Wall
Dimensions

8.58 4.33
(218) (110)

7-12 Specifications and Product Data MN1226

26M-PO/PSM-PR Dimensions Continued
Size D Dimensions & Mounting
14.38 (385)
13.99 (355)
13.25 (337)
5.50
(140)

Reference this edge to

measure distance to mount
next enclosure.
15.75
(400)

15.14
(385)

14.05
(357)
0.00
.58 (15)
.79 (20)
1.00 (26)

6.75 (171)

8.75 (222)

9.75 (248)
3.00 (76)
0.00

Holes coded “A” and “B”.

Mounting hole locations for surface
mounting. Recommended hardware
1/4″-20 or M6 thru hole .25″(6.4mm)dia.

Thru Wall Surface

Mounting Mount
Flange Flange

Thru Wall
Dimensions

9.54 4.39
(242) (111)

MN1226 Specifications and Product Data 7-13

26M-PO/PSM-PR Dimensions Continued
Mounting Considerations
Distance
to next
Reference
Edge

Reference this edge to

measure distance to mount
next enclosure.

Note:
Always mount the PSM in the first posi-
tion from left to right. This allows proper
installation of the power bus bars.
Position Position
X Y

Mounting and Bus Bar Information

Position X Position Y Distance to next Power Bus Bar
Size Size reference edge “D” Part Number
D D 10.6 (270) V1093641
D C 10.5 (267) V1093651
D B 10.5 (267) V1093651
C C 5.5 (140) V1093661
C B 5.5 (140) V1093661
B D 4.3 (109) V1093681
B B 4.2 (106) V1093671
B C 4.2 (106) V1093671

7-14 Specifications and Product Data MN1226

Appendix A

Parameter Values
Parameter Block Values Level 1
Level 1 Blocks
Block Title Parameter P# Adjustable Range Factory User
Setting Setting
PRESET PRESET SPEED #1 1001 0-MAX Speed 0 RPM
SPEEDS
PRESET SPEED #2 1002 0-MAX Speed 0 RPM
PRESET SPEED #3 1003 0-MAX Speed 0 RPM
PRESET SPEED #4 1004 0-MAX Speed 0 RPM
PRESET SPEED #5 1005 0-MAX Speed 0 RPM
PRESET SPEED #6 1006 0-MAX Speed 0 RPM
PRESET SPEED #7 1007 0-MAX Speed 0 RPM
PRESET SPEED #8 1008 0-MAX Speed 0 RPM
PRESET SPEED #9 1009 0-MAX Speed 0 RPM
PRESET SPEED #10 1010 0-MAX Speed 0 RPM
PRESET SPEED #11 1011 0-MAX Speed 0 RPM
PRESET SPEED #12 1012 0-MAX Speed 0 RPM
PRESET SPEED #13 1013 0-MAX Speed 0 RPM
PRESET SPEED #14 1014 0-MAX Speed 0 RPM
PRESET SPEED #15 1015 0-MAX Speed 0 RPM
ACCEL/DECEL ACCEL TIME #1 1101 0 to 3600 Seconds 3.0 SEC
RATE
DECEL TIME #1 1102 0 to 3600 Seconds 3.0 SEC
S-CURVE #1 1103 0-100% 0%
ACCEL TIME #2 1104 0 to 3600 Seconds 3.0 SEC
DECEL TIME #2 1105 0 to 3600 Seconds 3.0 SEC
S-CURVE #2 1106 0-100% 0%
JOG SETTINGS JOG SPEED 1201 0-MAX Speed 200 RPM
JOG ACCEL TIME 1202 0 to 3600 Seconds 3.0 SEC
JOG DECEL TIME 1203 0 to 3600 Seconds 3.0 SEC
JOG S-CURVE TIME 1204 0-100% 0%
KEYPAD SETUP KEYPAD STOP KEY 1301 REMOTE ON (Stop key active during REMOTE
remote operation). ON
REMOTE OFF (Stop key inactive dur-
ing remote operation).
KEYPAD STOP MODE 1302 COAST, REGEN REGEN
KEYPAD RUN FWD 1303 ON, OFF ON
KEYPAD RUN REV 1304 ON, OFF ON
KEYPAD JOG FWD 1305 ON, OFF ON
KEYPAD JOG REV 1306 ON, OFF ON

