Baldor MN1928 Bedienungsanleitung

NextMove ES Motion Controller MOTIO N CONTROL Installation Manual 01/05 M N1928[...]

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Content s i MN1928 Contents 1 General Information 1-1 ................................. 2 Introduction 2-1 ........................................ 2.1 Next Move ES feat ures 2-1 .................................. 2.2 Receiving and inspec tion 2-3 ................................ 2.2.1 Identify ing the c atalog number 2-3 ..........................[...]

ii Cont ents MN1928 5 Backplanes 5 -1 ........................................ 5.1 I ntr oduction 5-1 ............................................ 5.2 BPL010 -501 non-isolat ed backplane 5-2 ....................... 5.2.1 Analog inputs 5-3 .................................................. 5.2.2 Analog outputs (demands ) 5-4 ........................[...]

Content s ii i MN1928 6.4 S t epper axis - test ing 6-10 .................................... 6.4.1 T est ing the output 6-10 .............................................. 6.5 Serv o axis - test ing and tuning 6-1 1 ............................ 6.5.1 T est ing the demand output 6-1 1 ....................................... 6.5.2 An introduc tion t[...]

iv Cont ents MN1928 8.1.10 Enc oder inputs 8-4 ................................................ 8.1.1 1 S tepper c ontrol outputs 8-4 .......................................... 8.1.12 Serial R S232/R S485 port 8-4 ........................................ 8.1.13 CAN int erfac e 8 -5 ................................................. 8.1.14 Env ironme[...]

www .s upportme.net General I nformat ion 1- 1 MN1928 L T0202A02 Copyr ight Baldor (c ) 2005. A ll rights r eser ved. This manual is c opy righted and all right s ar e res erv ed. This document or attac hed s oftwar e may not, in whole or in par t, be c opied or repr oduced in any form w ithout the prior wr itten c onsent of B ALDO R. BALD OR makes[...]

www .s upportme.net 1-2 General Inf ormati on MN1928 Safety Notice Only qualified pers onnel s hould attempt to s tar t -up, program or troubles hoot this equipment. This equipment may be c onnec ted to other machines that hav e rot ating parts or par ts t hat are cont rolled by t his equipment . Improper us e c an caus e s erious or fatal i njury.[...]

www .s upportme.net Int roducti on 2-1 MN 1928 2.1 NextMove ES features Nex tMov e ES is a high perfor mance multi -axis intelligent c ontroller for s erv o and s tepper motors . Nex tMov e ES feat ures t he MintMT motion cont rol language. MintMT is a s truc tured f orm of Bas ic, c us tom des igned for s erv o or s tepper motion c ontrol applic a[...]

www .s upportme.net 2-2 I ntroduct ion M N1928 Inc luded with N extMov e ES is t he Baldor Motion T oolk it C D. This c ontains a number of utilities and usef ul res ourc es to get t he most f rom you Mint MT cont roller . Thes e include: H WorkBenc h v 5 This is the us er interfac e for c ommunic a ting with the Nex tMov e ES. Ins talling WorkBenc[...]

www .s upportme.net Int roducti on 2-3 MN 1928 2.2 Receiving and inspectio n When y ou receiv e y our N extMov e ES , there ar e sev eral things y ou s hould do immediately : 1. Chec k t he conditi on of the pack aging and repor t any damage immediately to the c arrier that deliv ered y our Nex tMov e ES. 2. Remov e the N ext Move ES from the shipp[...]

www .s upportme.net 2-4 I ntroduct ion M N1928 2.3 Units and abbreviations The following unit s and abbr eviations may appear in this manual: V V olt ( also VAC and VDC ) ............... WW a t t .............. A Ampere ............... Ω Ohm ............... m Ω milliohm ............. µF mic rofarad .............. pF picofar ad .............. m[...]

www .s upportme.net Basic I nst allat ion 3-1 MN1928 3.1 Intr oduction Y ou should read all t he sections in Basi c Instal lation . It is important that the c orrec t s teps are follow ed when ins talling the Nex tMov e ES. This sec tion des cr ibes t he mechanic al ins tallation of the N extMov e ES . 3.1. 1 Lo cati on req ui rements Y ou must r e[...]

www .s upportme.net 3-2 Basic Inst all ation MN1928 3.1 .2 Inst alling the Ne xtM ove ES c ar d CAUTION : Before touc hing the c ard, be s ure t o disc harge s tatic elec tric ity from y our body and c lothing by touc hing a grounded metal s urfac e. A lternativ ely, wear an ear th s trap while handling t he card. The Nex tMov e ES is des igned to [...]

www .s upportme.net Input / Out put 4- 1 MN1928 4.1 Intr oduction This s ec tion des cr ibes the input and output c apabilities of the Nex tMov e ES. The following c onv entions will be us ed to refer to the inputs and outputs : I/O Input / O utput .............. DIN Digital Input ............. DO UT Digit al Output ........... AIN Analog Input ...[...]

www .s upportme.net 4-2 Input / Output MN1928 4.2. 1 96-p in co nn ecto r pin assi gn men t Row Pin c b a 1 +5VDC +5VDC +5V DC 2 +5VDC +5VDC +5V DC 3 DGND DGND DGND 4 DOUT6 DOUT7 OUT COM 5 DOUT3 DOUT4 DOUT5 6 DOUT0 DOUT1 DOUT2 7 Enc oder 1 CH B+ Enc oder 0 CH A+ Encoder 0 C HB+ 8 Enc oder 1 CH Z+ Encoder 0 CH Z+ E ncoder 1 CH A+ 9 Enc oder 1 CH A -[...]

www .s upportme.net Input / Out put 4- 3 MN1928 4.3 Analog I/O The Nex tMov e ES pr ovides : H T w o 12-bit res olution analog inputs . H Four 12 -bit res olution analog outputs . 4.3 .1 Ana log input s The analog inputs are av ailable on pins a28 & b28 (AIN 0) and a27 & c 28 (A IN1) . H Differential inputs . H V oltage r ange: ±10V . H Re[...]

www .s upportme.net 4-4 Input / Output MN1928 AIN0 ( ADC.0 ) AIN0 ( ADC.0 ) b28 a28 a30 AIN0- Differential connec tion Single ended c onnection AIN0+ AI N0+ GND b28 a28 a30 Figure 2 - AIN 0 analog input wir ing AIN0 1k Ω , 0.25W potentiometer ( ADC.0 ) 1.5k Ω , 0.25W 0V +24VDC b28 a28 a30 Figure 3 - T ypical input circuit to provide 0-10V (appr[...]

