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TB225 Rev1 Baldor Series 23H Drive Setup
This bulletin details required connections to interface a Baldor Series 23H drive to a Centroid control using MPU11 and GPIO4D
Before connecting any interface cables be sure the drive motor and encoder are connected shielded and grounded exactly as
specified in the Baldor Manual Verify the encoder cable shield is connected only at the drive Verify the drive operates correctly by
jogging the motor and holding position
Use a ground isolated DC supply to power the MPU11 and GPIO4D to prevent ground loops to the Baldor drive Analog control to the
drive is via shielded twisted pair with the shield only connected at the drive end Digital signals to the drive must be separate from the
analog cable Power for the digital signals in this interconnect is provided by the Baldor drive 24 VDC supply The inputs and outputs
are arranged to maximize isolation
Table 1 lists the primary control connections to the Baldor drive from the GPIO4D The Baldor drive level 1 input block command
select parameter value must be set to ?+/ 10 Volts? to control the drive with this configuration Be sure to read the notes in the table
for required connections Reference the Baldor Manual ?Bipolar Speed or Torque Operating Mode? connection diagram
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TABLE 1 GPIO4D I/O CONNECTIONS
GPIO4D DRIVE I/O TERMINALS BALDOR DRIVE J1 TERMINAL Â
CONNECTOR NAME TERMINAL NAME NOTES
H14 AN AXIS 1 4 Analog Input +2 1
H14 AN COM 5 Analog Input 2 1
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1 and 5 Analog GND 1
H14 EN 8 ENABLE 2
H14 OUTCOM 17 Opto Input
Common 3
H10 IN1 FAULT IN 19 Opto Out #1 4
H10 IN2 +LIMIT SW Â Â
5
H10 IN3 LIMIT SW Â Â
6
H10 IN4 E STOP Â Â
7
H10 COM 1 4 39 +24VDC 8
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40 Opto In Power 8
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9 and 17 Forward Enable 5
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10 and 17 Reverse Enable 6
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12 and 17 Torque mode 9
H1 OUT1 15 Fault Reset 10
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NOTES
1 Connect J1 1 to J1 5 and analog shield  Connect shield at drive end only
2 Drive enable
3 Terminal 17 is the common of the Baldor 24VDC Opto supply
4 This input must be mapped in the GPIO4D PLC as the drive fault for this axis
5 +LIMIT SW source wire  This input must be mapped in the GPIO4D PLC as the +LIMIT SW for this axis The limit switch return wire
connects to terminal 17 on the Baldor drive  Terminal 9 and 17 on the Baldor drive must be jumpered to enable motion in this direction
 6 LIMIT SW source wire This input must be mapped in the GPIO4D PLC as the LIMIT SW for this axis The limit switch return wire
connects to terminal 17 on the Baldor drive  Terminal 10 and 17 on the Baldor drive must be jumpered to enable motion in this
direction
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7 This input must be mapped in the GPIO4D PLC as the E STOP for this axis or the system
8 GPIO4D opto input power supply + of the Baldor 24VDC Opto supply  Jumper 39 and 40 to use this supply
9 Must be jumpered to enter Torque mode
10 GPIO4D relay output NO contacts Used to momentarily connect terminal 15 and 17 to reset the Baldor drive
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TABLE 2 MPU11 ENCODER CONNECTIONS
MPU11 ENCODER CONNECTOR BALDOR DRIVE J1 TERMINAL
PIN NAME TERMINAL NAME
1 N/C Â Â
2 GND 38 Common
3 INDEX 35 +INDEX
4 CHB 32 A
5 CHA 34 B
6 +INDEX 36 INDEX
7 +CHB 31 +A
8 +CHA 33 +B
9 +5V not used  Â
Table 2 lists the connections required for the MPU11 encoder feedback
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Document History
Rev1 Created on 2009 06 26
by #326