Baldor Mint Software And Applications - Steven Engineering
Mint Automation Software and ApplicationsCourtesy of Steven Engineering, Inc.-230 Ryan Way, South San Francisco, CA 94080-6370-Main Office: (650) 588-9200-Outside Local Area: (800) 258-9200-www.stevenengineering.com
Mint The Real-Time Automation LanguageMint – The Real-timeAutomation Language High speed compiled BASIC programming language formotion and machine control Multitasking capability for motion, I/O, HMI andcommunication tasks. Allows complex applications to bebroken down into simpler, more manageable sub-tasks Modular programming capability, including functions andsubroutines, allows for code re-use and ease of debugging Common programming interface for both Baldor’s NextMoveand intelligent drives reduces the learning curveComprehensive library of motion types including interpolatedmoves, CAM profiling, flying shears, gearing and moreBASIC – the de facto ProgrammingLanguageWith nearly two decades of history, Mint wasdesigned from the outset around the BASICprogramming language. It was understood then,and it is still true today, that BASIC is the de-factoprogramming language around the world. Now in itsfifth generation, Mint fully embraces all the modernBASIC programming functionality including featuressuch as multitasking, function and procedures, dataComprehensive Windows tools including color keywordhighlighting in the editor, software oscilloscope, online help,drive configuration wizard and auto-tuningtypes and local data. This functionality makes itActiveX components, supplied free of charge, aid in thedevelopment of Windows front end applicationsnew Code Library makes code re-use even simpler bysimple to write and develop modular programs thatare easily understood by others, easily maintainedand easily re-used across different applications. Mint’sallowing snippets of code to be stored and used forother projects. This is just one of the many featuresfound in the Mint development front end, MintWorkBench, which are designed to get you up andrunning quickly.P6P10P12Mint applications and move typesWindows development and commissioningtoolsNetwork configuration toolApplicationsMint WorkBenchMint Motion CenterCourtesy of Steven Engineering, Inc.-230 Ryan Way, South San Francisco, CA 94080-6370-Main Office: (650) 588-9200-Outside Local Area: (800) 258-9200-www.stevenengineering.com
More than just Motion ControlMint is a leading hi-performance automation languageexcelling in motion control applications, but equally at homein HMI interaction, communications, I/O handling and complex3mathematical functions. While some choose a standard ‘open’PLC language platform that offer a ‘standard’ set of motionfeatures, those looking for an edge will find it in the advancedmotion capabilities of Mint. Many industries at the cutting edgeof motion control realize this and find PLC technology limited inits capabilities for motion control.Realizing that today’s applications are more demanding, moreprecise, more dynamic and more complex, Mint focuses onproviding creative features, advanced motion capabilities andfacilities for the user to innovate the application solution.Re-use Code and Save TimeWith its multitasking structure, user friendly named variables,functions and subroutines, code re-use could not be easier. Mint employs all the programming techniques used in modern programming languages today, such as allowing meaningfulnames to variables, local data in functions and subroutines, and parameter passing. This makes code easier to read, debug andre-use in future projects. Multiple programs can even be storedon the same controller for different machine configurations. The Mint WorkBench’s new Mint Code Library allows snippets ofcode to be saved for re-use in future projects. Flexible and Powerful Data SupportMint supports real numbers (floating point), integers and evenMultitasking Streamlines Program Flowstrings. All data can be easily manipulated with Mint’s extensivelibrary of math functions and operators. Data can be storedWith many devices to control and machine functions tousing the multi-dimension array capabilities.coordinate, it helps to be able to structure code into specificNew functions can be easily created for use within any projecttasks and allocate the resource dynamically at runtime.Multitasking is one of the key features of Mint. Numeroussoftware tasks can be written, initiated, suspended, terminatedand used time and time again. Functions can contain simple orcomplex math and can be used within any calculation.and prioritized to optimize workflow and improve machineperformance. In its simplest form, consider that separateprogram tasks can be allocated to functions of motion control,HMI interaction, I/O control, communications and much more.This provides a structured programming solution, ensuring moredynamic program flow.P13P14P15Windows front end development toolsCAD-to-motion interpreter and machinecontrollerLow-cost 2D/2.5D profilingActiveX ToolsMintNCHPGLCourtesy of Steven Engineering, Inc.-230 Ryan Way, South San Francisco, CA 94080-6370-Main Office: (650) 588-9200-Outside Local Area: (800) 258-9200-www.stevenengineering.com