www .s upportme.net Input / Out put 4- 5 MN1928 4.3 .2 Ana log output s The four analog output s are av ailable on a range of pins, as s hown in s ec tion 4.2.1. H Four independent analog output s. H Output r ange: ±10VD C (±0.1%) . H Res olution: 12 -bit. H Output c urr ent: 10mA max imum. H Update fr equency : 10k Hz max imum (adjus table us in[...]

www .s upportme.net 4-6 Input / Output MN1928 Next Move ES Demand0 AGND 2 Fle xDri v e II / dr ive amplif ier AIN0+ AIN0- Connect overall s hield at one end only a32 Shield Drive amplif ier ±10VDC demand input - + c27 a30 1 ‘X1’ Figure 6 - Analog out put - typical connection to a Baldor FlexDrive II , Flex+Dr ive II or MintD rive II[...]

www .s upportme.net Input / Out put 4- 7 MN1928 4.4 Digital I/O The Nex tMov e ES pr ovides : H 20 general purpos e digital inputs . H 12 general purpos e digital outputs . 4.4 .1 Digit al input s The digital inputs are av ailable ac ros s a r ange of pins, as s hown in s ec tion 4.2.1. A ll digital inputs have a c ommon s pecif ication: H 5V digit[...]

www .s upportme.net 4-8 Input / Output MN1928 4.4.1.2 Auxiliary encoder inputs - DIN17 (STEP), DIN18 (DIR ), DIN19 (Z) DIN 17-DIN 19 may als o be us ed as an auxiliar y enc oder input. DIN 17 acc epts s tep (puls e) signals and D IN18 ac c epts dir ection s ignals , allowing an ex ter nal sour ce to pr ovide the refer ence for the s peed and direc [...]

www .s upportme.net Input / Out put 4- 9 MN1928 DGND DIN0 GND MintMT INX.0 +5V Next Move ES 10k 74AHCT14 1nF USRV+ DOUT0 Fle xDri v e II / equipment output NEC PS2562L-1 User supply GND User supply 24V ‘X1’ 6 18 c21 a3 Figure 9 - Digital input - t ypical connec tions from a B aldor FlexDrive II , Flex+Dr ive II or MintDrive II[...]

www .s upportme.net 4-10 Input / Output MN1928 4.4. 2 Dig ital ou tp uts The digital outputs are av ailable ac ros s a r ange of pins, as s hown in s ec tion 4.2.1. H 12 general purpos e digital outputs . H One er ror output, c onfigur able as a gener al purpos e digital output. H Update fr equency : Immediat e. There are 12 gener al purpos e digit[...]

www .s upportme.net Input / Out put 4- 11 MN1928 4.4.2.2 DO UT 8 - DO UT1 1 Outputs D OU T8 - DOU T1 1 are dr iven by a U LN2003 dev ice. T he outputs are des igned to si nk cur rent from an ex ternal s upply (t ypic ally 24VDC ), but hav e no over cur rent or s hort c irc uit protec tion. When an output is ac tiv ated, it is grounded thr ough the [...]

www .s upportme.net 4-12 Input / Output MN1928 4.4 .3 Err or output - Error Out The error output is available on pin b1 1. This 100mA output c an be us ed to st op exter nal equipment in the event of an err or . The output level c an be c ontrolled us ing jumpers JP3, J P4 and JP 5, whic h are s ituated at the top edge of the car d. Connec t the lo[...]

www .s upportme.net Input / Out put 4- 13 MN1928 4.5 Other I/O 4.5 .1 S teppe r control output s The s tepper c ontrol outputs are av ailable ac ros s a r ange of pins , as s hown in s ec tion 4.2.1. There are f our s ets of stepper motor c ontrol out puts, operating in the r ange 0Hz to 500k Hz . Eac h of the s tep (puls e) and direc tion s ignals[...]

www .s upportme.net 4-14 Input / Output MN1928 4.5 .2 Encode r inputs The enc oder inputs are av ailable on pins a7 -a10, b7 -b10 and c7 -c10. See s ec tion 4.2.1. T w o incr emental encoder s may be c onnec ted to Nex tMov e ES, eac h w ith complement ary A, B and Z channel input s. E ach input channel us es a MAX3095 differential line rec eiv er [...]

www .s upportme.net Input / Out put 4- 15 MN1928 A and B signal Maximum cable len gth A a n d B s i g n a l frequency meters f eet 1.3MHz 2 6.56 500kHz 10 32.8 250kHz 20 65.6 100kHz 50 164.0 50kHz 100 328.1 20kHz 300 984.2 10kHz 700 2296.6 7kHz 1000 3280.8 T able 2 - Effect of cable length on maximum e ncoder frequency 4.5. 3 USB p ort Locatio n US[...]

www .s upportme.net 4-16 Input / Output MN1928 4.5. 4 Serial p o rt Locatio n Seria l Mating c onnector : 9 -pin female D -type Pin RS232 n ame RS485 / R S422 name 96-pin connector 1 Shield (NC) a32 2 RXD RX - (input) a20 3 TXD TX - (output ) a21 4 (NC) (NC) a16* 5 DGND 0V DGND a3 6 (NC) (NC) a17* 7 RTS TX + (output) b21 8 CTS RX+ (input ) a22 9 DG[...]

www .s upportme.net Input / Out put 4- 17 MN1928 NextMove ES (DCE) 9- -p i n Computer COM Port (DCE / DTE) Serial RXD 2 TXD 3 GND 5 2R X D 3T X D 5G N D RTS 7 CTS 8 7R T S 8C T S COM Connect overall shiel d to connector backs hell. Figure 15 - RS232 serial port connections The RS 232 port is conf igured as a DC E (D ata Communic ations Equipment) u[...]

www .s upportme.net 4-18 Input / Output MN1928 4.5. 6 Mu lti dro p u sin g RS485 / RS422 Mu lti dro p system s a ll ow on e de vice to a ct as a ‘ne twor k m ast er’ , con tro lling and interacting with the ot her (s lav e) dev ices on the netw ork . The netw ork mast er c an be a contr oller s uch as Nex tMov e ES, a hos t applic ation s uch a[...]