MN1226 Appendix A-1

Section 1
General Information

Parameter Block Values Level 1 Continued

Level 1 Blocks - Continued
Block Title Parameter P# Adjustable Range Factory User
Setting Setting
INPUT OPERATING MODE 1401 KEYPAD KEYPAD
STANDARD RUN
15SPD
2 WIRE MULTI INP
3 WIRE MULTI INP
SERIAL
BIPOLAR
PROCESS MODE
COMMAND SELECT 1402 POTENTIOMETER +/-10
+/-10 VOLTS VOLTS
+/-5 VOLTS
4 TO 20 mA
10V W/TORQ FF
EXB PULSE FOL
5V EXB
10V EXB
4-20mA EXB
3-15 PSI EXB
TACHOMETER EXB
SERIAL
NONE
ANA CMD INVERSE 1403 ON, OFF OFF
ANA CMD OFFSET 1404 -20.0 TO +20.0% 0.0 %
(where ±0.5V=±20%)
ANA 2 DEADBAND 1405 0-10.00 V 0.00 V
ANA 1 CUR LIMIT 1406 ON, OFF OFF
OUTPUT OPTO OUTPUT #1 1501 READY READY
ZERO SPEED
AT SPEED
OVERLOAD
OPTO OUTPUT #2 1502 KEYPAD CONTROL ZERO
AT SET SPEED SPEED
FAULT
FOLLOWING ERR
MOTR DIRECTION
OPTO OUTPUT #3 1503 DRIVE ON AT SPEED
CMD DIRECTION
AT POSITION
OVER TEMP WARN
OPTO OUTPUT #4 1504 PROCESS ERROR FAULT
DRIVE RUN
SERIAL
ZERO SPD SET PT 1505 0-MAX Speed 200 RPM
AT SPEED BAND 1506 0-1000 RPM 100 RPM
SET SPEED 1507 0-MAX Speed Rated Motor
Speed

A-2 Appendix MN1226

Appendix
Section 1 A
General Information

Parameter Block Values Level 1 Continued

Level 1 Blocks - Continued
Block Title Parameter P# Adjustable Range Factory User
Setting Setting
OUTPUT ANALOG OUT #1 1508 ABS SPEED ABS
(Continued) ABS TORQUE SPEED
SPEED COMMAND
PWM VOLTAGE
FLUX CURRENT
CMD FLUX CUR
LOAD CURRENT
CMD LOAD CUR
MOTOR CURRENT
LOAD COMPONENT
QUAD VOLTAGE
DIRECT VOLTAGE
ANALOG OUT #2 1509 AC VOLTAGE MOTOR
BUS VOLTAGE CURRENT
TORQUE
POWER
VELOCITY
OVERLOAD
PH2 CURRENT
PH1 CURRENT
PROCESS FDBK
SETPOINT CMD
POSITION
ANALOG #1 SCALE 1510 10 - 100% 100%
ANALOG #2 SCALE 1511 10 - 100% 100%
POSITION BAND 1512 1 - 32767 CALC
BRUSHLESS RESOLVER ALIGN 1601 0-360 degrees CALC
CONTROL
SPEED FILTER 1602 0-7 CALC
FEEDBACK ALIGN 1603 Forward, Reverse FORWARD
CURRENT PROP GAIN 1604 0-1000 20
CURRENT INT GAIN 1605 0-400 150Hz
SPEED PROP GAIN 1606 0-1000 10
SPEED INT GAIN 1607 0-9.99Hz 1.00HZ
SPEED DIFF GAIN 1608 0-100 0
POSITION GAIN 1609 0-9999 CALC
LEVEL 2 BLOCK ENTERS LEVEL 2 MENU
    Exit programming mode and return to display mode.

  