Mint The Real-Time Automation LanguageTime Critical Responses Handled withEaseTrap Errors Early in the Development CycleMint provides software events to deal with time criticalWorkBench. Multiple errors and warnings will be flaggedresponses to application changes, such as error conditions,when encountered. Simply click on the error or warningcommunication, fast position capture (registration), movemessage and you will be taken straight to the problem linebuffer low or inputs acting as interrupts. For example,of code within your application. Pressing F1 gives you morereacting to inputs by triggering an event in this way is moreinformation on the error. Multiple errors to be tracked downresponsive than polling to check for input states in a loop oreasily and dealt with quickly.Mint programs are compiled offline from within the MintPLC scan. This make your program more responsive.Secure your SolutionEvents are designed to interrupt program flow and can beHaving leveraged the capabilities of Mintprogrammed to handle high or low priority situations. In ato realize an innovative control design,high priority situation, such as an error condition, the eventyou can choose to protect your solution,can run to completion suspending all running tasks. For apreventing unauthorized uploading,low priority situation, another task can be started allowingcopying or evaluation of your software.the program flow to continue. Flexibility and versatility areCode can even be targeted for specifickey to Mint’s ease of use.controllers based on serial number.Intelligent Error HandlingYou can choose to store just the object code on theConfigurable and controlled error conditions allows errorcontroller, or store a copy of the Mint source alongsidehandling to be tailored to the application, providing a meansthe object code. This can be useful when making futureof trapping errors as simple or as detailed as required.modifications to the program onsite.Unique responses can be developed and actions definedto conditions such as limit switch activated or position errorexceeded.Errors can be viewed from within the Mint WorkBench.Each controller will record up to 32 error events within theironboard event logs. Data Transfer with Ease (Peer-to-Peer)Many applications need to communicate with an external device, such as a PLC, PC or HMI. Mint does this with easeusing the Comms Array. The Comms Array is an area of memory within the Mint controller that can be written, or read,over RS232/485, USB, PCI-Bus, Ethernet and all supported fieldbusses. Up to 99 data elements are freely available foruse within a Mint application. An external device, such asa PLC, can read or write to any one of these locations.Likewise, a Mint application can read or write any of theMint Motion Controller99 locations.100 through to 255. This saves having to update thelocations within the Mint application.The Comms Array is easily accessed over anRS232/485 network using a simple ASCII basedprotocol. This makes it simple to implement on manydevices such as third party HMI panels or PLCs.Host Application: PC PLC Mint Controller HMICommunicationsBus PCI-bus USB Serial CANopen Profibus DeviceNet EthernetUser Datastatus or I/O status is available in Comms locationsPre-Defined DataComms ArrayFrequently used data, such as axis position, error255MintProgram101: Vel100: Pos991Mint Event called when locations1 thru 5 are updated.Courtesy of Steven Engineering, Inc.-230 Ryan Way, South San Francisco, CA 94080-6370-Main Office: (650) 588-9200-Outside Local Area: (800) 258-9200-www.stevenengineering.com
C ProgrammingCFor optimum performance, programs can be written in C and embedded for advancedreal-time performance, via a library of Mint compatible C language routines. Thefunction library shares the same Application Programming Interface (API) as Mint andthe ActiveX control, making multi-platform development simple, with only one Mint APIto remember.5With it’s open architecture the C programming libraries even allow for custom motionprofilers and control algorithms to be embedded deep within the real time code.A third party Texas Instruments compiler must be purchased in order to program theNextMove controllers in C.Move Buffer Enables Continuous MotionAll axes have a flexible and powerful move buffer thatMint Move Bufferallows multiple move commands to be loaded andMintexecuted with minimum impact on the executingMove ctor angleID n 3Digital Outputsprogram. Each entry in the move buffer can containa unique identifier, independent Speed, Acceleration,Deceleration and Jerk (S-Ramp) settings. The moveActiveXbuffer size is limited only by memory and onceloaded, acceleration, deceleration etc for newProfilerID n 2ID n 1ID nFullpositions are taken care of automatically.EmptyLow Buffer EventFor interpolated axes, inter-vector angles can beloaded. The profiler will make decisions aboutwhen to slow down or stop coming to corner, toA configurable move buffer low system event will trigger either a Mint routine orensure