www .s upportme.net Input / Out put 4- 19 MN1928 4.5. 7 Con nect in g serial Bal do r HMI Op erato r Panel s Serial B aldor HMI O perator Panels use a 15 -pin male D -type c onnec tor (mar ked P LC PO RT), but the Nex tMov e ES S erial c onnector uses a 9 -pin male D -type c onnector. The Nex tMove E S may be c onnec ted with or without hardwar e h[...]

www .s upportme.net 4-20 Input / Output MN1928 4.6 CAN The CA N bus is a s erial bas ed netw ork originally developed f or automotiv e applicat ions, but now us ed for a w ide range of indus trial applic ations . It offers low -cos t s erial c ommunicat ions with v ery high reliability in an indus trial env ironment; the probability of an undetec t[...]

www .s upportme.net Input / Out put 4- 21 MN1928 4.6 .2 CA N wiring A v ery low err or bit rat e over CAN c an only be ac hiev ed with a s uitable wir ing sc heme, s o the following points s hould be obs erv ed: H The two -wire data bus line may be routed par allel, twis ted and/or shielded, depending on EMC r equirements . Baldor r ecommend a t wi[...]

www .s upportme.net 4-22 Input / Output MN1928 4.6. 3 CANop en The Nex tMov e ES mus t hav e the CAN open firmw are loaded to us e this protoc ol. Baldor hav e implemented a C ANopen pr otocol in Mint MT (bas ed on the ‘Communic ation Profile’ C iA DS -301) which s upports both dir ect acc es s t o devic e parameter s and t ime-c ritic al proc [...]

www .s upportme.net Input / Out put 4- 23 MN1928 Note: All CAN r elated MintMT k eyw ords are ref erenc ed to either C ANopen or B aldor CAN us ing the ‘bus’ dot parameter . Although t he Nex tMove E S has a single phys ic al CAN bus channel t hat may be us ed to c arr y either protoc ol, MintMT dist inguishes betw een the protoc ols with the ?[...]

www .s upportme.net 4-24 Input / Output MN1928 channel t o operate on pins 1 and 2 of the RJ 45 c onnec tors . On t he Baldor C AN node, jumper JP 3 can be us ed to c onnec t an internal 120 Ω ter minating res istor, provided the node is at the end of the netw ork . Jumper s J P4 and J P5 c an be us ed to conf igure the node ID and baud rate. Up [...]

www .s upportme.net Input / Out put 4- 25 MN1928 4.7 Connectio n su mm a ry - minimum system wiring As a guide, Figure 21 s hows an ex ample of the ty pic al minimum wiring r equired to allow the Nex tMov e ES and a s ingle ax is s tepper amplif ier to wor k t ogether . T he optional opto -isolating back plane c ard BP L010-502 is show n. Details o[...]

www .s upportme.net 4-26 Input / Output MN1928 Backplan e card connector Pin Nam e of signal Function Connection on amplifier (Not e: connect ions may be labeled differently) X6 9 USR GND Us er power s upply G ND Enable signal gr ound X8 9 REL NO Switc hed relay c ontact Enable s ignal input 10 REL COM Common relay c onnec tion ( l i n k e dt oU S [...]

www .s upportme.net Backplanes 5- 1 MN1928 5.1 Intr oduction This s ec tion des cr ibes the opt ional back plane c ards available f or us e with the N extMov e ES . Thes e cards all pr ovide s tandard w iring c onnect ions to t he Nex tMove E S, but ther e are a number of v ariants available: H Baldor part number BPL010 -501: Non -isolated bac kpla[...]

www .s upportme.net 5-2 Backpl anes MN1928 5.2 BP L010-501 non-isolated backplane This back plane prov ides direc t c onnection t o the Nex tMove E S s ignals w ithout is olation. The elect rical s pec ific ations of all s ignals are t herefore t he same as des cr ibed in sec tion 4. In the followi ng sec tions , the s ignals A GN D, D GN D and Shi[...]

www .s upportme.net Backplanes 5- 3 MN1928 5.2 .1 Ana log input s Locatio n X8 Mating c onnector : Weidmüller Omnimate B L 3.5/10 Pin Nam e Descr iptio n 96-pin connector 10 Shield Shield c onnec tion a32 9 DGND Digital gr ound a3 8 !RSTIN Res et input c12 7 ERROR Error output b1 1 6 AGND Analog gr ound a30 5 AIN1- A nalog input AIN 1- a27 4 AIN1+[...]

www .s upportme.net 5-4 Backpl anes MN1928 5.2 .2 Ana log outputs ( dem ands ) Locatio n X7 Mating c onnector : Weidmüller Omnimate B L 3.5/12 Pin Nam e Descr iptio n 96-pin connector 12 Shield Shield c onnec tion a32 11 AGND Analog gr ound a30 10 DEMAND3 Analog output AOU T3 b22 9 Shield Shield c onnec tion a32 8 AGND Analog gr ound a30 7 DEMAND2[...]

www .s upportme.net Backplanes 5- 5 MN1928 5.2 .3 Digit al inputs 0 -7 Locatio n X12 Mating c onnector : Weidmüller Omnimate B L 3.5/10 Pin Nam e Descr iptio n 96-pin connector 10 Shield Shield c onnec tion a32 9 DGND Digital gr ound a3 8 DIN7 Digital input D IN7 a19 7 DIN6 Digital input D IN6 c20 6 DIN5 Digital input D IN5 b19 5 DIN4 Digital inpu[...]

www .s upportme.net 5-6 Backpl anes MN1928 5.2 .5 Digit al inputs 1 6-19 Locatio n X6 Mating c onnector : Weidmüller Omnimate B L 3.5/5 Pin Nam e Descr iptio n 96-pin connector 5 DGND Digital gr ound a3 4 DIN19 Digital input DIN 19 b26 3 DIN18 Digital input DIN 18 c25 2 DIN17 Digital input DIN 17 c24 1 DIN16 Digital input DIN 16 c1 1 See s ection [...]

www .s upportme.net Backplanes 5- 7 MN1928 5.2. 7 Dig ital o u tpu ts 8-1 1 Locatio n X5 Mating c onnector : Weidmüller Omnimate B L 3.5/5 Pin Nam e Descr iptio n 96-pin connector 5 DGND Digital gr ound a3 4 DOUT1 1 D igital output D OU T1 1 c22 3 DOUT10 Digital output DO UT10 c16 2 DOUT9 Digital output D OU T9 b13 1 DOUT8 Digital output D OU T8 a[...]