MN1226 Appendix A-3

Section 1
General Information

Parameter Block Values Level 2

Level 2 Blocks
Block Title Parameter P# Adjustable Range Factory User
Setting Setting
OUTPUT LIMITS MIN OUTPUT SPEED 2001 0-MAX Speed 0 RPM
MAX OUTPUT SPEED 2002 0-22500 RPM Rated Motor
Speed
PK CURRENT LIMIT 2003 0-PEAK RATED CURRENT PK Control
Rating
PWM FREQUENCY 2004 1 - 16KHz 8.5KHz
CUR RATE LIMIT 2005 0-10.00 SEC 0.004 SEC
CUSTOM UNITS DECIMAL PLACES 2101 0-5 0
VALUE AT SPEED 2102 0-65535 00000/
01000 RPM
UNITS OF MEASURE 2103 Selection of 9 Character Sets -
PROTECTION OVERLOAD 2201 FAULT, FOLDBACK FOLDBACK
EXTERNAL TRIP 2202 ON, OFF OFF
LOCAL ENABLE INPUT 2204 ON, OFF OFF
FOLLOWING ERROR 2203 ON, OFF OFF
MISCELLANEOUS RESTART AUTO/MAN 2301 AUTOMATIC, MANUAL MANUAL
RESTART FAULT/HR 2302 0-10 0
RESTART DELAY 2303 0-120 SECONDS 0 SEC
FACTORY SETTINGS 2304 YES, NO NO
HOMING SPEED 2305 0-MAX Speed 100 RPM
HOMING OFFSET 2306 0-65535 CNTS Encoder
Counts
SECURITY SECURITY STATE 2401 OFF OFF
CONTROL LOCAL SECURITY
SERIAL SECURITY
TOTAL SECURITY
ACCESS TIMEOUT 2402 0-600 SEC 0 SEC
ACCESS CODE 2403 0-9999 9999
MOTOR DATA MOTOR RATED AMPS 2501 0-999.9 Factory Set
MOTOR POLES 2502 0 - 100 4 POLES
RESOLVER SPEEDS 2503 0-10 1 SPEED
CALC PRESETS 2504 YES, NO NO

A-4 Appendix MN1226

Appendix
Section 1 A
General Information

Parameter Block Values Level 2 Continued

Level 2 Blocks - Continued
Block Title Parameter P# Adjustable Range Factory User
Setting Setting
PROCESS PROCESS FEEDBACK 2601 POTENTIOMETER NONE
CONTROL +/-10VOLTS
+/-5 VOLTS
4 TO 20 mA
5V EXB
10V EXB
4-20mA EXB
3-15 PSI EXB
TACHOMETER EXB
NONE
PROCESS INVERSE 2602 ON, OFF OFF
SETPOINT SOURCE 2603 SETPOINT CMD SETPOINT
POTENTIOMETER CMD
+/-10VOLTS
+/-5 VOLTS
4 TO 20 mA
5V EXB
10V EXB
4-20mA EXB
3-15 PSI EXB
TACHOMETER EXB
NONE
SETPOINT COMMAND 2604 –100% to +100% 0.0 %
SET PT ADJ LIMIT 2605 0-100% 10.0 %
PROCESS ERR TOL 2606 0-100% 10 %
PROCESS PROP GAIN 2607 0-2000 0
PROCESS INT GAIN 2608 0-9.99 HZ 0.00 HZ
PROCESS DIFF GAIN 2609 0-1000 0
FOLLOW I:O RATIO 2610 (1-65535) : (1-65535) 1:1
FOLLOW I:O OUT 2611 (1-65535) : (1-65535) 1:1
MASTER ENCODER 2612 50 - 65535 1024PPR
COMMUNICATIONS PROTOCOL 2701 RS232 ASCII, RS 485 ASCII RS232
ASCII
BAUD RATE 2702 9600, 19.2KB, 38.4KB, 57.6KB, 9600
115.2KB, 230.4KB
DRIVE ADDRESS 2703 0 - 31 0

MN1226 Appendix A-5

Section 1
General Information

Parameter Block Values Level 2 Continued

Level 2 Blocks - Continued
Block Title Parameter P# Adjustable Range Factory User
Setting Setting
AUTO-TUNING CALC PRESETS CALC YES, NO NO

CMD OFFSET TRM AU1 - -

CUR LOOP COMP AU2 - -

RESOLVER ALIGN AU3 - -

SPD CNTRLR CALC AU4 -

LEVEL 1 BLOCK Enters Level 1 Menu

    Exit programming mode and return to display mode.

  

A-6 Appendix MN1226

Appendix B

MN1226 Appendix B-1

Section 1
General Information

Remote Keypad Mounting Template

4.00
2.500

(A) (A)

Four Places
Tapped mounting holes, use #29 drill and 8-32 tap
(Clearance mounting holes, use #19 or 0.166″ drill)

1-11/16″ diameter hole

4.810

5.500
Use 1.25″ conduit knockout

(B)
1.340

(A) (A)

1.250 Note: Template may be distorted due to reproduction.

B-2 Appendix B MN1226

 BALDOR ELECTRIC COMPANY
P.O. Box 2400
Ft. Smith, AR 72902–2400
(501) 646–4711
Fax (501) 648–5792

 Baldor Electric Company Printed in USA

MN1226 1/99 C&J 2500