both smooth and sharp corners and reduceActiveX service which you can customize to refill the buffers.mechanical shock.Output transitions states and pulse times and even dwell times can be loaded intoSpeed settings can be loaded into the move bufferthe move buffer to ensure they are synchronous to the axes motion.and can be assigned to each move. Alternatively, achange in the speed parameter can take immediateeffect on all moves in the buffer. Peer-to-Peer CommunicationsBaldor’s CANopen implementation extends theComms Array further and allows peer-to-peernetworking between compatible Mint nodes.Once a node on the network has been set upCANopen Busto communicate with another node, it is free toFlex Drive-IIFlex Drive-IIFlex Drive-IIeasily be passed between nodes, such asFlex Drive-IIcoordinated axes are required. Data canFlex Drive-IIto machines where a large number of looselyMintDrive-IIPeer to Peer communications is ideally suitedMintDrive-IInode.NextMove ESBread and write the Comms Array on its partnertarget positions or new recipe data. Groupcommunication features provide a simplemethod for two or more nodes to receive theGroup 1Group 2Group 3same data at the same time, with a single Mintcommand.Courtesy of Steven Engineering, Inc.-230 Ryan Way, South San Francisco, CA 94080-6370-Main Office: (650) 588-9200-Outside Local Area: (800) 258-9200-www.stevenengineering.com
Mint The Real-Time Automation LanguageComprehensive Library ofMove TypesMint provides a comprehensive library of motion types to suit a vast arena of application requirements. Eventhe most complex moves types are easily accessible through simple keywords. All of these move types can beinitiated from a Mint program, via ActiveX or from within an embedded C application. NextMove motion controllerssupport single and multiple coordinate groups or alternatively, all axes can operate independently.A library of application notes are available for download from www.baldormotion.com.Multi Axis Interpolated Moves Library of MovesSpeed ControlMint supports linear interpolation across all supported axes, circularinterpolation across two and helical Interpolation across three axes. Circularand linear moves can be blended together to achieve a smooth continuousmotion along a complex path. Inter-vector angle control allows Mint tomake decisions about sharp corners, i.e. whether to slow down or stop.An axis can even be configured as a tangential knife, following the outlinePositional (index) MovesInterpolated Movesprofile of a shape. Baldor’s MintNC and HPGL products make extensive useof Mint’s move buffer and linear interpolation capabilities.Applications Sign cuttingHelical Interpolation Wood routing Glue laying Pick & PlaceTangential Knife Inspection & test Water jet/plasma cuttersSpliningElectronic Gearbox & ClutchRegistration on the FlyElectronic CAMTeach & ReplayMint’s data array capabilities are ideal for teaching and replaying thepositions of a pick and place robot. Axis positions can be numericallyFlying Shearprogrammed from Baldor’s HMI panel or manually taught by jogging eachaxis to the desired position. Arrays provide an efficient way of storing alarge number of position points and they offer the flexibility of editing,deleting or replaying a small segment of the data.Virtual AxesCourtesy of Steven Engineering, Inc.-230 Ryan Way, South San Francisco, CA 94080-6370-Main Office: (650) 588-9200-Outside Local Area: (800) 258-9200-www.stevenengineering.com
IndexingMany applications require rapid incremental moves with minimal7mechanical jerk, and control of processes such as cut, crimp, orseal. Mint can position an axis fast and accurately, using smoothvelocity profile with precise jerk limitation. Mint’s move buffers allowmultiple moves to be loaded with different feedrates. Digital outputscan be loaded into the move buffer to ensure highly accuratesynchronization of the move with the I/O logic. Final target positioncan be changed on the fly, for example on the basis of an inputsignal.Applications Press feeders Wrapping machines Cut to length Labeling Component alignment Paper convertingCut to Registration ExampleCut to length, press feeders, and label feeding areA sensor detects the pre-printed registration mark.typical applications requiring a change in target positionThis sensor is connected to the high speed Fast Inputduring the move without stopping and based on someof Baldor’s controller. This automatically latches theform of reference signal. An example would be cuttingposition of the Nip Roll axis in 1µs and triggers apre-printed material to length, so that the printedsection of code within a pre-defined Mint event. Theinformation is always in the same location on the sheetcaptured position is used to calculate a new targetof material. This is often referred to as “cut registration”.position for the Nip Roll axis. In this case the newIn this example, nip rollers, controlled by Baldor’sdesired position will be set so that the material willprogrammable controllers, feed printed material into thealways be cut in the correct place relative to the printedjaws of a cutter, which is also controlled by an outputregistration mark.signal.Courtesy of Steven Engineering, Inc.-230 Ryan Way, South San Francisco, CA 94080-6370-Main Office: (650) 588-9200-Outside Local Area: (800) 258-9200-www.stevenengineering.com