www .s upportme.net 5-8 Backpl anes MN1928 5.2. 8 Stepp er axes ou tp uts 0-1 Locatio n X9 Mating c onnector : Weidmüller Omnimate B L 3.5/12 Pin Nam e Descr iptio n 96-pin connector 12 Shield Shield c onnec tion a32 11 DIR1+ Direct ion output 1+ b15 10 DIR1- Dir ection output 1 - 9 STEP1+ S tep (puls e) out put 1+ b14 8 STEP1- Step (pulse) output[...]

www .s upportme.net Backplanes 5- 9 MN1928 5.2. 9 Stepp er axes ou tp uts 2-3 Locatio n X10 Mating c onnector : Weidmüller Omnimate B L 3.5/12 Pin Nam e Descr iptio n 96-pin connector 12 Shield Shield c onnec tion a32 11 DIR3+ Direct ion output 3+ a23 10 DIR3- Dir ection output 3 - 9 STEP3+ S tep (puls e) out put 3+ b23 8 STEP3- Step (pulse) outpu[...]

www .s upportme.net 5-10 Backpl anes MN1928 STEP2+ DGND 1 DS26LS31 STEP2- 3 Backpla ne MicroF lex / drive amp lifier DGND Step Connect shiel ds at one end only 6 Shield ‘X3’ ‘X10’ 10 11 DIR2+ DS26LS31 DIR2- 5 T wisted pairs Dir 9 96 pin connector Figure 25 - Stepper output STEP2 - typical connection to a Baldor MicroFlex STEP2+ DGND 1 DS26L[...]

www .s upportme.net Backplanes 5- 1 1 MN1928 5.2 .10 Power input s Locatio n X1 Mating c onnector : Weidmüller Omnimate B L 3.5/5 Pin Nam e Descr iptio n 96-pin connector 5 DGND Digital gr ound a3 4 DGND Digital gr ound a3 3 +5V +5V input a1 2 -12V - 12V input a31 1 +12V +12V input a29 See s ection 3. 1.3 for pow er requir ements. 5.2 .1 1 Encode [...]

www .s upportme.net 5-12 Backpl anes MN1928 5.2 .12 Encode r input 1 Locatio n X2 Enc oder1 Mating c onnector : 9 -pin male D-ty pe Pin Nam e Descr iptio n 96-pin connector 1 CHA+ Channel A s ignal a8 2 CHB+ Channel B s ignal c7 3 CHZ+ Index c hannel s ignal c8 4 Shield Shield c onnec tion a32 5 DGND Digital gr ound a1 6 CHA- C hannel A s ignal com[...]

www .s upportme.net Backplanes 5- 13 MN1928 5.3 BPL010-502/503 backplane with opt o-isolator card Thes e back planes are prov ided with an addit ional plug in car d whic h prov ides opt o-is olation for many of the Nex tMov e ES s ignals . On BP L010 -502, the general purpos e digital outputs are PN P (c urr ent s ourc ing) outputs . The general pu[...]

www .s upportme.net 5-14 Backpl anes MN1928 Shield USRGND USRGND USR V+ USR V+ !RSTIN DIN19 DIN18 DIN17 DIN16 X2 X3 X4 X6 X7 X8 X9 X10 X1 1 X12 X13 X5 Shield USRGND DIN15 DIN14 DIN13 DIN12 DIN1 1 DIN10 DIN9 DIN8 Shield USRGND DIN7 DIN6 DIN5 DIN4 DIN3 DIN2 DIN1 DIN0 USRCOM OUTC OM DOUT 7 DOUT 6 DOUT 5 DOUT 4 DOUT 3 DOUT 2 DOUT 1 DOUT 0 Shield DIR3+ [...]

www .s upportme.net Backplanes 5- 15 MN1928 5.3 .1 Ana log input s Locatio n X8 Mating c onnector : Weidmüller Omnimate B L 3.5/10 Pin Nam e Descr iptio n NextMo ve ES 96-pin connector 10 REL COM C ommon relay c ontact 9 REL NO Nor mally open relay contac t 8 REL NC Normally c losed relay c ontact 7 REL COM C ommon relay c ontact 6 Shield Shield c[...]

www .s upportme.net 5-16 Backpl anes MN1928 5.3.1.1 Er ror relay con nection s The double -pole relay on the opto -isolator c ard is c ontr olled direc tly by the E rror O ut s ignal (s ecti on 4.4.3), as s hown in Figur e 29. Relay Next Move ES REL COM REL NC REL NO 96 pin connector Backpla ne 7 9 ‘X8’ 8 MintMT GLOBALERROROUTPUT or DRIVEENABLE[...]

www .s upportme.net Backplanes 5- 17 MN1928 5.3 .2 Ana log outputs ( dem ands ) Locatio n X7 Mating c onnector : Weidmüller Omnimate B L 3.5/12 Pin Nam e Descr iptio n NextMo ve ES 96-pin connector 12 Shield Shield c onnec tion a32 11 AGND Analog gr ound a30 10 DEMAND3 Analog output AOU T3 b22 9 Shield Shield c onnec tion a32 8 AGND Analog gr ound[...]

www .s upportme.net 5-18 Backpl anes MN1928 5.3 .3 Digit al inputs 0 -7 Locatio n X12 Mating c onnector : Weidmüller Omnimate B L 3.5/10 Pin Nam e Descr iptio n NextMo ve ES 96-pin connector 10 Shield Shield c onnec tion a32 9 USR GND Cus tomer power s upply gr ound 8 DIN7 Digital input D IN7 a19 7 DIN6 Digital input D IN6 c20 6 DIN5 Digital input[...]

www .s upportme.net Backplanes 5- 19 MN1928 5.3 .4 Digit al inputs 8 -15 Locatio n X13 Mating c onnector : Weidmüller Omnimate B L 3.5/10 Pin Nam e Descr iptio n NextMo ve ES 96-pin connector 10 Shield Shield c onnec tion a32 9 USR GND Cus tomer power s upply gr ound 8 DIN15 Digital input DIN 15 b18 7 DIN14 Digital input DIN 14 c2 3 6 DIN13 Digita[...]

www .s upportme.net 5-20 Backpl anes MN1928 5.3 .5 Digit al inputs 1 6-19 Locatio n X6 Mating c onnector : Weidmüller Omnimate B L 3.5/10 Pin Nam e Descr iptio n NextMo ve ES 96-pin connector 10 Shield Shield c onnec tion a32 9 USR GND Cus tomer power s upply gr ound 8 USR GND Cus tomer power s upply gr ound 7 USR V+ Cus tomer pow er supply 6 USR [...]

www .s upportme.net Backplanes 5- 21 MN1928 St atus+ St atus- MicroFlex / equi pment output NEC PS2562L-1 Backpl ane & opto-isolator card 96 pin connector 2k2 TLP521-4 DIN16 User supply 24V User supply GND USR GND ‘X3’ ‘X6’ 3 2 1 8 Figure 32 - Digital input - typical connections from a Baldor MicroFlex USRV+ DOUT0 6 18 Fle xDri v e II /[...]

www .s upportme.net 5-22 Backpl anes MN1928 5.3.5.2 B PL010-503 - A ctive low inputs The us er power supply c onnect ion USR V+ is c ommon to all inputs . T o ac tivat e an input it must be gr ounded to the 0V s ide of the us er pow er s upply ( USR GN D) . The internal pull -up res istor on the Nex tMov e ES allow s t he input to be left floating [...]

www .s upportme.net Backplanes 5- 23 MN1928 USRV+ DOUT0 Fle xDri v e II / equipment output NEC PS2562L-1 Backpl ane & opto-isolator card 96 pin connector 2k2 TLP521-4 USR V+ DIN16 User supply 24V User supply GND ‘X1’ ‘X6’ 6 18 6 1 Figure 36 - Digital input - typical connections from a Baldor FlexDrive II , Flex+Dr ive II or MintDrive II[...]

www .s upportme.net 5-24 Backpl anes MN1928 5.3. 6 Dig ital o u tpu ts 0-7 Locatio n X1 1 Mating c onnector : Weidmüller Omnimate B L 3.5/10 Pin Nam e Descr iptio n NextMo ve ES 96-pin connector 10 USR COM Common s upply c onnec tion* a3 9 OUT COM Common* a4 8 DOUT7 Digital output D OU T7 b4 7 DOUT6 Digital output D OU T6 c4 6 DOUT5 Digital output[...]

www .s upportme.net Backplanes 5- 25 MN1928 5.3.6.1 BP L010-502 - P NP o utputs An external supply ( typic ally 24VD C) is us ed to power the UDN 2982 output devic es , as shown in Figure 37. When an out put is ac tiv ated, c urrent is s ourc ed from the us er s upply through the UD N2982, whic h c an s ourc e up to 75mA per output (all outputs on,[...]

www .s upportme.net 5-26 Backpl anes MN1928 5.3. 7 Dig ital o u tpu ts 8-1 1 Locatio n X5 Mating c onnector : Weidmüller Omnimate B L 3.5/5 Pin Nam e Descr iptio n NextMo ve ES 96-pin connector 5 DGND Digital gr ound a3 4 DOUT1 1 D igital output D OU T1 1 c22 3 DOUT10 Digital output DO UT10 c16 2 DOUT9 Digital output D OU T9 b13 1 DOUT8 Digital ou[...]

www .s upportme.net Backplanes 5- 27 MN1928 5.3. 8 Stepp er axes ou tp uts 0-1 Locatio n X9 Mating c onnector : Weidmüller Omnimate B L 3.5/12 Pin Nam e Descr iptio n NextMo ve ES 96-pin connector 12 Shield Shield c onnec tion a32 11 DIR1+ Direct ion output 1+ b15 10 DIR1- Dir ection output 1 - 9 STEP1+ S tep (puls e) out put 1+ b14 8 STEP1- Step [...]

www .s upportme.net 5-28 Backpl anes MN1928 5.3. 9 Stepp er axes ou tp uts 2-3 Locatio n X10 Mating c onnector : Weidmüller Omnimate B L 3.5/12 Pin Nam e Descr iptio n 96-pin connector 12 Shield Shield c onnec tion a32 11 DIR3+ Direct ion output 3+ a23 10 DIR3- Dir ection output 3 - 9 STEP3+ S tep (puls e) out put 3+ b23 8 STEP3- Step (pulse) outp[...]

www .s upportme.net Backplanes 5- 29 MN1928 STEP2+ DGND 1 DS26LS31 STEP2- 3 Backpla ne MicroF lex / drive amp lifier DGND Step Connect shiel ds at one end only 6 Shield ‘X3’ ‘X10’ 10 11 DIR2+ DS26LS31 DIR2- 5 T wisted pairs Dir 9 96 pin connector Figure 42 - Stepper output STEP2 - typical connection to a Baldor MicroFlex STEP2+ DGND 1 DS26L[...]

www .s upportme.net 5-30 Backpl anes MN1928 5.3 .10 Power input s Locatio n X1 Mating c onnector : Weidmüller Omnimate B L 3.5/5 Pin Nam e Descr iptio n NextMo ve ES 96-pin connector 5 DGND Digital gr ound a3 4 DGND Digital gr ound a3 3 +5V +5V input a1 2 -12V - 12V input a31 1 +12V +12V input a29 See s ection 3. 1.3 for pow er requir ements. 5.3 [...]

www .s upportme.net Backplanes 5- 31 MN1928 5.3 .12 Encode r input 1 Locatio n X2 Enc oder1 Mating c onnector : 9 -pin male D-ty pe Pin Nam e Descr iptio n 96-pin connector 1 CHA+ Channel A s ignal a8 2 CHB+ Channel B s ignal c7 3 CHZ+ Index c hannel s ignal c8 4 Shield Shield c onnec tion a32 5 GND Digital gr ound a1 6 CHA- C hannel A s ignal comp[...]

www .s upportme.net 5-32 Backpl anes MN1928[...]

www .s upportme.net Operat ion 6-1 MN1928 6.1 Intr oduction The s oftware pr ovi ded includes a number of applic ations and utilities to allow you to c onfigur e, tune and program the N ex tMove E S. The Baldor Motion T oolk it CD cont aining the sof twar e can be found s eparat ely w ithin the pac kaging. 6.1. 1 Con nect in g t he Next Move E S to[...]

www .s upportme.net 6-2 Oper ation MN1928 6.1. 4 Preli mi nary ch ecks Before y ou apply power for the fir st time, it is v ery important to v erif y the f ollowing: H Dis connec t the load f rom the motor until ins truc ted to apply a load. H Inspec t all pow er c onnect ions for acc urac y, work manship and tight ness . H V er ify t hat all wirin[...]