Mint The Real-Time Automation LanguageSoftware GearboxAdvanced software gearbox and clutch functions enable twoor more axes to be linked together in precise synchronization.Replacing traditional mechanical linkages such as pulleys, belts,gearboxes and line shafts with precise but flexible electronicratios. Ratio configurations can be changed in an instant for rapidproduction changes increasing productivity by reducing set-uptime. There is less mechanical wear, and hence maintenancerequirements. Transmission errors of mechanical linkages areremoved resulting in higher precision and production quality.Single or multiple axes can be position locked to a master axisin much the same way as a mechanical linkage would be used.The input shaft (Master) can be any position feedback encoder orPackaging Examplea Mint virtual axis, which would eliminate variations in the masterPackages arrive at irregularaxis affecting all the follower axes.intervals from an input conveyorand must be aligned to the nextpart of the process. The packagesApplicationsSoftware Clutch Line shaft replacementSoftware clutches can be used to accelerate a following axisconveyor which advances or Packaging machinesfrom standstill to match the speed of the Master speed at theretards the position of the package Printing machinesare transferred to a correctionso that it enters a flight on thedefined gear ratio. The acceleration can be controlled over adefined distance on the Master machine to maintain precise Paper and plasticsposition registration, eliminating the need for mechanical clutchthe position of the next available Steel processingsystems.flight on the output conveyor is Bag makingPosition Advance and Retardoutput conveyor. In the illustration,captured as the next packagepasses the sensor. Correction iscalculated and initiated to ensurethe package arrives in the flightaccurately.In many applications it is necessary to correct for irregularitiesin processed materials or mechanical deficiencies: plastic filmwebs used for wrap packaging stretch and distort; cartons exitinga filling machine do so in random orientations and spacings;worn mechanical elements introduce backlash or slip into a lineprocess; product slip and slide on a continuous conveyor line.Such irregularities can be compensated by advancing orretarding the position of a controlled axis in relation to ameasured product or axis position. Mint can be used tointroduce a positive or negative positional adjustment, on top ofthe current speed of an axis, with controlled acceleration anddifferential speed. Speed reversal during correction can also beprevented.Fast Position RegistrationMint products have multiple fast inputs which can latch axispositions to within 1µs. Software events for each input can beautomatically executed in response to perform calculations andinitiate any determined corrective motion, based on this sensedinformation. This is widely used in applications such as printing,packaging, labeling, inspection and test machines.Printing ExampleMulti-color printing applications require precise synchronized lockof numerous roller axes, including, ink, impression and chiller rolls.Each print tower must lay down ink in accurate registration tothe previous color. Mint’s software gearbox features, fast positioncapture and position correction features provide an elegantsolution to this type of application.Electronic CAMSSoftware CAM emulation is flexible and more dynamic thanmechanical versions. They do not suffer from CAM bounce, ormechanical wear. CAM profiles can be calculated in softwareor downloaded from CAD software packages as numeric data.Multiple CAM profiles can be stored and used as required. CAMstroke can be scaled dynamically, allowing a machine operatorto adjust on the fly.Courtesy of Steven Engineering, Inc.-230 Ryan Way, South San Francisco, CA 94080-6370-Main Office: (650) 588-9200-Outside Local Area: (800) 258-9200-www.stevenengineering.com
Flying Shear MotionWeb speedShear speedThere are numerous applications where the motion of one axismust be either speed or position locked with another axis. In someinstances the axis must perform incremental or absolute moves9Synchronizeand cut materialin position lock i.e. synchronous to the product or process. ForReturn toambush positionexample cutting lengths from a continuous moving material. Mintencompasses a host of motion functions to provide this capability.Flying shear functions perform operations at accurate intervals on amoving product tracked by feedback from a measuring encoder. Ina typical application, the cutter is mounted on a linear reciprocatingstage, and is synchronized with the moving product for each cut.The acceleration, synchronization and deceleration phases can beApplications Flying shears Electronic clutch simulationspecified and linked by software to the movement