www .s upportme.net Operat ion 6-3 MN1928 6.2 W orkBench v5 WorkBenc h v5 is a fully featured application f or programming and controlling t he Next Move E S. The main WorkBenc h window c ontains a menu s ys tem, the T oolbox and other toolbars . Many func tions c an be ac ces s ed from the menu or by c lic king a but ton - use whic hev er y ou pre[...]

www .s upportme.net 6-4 Oper ation MN1928 6.2. 2 St arti ng WorkBen ch v5 1. On the W indows Start menu, selec t Programs , Wo r kBe nch v 5, Wo r kBe nch v 5 . WorkBenc h v 5 will s tart, and the Tip of the Day dialog w ill be dis played. Y ou can prev ent the Tip of the D ay dialog appear ing next time by r emoving the c hec k mark next t o Show [...]

www .s upportme.net Operat ion 6-5 MN1928 3. In the Selec t Cont roller dialog, go to t he drop down box near the t op and selec t the P C ser ial port to w hich t he Nex tMove E S is connec ted. I f you ar e unsur e whic h PC s erial por t is c onnec ted to the N extMov e ES , s elect S can all serial p orts . I f t he Ne xtM ove ES is connec ted [...]

www .s upportme.net 6-6 Oper ation MN1928 6.3 Configur ing an axi s The Nex tMov e ES is c apable of cont rolling 4 s tepper and 2 s erv o axes . This s ec tion desc ribes how to c onfigure both t ypes of ax is . 6.3. 1 Select in g t he axi s typ e An ax is c an be c onfigured as either a s erv o ax is or a st epper ax is. The f actor y pr eset con[...]

www .s upportme.net Operat ion 6-7 MN1928 6.3. 2 Select in g a scal e MintMT defines all pos itional and speed r elated motion key w ords in t erms of enc oder quadr ature count s (for s erv o motors ) or s teps for stepper mot ors. The number of quadrature counts ( or s teps ) is divided by the SCALEFACTOR allowing y ou to us e units mor e suitabl[...]

www .s upportme.net 6-8 Oper ation MN1928 6.3. 3 Sett in g th e d rive en abl e ou tp ut A driv e enable output allow s N ext Move E S to enable the ex ternal dr ive amplifier to allow motion, or dis able it in the ev ent of an er ror . Eac h axis c an be conf igured with it s ow n driv e enable output, or c an s hare an output w ith other ax es . [...]

www .s upportme.net Operat ion 6-9 MN1928 If y ou are going to us e a digital output, drag the bright blue O UT icon t o the grey D riv e E nable OP axis icon on t he right of the s creen. T o c onfigur e multiple ax es with the s ame driv e enable out put, repeat this step f or the other axes . 5. Clic k Apply at the bottom of the s cr een. This s[...]

www .s upportme.net 6-10 Oper ation MN1928 6.4 S tep per axis - testing This s ec tion des cr ibes the method f or tes ting a s tepper ax is. The st epper c ontrol is an open lo op syste m so no tu nin g is ne cessa ry . 6.4 .1 T esting the output This sec tion tes ts the operat ion and direc tion of the output. I t is r ecommended t hat the s ys t[...]

www .s upportme.net Operat ion 6-1 1 MN1928 6.5 Ser vo axis - testing and tuning This s ec tion des cr ibes the method f or tes ting and tuning a s erv o axis . The dr ive amplif ier must already have been t uned for bas ic c urr ent or v eloc ity c ontr ol of the motor . 6.5 .1 T esting t he de ma nd output This sec tion tes ts the operat ion and [...]

www .s upportme.net 6-12 Oper ation MN1928 5. T o repeat the tes ts for negative ( rev ers e) demands , ty pe: TORQUE.4=-5 This should c aus e a demand of -5% of maximum output ( -0.5V) t o be produc ed at the DEMA ND0 output. C orres pondingly, the S py window ’s V eloc ity dis play s hould show a negative v alue. 6. T o remov e the demand and s[...]

www .s upportme.net Operat ion 6-13 MN1928 6.5 .2 An intr oduction to c lose d loop contr ol This s ec tion des cribes the bas ic princ iples of c los ed loop contr ol. If y ou are familiar w ith clos ed loop c ontrol go s traight t o sec tion 6.6.1. When there is a requir ement to mov e an axis , the N ex tMove E S c ontrol s oftw are trans lates [...]

www .s upportme.net 6-14 Oper ation MN1928 The remaining gain ter ms ar e V el ocity Feed f orw ard ( K VELFF ) and Acceler ation F eed forward ( KACCEL ) desc ribed below . In s ummary, the following rules c an be used as a guide: H KPR OP: Inc reasing K PRO P w ill speed up t he respons e and reduc e the effect of distur bances and load v ariatio[...]

www .s upportme.net Operat ion 6-15 MN1928 Figure 45 - The NextMove ES servo loop[...]

www .s upportme.net 6-16 Oper ation MN1928 6.6 Ser vo axis - tuni ng for cur re nt control 6.6. 1 Select in g servo lo o p gai ns All s erv o loop parameters default to zer o, meaning that the demand out put will be z ero at power up. Mos t dr ive amplifier s c an be s et to c urrent (torque) cont rol mode or v elocit y c ontrol mode; chec k that t[...]

www .s upportme.net Operat ion 6-17 MN1928 3. Clic k in t he KPR OP box and enter a v alue that is approximately one quarter of the value of KDE RIV . If the motor begins t o vibrat e, decr ease the v alue of K PRO P or inc reas e the value of KD ERI V until the vibrat ion stops . Small c hanges may be all that is neces sar y . 4. In the Mov e T y [...]

www .s upportme.net 6-18 Oper ation MN1928 6.6 .2 Unde rda mpe d re sponse If the graph s how s that the res ponse is under damped (it ov ers hoots the demand, as show n in Figure 46) t hen the value f or KD ERIV should be i ncr eased to add ex tra damping t o the move. If the ov ers hoot is exc es si ve or os c illation has oc cur red, it may be n[...]