of the product, so Labeling on the flyaccurate position reference is always maintained. Press feeding Pick & place from a moving conveyor Packaging applicationsLabeling Machine ExampleLabeling, flying shear cutters and flow wrapper applications require axiscoordination to a moving web. In a labeling example, the label stripmust accelerate to match the speed of the product onto which the labelwill be placed. It must remain locked at this speed while the label isapplied. The Mint flying shear command achieves this by breaking downthe move into discrete acceleration, constant speed and decelerationphases. Each phase is locked to the master position and will maintainposition lock regardless of machine speed. Label position is registeredto correct minor errors and product position is also registered to ensureaccurate placement.Courtesy of Steven Engineering, Inc.-230 Ryan Way, South San Francisco, CA 94080-6370-Main Office: (650) 588-9200-Outside Local Area: (800) 258-9200-www.stevenengineering.com
Mint The Real-Time Automation LanguageApplication Development ToolsMint WorkBench is a Windows front end which is common across Baldor’s range of NextMove motion controllers andservo drives. Used as a commissioning and setup tool, the tuning wizard allows you to tune a motor in minutes. MintWorkBench offers an easy to use Windows development front end for Mint programming, with its color highlighting ofkeywords and context sensitive help. The Program Navigator makes it a breeze to navigate and organize the source code,no matter how complicated.Features include: Command line interface to interrogate the controller even when the program is running. Spy window to monitor common motion variables and I/O. Software oscilloscope. Watch window for variable and task monitoring. SupportMe function with automatic e-mail generation for rapid technical support. Web updates of product firmware within Mint WorkBench. Easy management of firmware files.Simply click on the function, task or subroutine fromwithin the Program Navigator and you will be taken to theappropriate place in the editor. Program Navigator can beused to organize the source code, allow sections of codeto be moved or delete with ease.Program Editor provides color syntax highlighting for all Mintkeywords. Help is just a keystroke away. The new tool-tip willshow you variable declarations and constant values. Right clickto go straight to the variable declaration itself.Toolbar providesquick access touseful toolsCommand line provides accessto Mint keywords during programexecution and is useful during set-upThe Output window can beconfigured to show: Terminal output from the controller Program data via the Watch window Compiler errors and warningsThe Spy Window can be configuredto show typical information such asaxis position or error and can becustomized to suit the application.Data can be plotted on the softwareoscilloscope.Courtesy of Steven Engineering, Inc.-230 Ryan Way, South San Francisco, CA 94080-6370-Main Office: (650) 588-9200-Outside Local Area: (800) 258-9200-www.stevenengineering.com
Commissioning Wizard Step-by-Step guide to fully tune current loop, velocity andposition User defined units for velocity and position Motor selection from database11 Automatic selection of drive parameters Automatic detection of U, V and W connections Measurement of system inertia and friction Feedback testSoftware Oscilloscope Digital capture of data - up to 6 channels User configurable color schemes Save data for future comparisonNew features include: Cursor bars to measure value between two points Intelligent zoom Save and overlay existing dataProgram Editor Comprehensive editor for creating Mint applications Color syntax highlighting of Mint keywords Hit F1 for online help for any Mint keyword Program Navigator - simply click on the task, function orsubroutine to navigate the program. New features provide the ability to re-order your code fromwithin the Program NavigatorOnline Help Full, online help for Mint WorkBench functions, Mintkeywords, ActiveX library and embedded C functions Complete reference for the Mint programming language Full search capabilities Update via the internetSupportMe When you need technical support, Mint WorkBench makesthis task fast and simple. Using your e-mail, Mint WorkBenchautomatically collects information on your PC and motioncontroller or drive for diagnostics. This is sent, including your Mintprogram, via e-mail to your local support team.The Mint WorkBench SupportMe function is backed by theSupportMe website (www.Supportme.net), containing all thelatest firmware releases, user manuals and more.Courtesy of Steven Engineering, Inc.-230 Ryan Way, South San Francisco, CA 94080-6370-Main Office: (650) 588-9200-Outside Local Area: (800) 258-9200-www.stevenengineering.com