www .s upportme.net Operat ion 6-19 MN1928 6.6 .3 Ove rda mpe d res ponse If the graph s how s that the res ponse is ov erdamped ( it reac hes t he demand too slow ly, as show n in Figure 47) then the v alue for KD ERI V s hould be decr eased to r educe t he damping of the move. I f the ov erdamping is exc es si ve, it may be nec es sar y to inc re[...]

www .s upportme.net 6-20 Oper ation MN1928 6.6 .4 Cr itica lly dampe d res ponse If the graph s how s that the res ponse r eaches the demand quic k ly and only ov ers hoots the demand by a s mall amount, t his c an be c onsider ed an ideal res ponse for mos t sy s tems . See Figure 48. Measur ed position Demand position Figure 48 - Cr itically damp[...]

www .s upportme.net Operat ion 6-21 MN1928 6.7 Ser vo axis - eliminating steady-state err ors In syst em s wh ere p reci se po siti oni ng a ccur acy is r equired, it is often nec es sar y to pos ition within one enc oder c ount. Pr oportional gain, K PRO P , is not normally able to ac hiev e this becaus e a v ery s mall following err or will only [...]

www .s upportme.net 6-22 Oper ation MN1928 6.8 Ser vo axis - tun ing for velocity control Driv e amplifiers des igned for v eloc ity contr ol incor porate their own v eloc ity f eedback term to pr ovi de syste m da mpi ng. F or th is rea son, K DER IV (a nd KVEL) can often be set to zero. Correct s etting o f the velocity feed fo rward gain KVELFF [...]

www .s upportme.net Operat ion 6-23 MN1928 The analog demand output is c ontrolled by a 12 -bit DAC, w hic h can c reate output volt ages in the range -10V to +10V . This means a max imum output of +10V c orr esponds to a D AC v alue of 2048. The v alue of KVELFF is calcula ted by dividin g 2048 by the number of quadr ature count s per s erv o loop[...]

www .s upportme.net 6-24 Oper ation MN1928 9. Us ing the c heck box es below the graph, selec t the Meas ured v eloc ity and D emand vel ocit y tra ces. Measur ed velocity De ma nd vel oci ty Figure 49 - Corr ect value of KVELFF It may be neces s ary to mak e changes to t he calc ulated v alue of KVELFF . If the trace for Measur ed veloc ity appear[...]

www .s upportme.net Operat ion 6-25 MN1928 6.8 .2 Adjus ting KP ROP The KPR OP term c an be used t o reduce f ollowing err or . I ts v alue will us ually be muc h smaller than the v alue used for an equiv alent cur rent c ontrolled system . A fra cti onal v alue, for ex ample 0.1, will pr obably be a good s tart ing figure whic h c an then be inc r[...]

www .s upportme.net 6-26 Oper ation MN1928 Measur ed position Demand position Figure 50 - Cor rect value of KPRO P The two t rac es w ill probably appear wit h a small offs et from eac h other , whic h repres ents the following er ror . Adjus t KPR OP by s mall amounts until the tw o trac es appear on top of eac h other (appr oximat ely) , as s how[...]

www .s upportme.net Operat ion 6-27 MN1928 6.9 Digit al input/output configur ation The Digital I /O w indow c an be used t o setup other digital inputs and outputs . 6.9 .1 Digit al input configur ation The Digital I nputs tab allow s you t o define how eac h digital input w ill be triggered, and if it should be as s igned to a s pecial pur pose f[...]

www .s upportme.net 6-28 Oper ation MN1928 4. Now dr ag the IN1 ic on onto the Fw d Limit icon . This w ill s etup IN1 as the For ward Limit i nput of axis 0. 5. Clic k Apply to s end the c hanges t o the Nex tMov e ES. Note: If required, multiple inputs c an be c onfigured before c lic king A pply . 6.9 .2 Digit al output conf igura tion The Digit[...]

www .s upportme.net Operat ion 6-29 MN1928 6.10 Saving setup info rm ation When power is r emoved fr om the Nex tMov e ES all data, including c onfigur ation and tuning parameters , is los t. Y ou should t herefore s av e this information in a f ile, whic h can be l oaded when the c ard is nex t us ed. 1. In the T oolbox , clic k the Edit & Deb[...]

www .s upportme.net 6-30 Oper ation MN1928 4. On the main menu, c hoos e File , Save File . Loc ate a folder , enter a f ilename and c lic k S ave . 6.10. 1 L o adi ng saved i nf ormat io n 1. In the T oolbox , clic k the Edit & Debug ic on. 2. On the main menu, c hoos e File , Open File... Locate t he file and clic k Open . A S tartup bloc k s[...]

www .s upportme.net T roubl eshooti ng 7-1 MN1928 7.1 Intr oduction This sec tion ex plains common pr oblems and their s olutions. If y ou want to k now t he meaning of the LED indicat ors , see s ec tion 7.2. 7.1 .1 Proble m diagnosis If y ou have follow ed all the ins truc tions in this manual in sequenc e, y ou s hould have few problems installi[...]

www .s upportme.net 7-2 T r oubleshoot ing MN1928 7.2 NextMove ES indicators 7.2. 1 St atu s di spl ay The S t atus LE D normally dis plays the unit ’s node number . T o display informat ion about a s pecific axis , us e the LED k eyw ord (s ee the MintMT help file) . When a spec ific axis is s elec ted, the following sy mbols may be display ed b[...]

www .s upportme.net T roubl eshooti ng 7-3 MN1928 Offset move. T he axis is perfor ming an offset move. Pos itional Mov e. The axis is perf orming a linear mov e. See the MOVEA and MOVER keyw or ds. S top. A STOP command has been is sued or the s top input is ac tive. Ax is dis abled. The ax is /driv e must be enabled before operation c an c ontinu[...]

www .s upportme.net 7-4 T r oubleshoot ing MN1928 7.2. 3 Commu ni cati on If the problem is not lis ted below pleas e c ontac t Baldor t echnic al s upport. Symptom Check Cannot detec t Ne xtM ove ES Chec k t hat the Nex tMov e ES is pow ered. For s erial c onnec tions, chec k that the s erial c able is wired c orr ectly and properly c onnect ed. C[...]

www .s upportme.net T roubl eshooti ng 7-5 MN1928 Sympto m Check Motor runs uncontr ollably when contr oller is s witc hed on. V er ify t hat the back plane (if used) and driv e are c orrec tly grounded to a c ommon ground point. (Ser vo outputs only ) C heck that the c orr ect enc oder feedbac k s ignal is c onnec ted to the enc oder input, the en[...]