Mint The Real-Time Automation LanguageMint Machine CenterDesign and CreateMint Machine Center (MMC) provides a suite of tools to design, create andultimately control your application, and can streamline your design cycles to saveyou time and money.DesignA graphical tree-view interface represents all connecteddevices within a Mint network configuration. Devices cansystem simply scanned and devices detected. This networkDocument Project with Document Links,Web Links and Images.view is useful for visualizing all devices and startingMMC allows you to create document links to any relatedcommissioning. The application view allows you to groupdocuments such as specifications, images, web links,devices into a logical order other than address or typeuser manuals and reports. These describe the applicationsequence of the network view. By allowing group names todesign and simultaneously document the system as part ofbe defined and each device given a logical name, you canthe project file.be added offline and the design implemented later, or thecreate a custom view of the system which represents yourapplication or machine configuration.ConfigureWizard Setup Minimizes KnowledgeRequirement and Saves you Time.Wizards have been designed to automate many tasks,Making configuration changes to any device is simple.reducing set up time and minimizing knowledge requiredClick on the device icon, within the network or applicationby incorporating the knowledge of skilled technicians.view, to launch the Mint Workbench directly connectedThese step-by-step guides automate processes suchto that device. Wizards, auto-tuning, and online help haveas network configuration, drive configuration, auto-tuningbeen designed to guide you through the process of deviceand more.configuration.Network WizardConfiguring an Ethernet control system is simplified byproviding a step-by-step guide through the process. Alldevices are configured by simple choices, such as modeof operation, which automatically recommends the datato send and receive. Additional data from any device canbe mapped back to the manager and used in the Mintapplication directly. This includes data such as measuredspeed, digital input states, measured current and absoluteposition from an encoder.Courtesy of Steven Engineering, Inc.-230 Ryan Way, South San Francisco, CA 94080-6370-Main Office: (650) 588-9200-Outside Local Area: (800) 258-9200-www.stevenengineering.com
Windows developmentthrough ActiveX 13Host PCThe supplied ActiveX control provide programmersApplicationEntire motion control applications can be written on the PC, or combined with a Mint orembedded C program. A consistent API (Application Programming Interface) is maintainedbetween the different programming languages.PC Applicationwith the ability to call high level Mint languageMint ActiveX provides access to: Program control Mint motion commands Comms Array Data Status and Control Program Download Real-time motion profiling Events Errors CANbusfunctions on the motion controller, or servodrive, from popular high-level rapid applicationMint ActiveX Controldevelopment environments for Windows , such as Communication PortsVisual Basic, Visual C , Delphi and LabVIEW.The ActiveX control provides access to all the motion control and I/OMint Motion Controllerfunctions on the controller, allowing a Windows front end to act asMint or Embedded Ca machine controller. All Mint based events are supported, allowingfor example, an input to interrupt the executing Windows program. Inaddition, an ActiveX developed front-end can operate in parallel witha Mint or Embedded C application running on the controller.APITerminalInterfaceMint Motion Library (MML)All ActiveX commands share the same Application ProgrammingMotion APIImmediate commandmode allows directaccess to motion andI/O commands,bypassing any Mint orC programHardware LayerDAC’s I/O, Encoder Interfaces etcInterface (API) names as Mint, making it easy to switch betweenlanguages on the controller and PC.Features include: Common API with Mint language Controller objects allow projects to be quickly and easilymoved between Baldor products Full access to all I/O and motion keywords Interrupt capability on Mint events - operational over PCI- Support for all Baldor motion controllers and servo drivesbus and USBConsistent API Eases ProgrammingWhether you are programming in Mint, embedded C or using the ActiveX con
MintDrive-II MintDrive-II Flex Drive-II Flex Drive-II Flex Drive-II Flex Drive-II Flex Drive-II Group1 Group2 CANopenBus Group3 Peer-to-Peer Communications Baldor’s CANopen implementation extends the Comms Array further and allows peer-to-peer networking between compatib
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Baldor Education Workshops Warranties and Sales Policies Cross Reference and Index Baldor Sales Offices Features: Complete kits with all hardware necessary for converting Baldor 56 through 445T frame rigid base motors to “C-Face” mounting with base. For a Baldor conversion, refer to the Mod Express Section in this .
Baldor Motor Kit Programming Baldor H2 and VS Drives on Dryers Built 1994-1997 For the purpose of making Baldor AC drives work with Zimmerman control panels some parameter settings must be changed. Some parameters remain unchanged. When programming AC drive you must change only para
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