www .s upportme.net 7-6 T r oubleshoot ing MN1928 7.2. 5 WorkBen ch v5 Symptom Check The S py w indow does not update The s ys tem refr esh has been dis abled. Go t o the T ools, Options menu item, s elect t he Sy stem t ab and then choos e a Sy s tem Refr esh R ate (500ms is rec ommended). Firmwar e download fails Confir m that you hav e the c orr[...]

www .s upportme.net T roubl eshooti ng 7-7 MN1928 Sympto m Check The CA Nopen bus is ‘off’ This means that the internal C AN contr oller in the N ext Move ES has exper ienced a fat al number of Tx and/or R x error s, gr eater than the off threshold of 255. At this point the node w ill have s wit ched its elf to a s tate w hereby it cannot inf l[...]

www .s upportme.net 7-8 T r oubleshoot ing MN1928 7.2. 7 Bald or CAN Symptom Check The Baldor C AN bus is ‘ passi ve’ This means that the internal C AN c ontr oller in the N extMov e ES is exper iencing a number of Tx and/or R x er rors , great er than the pass iv e thres hold of 127. Ch eck: H 12-24V is being applied to pin 5 of the R J 45 CAN[...]

www .s upportme.net S pecif icat ions 8- 1 MN1928 8.1 Intr oduction This sec tion prov ides tec hnical s pec ific ations of the Nex tMov e ES c ard. S eparate spec ific ations for the optional opt o-is olating back planes are s hown w here nec ess ary. 8.1 .1 Input power De scri pt io n Va l u e Input power +5V (±2.5%), 1A +12V (±5%) , 50mA -12V [...]

www .s upportme.net 8-2 S pecifi cations MN1928 8.1 .4 Digit al inputs ( non-isola ted) This s pec ific ation is for the N extMov e ES car d when us ed separ ately or in c onjunction w ith the optional non -isolating bac kplane B PL010 -501: De scri pt io n Unit Va l u e Ty p e +5V inputs, non -isolat ed Input volta ge Maximum Minimum High Low VDC [...]

www .s upportme.net S pecif icat ions 8- 3 MN1928 8.1 .6 Digit al output s - gener al purpose (non- isola ted) This s pec ific ation is for the N extMov e ES car d when us ed separ ately or in c onjunction w ith the optional non -isolating bac kplane B PL010 -501: De scri pt io n Unit Va l u e Load supply volt age (max imum) V 50 Output curr ent Ma[...]

www .s upportme.net 8-4 S pecifi cations MN1928 8.1. 9 Error rel ay (o pt o- iso lat ed b ackpl anes) This spec ific ation is for the optional opt o-is olating back planes BPL010 -502 or BPL010 -503, when us ed in conjunc tion w ith the N extMov e ES car d. See s ect ions 4.4. 3 and 5.3.1.1. All models Unit All models Contact rating (r esist ive) 2[...]

www .s upportme.net S pecif icat ions 8- 5 MN1928 8.1. 13 CAN i nt erface De scri pt io n Unit Va l u e Signal 2- wir e, i sol at ed Channels 1 Protocols CAN open or Baldor CA N (s elected by c hoic e of firmw are) Bit r ates CAN open Baldor CA N Kbit/s 10, 20, 50, 100, 125, 250, 500, 1000 10, 20, 50, 125, 250, 500, 1000 8.1. 14 En viro nmen tal De[...]

www .s upportme.net 8-6 S pecifi cations MN1928[...]

www .s upportme.net Appendix A- 1 MN1928 A.1 Feed back cables The Baldor c ables lis ted in T able 4 connec t the ‘E ncoder Out’ s ignal fr om a drive amplif ier (for example Mic roFlex , Flex D riv e II , Flex+D riv e II or MintDriv e II ) to the ‘Enc oder In’ c onnect or on the Nex tMov e ES bac k plane. One c able is required for eac h s[...]

www .s upportme.net A-2 Appendi x MN1928[...]

Index MN1928 A Abbrev iations , 2 -4 Analog I/O , 4 -3 analog inputs, 4 -3 analog outputs , 4 -5 Aux iliary enc oder inputs , 4 -8 B Bac kplanes BPL010 -501 non-isolat ed, 5 -2 BPL010 -502/503 opto -isolated, 5 -13 cat alog numbers, 5 -1 introduc tion, 5 -1 Bas ic Ins tallation, 3 -1 locat ion requirements , 3 -1 Ne xtM ove ES car d, 3- 2 C Calcula[...]

Index MN 1928 I Indicat ors , 7-2 stat us dis play, 7-2 sur face mount LE Ds , 7-3 Input / Out put, 4-1 96-pin edge c onnector, 4-1 analog inputs, 4 -3, 8-1 analog outputs , 4-5, 8 -1 CAN c onnection, 4 -20 connec tion s ummary, 4-25 digital inputs , 4-7, 8 -2 digital outputs , 4-7, 4 -10, 8-3 encoder inputs , 4-14, 8 -4 error out put, 4 -12 ser ia[...]

Index MN1928 RS485, 4 -18 multidrop us ing RS 485/RS422, 4-18 spec ific ations , 8-4 S Safety Notic e, 1-2 Sav ing set up information, 6 -29 Sc ale, selec ting, 6 -7 Serial por t, 4 -16 connec ting s erial Baldor HMI panels , 4 -19 Se rvo axi s, 6-1 1 adjusti ng KPRO P , 6 -25 eliminating s teady -st ate error s, 6 -21 tes ting the demand output, 6[...]

Index MN 1928 X6 s cr ew terminal bloc k non-is olated back plane, 5 -6 opto -isolated bac kplanes , 5 -20 X7 s cr ew terminal bloc k non-is olated back plane, 5 -4 opto -isolated bac kplanes , 5 -17 X8 s cr ew terminal bloc k non-is olated back plane, 5 -3 opto -isolated bac kplanes , 5 -15 X9 s cr ew terminal bloc k non-is olated back plane, 5 -8[...]

Comments MN1928 If y ou have any s ugges tions f or improv ements to this manual, pleas e let us k now. Write y our comment s in the s pac e prov ided below , remov e this page from the manual and mail it t o: Manuals Baldor UK Lt d Mint Motion Cent re 6 Bris tol Di str ibution Park Hawkley Dri v e Bristol BS32 0BF United K ingdom. Alternat ively, [...]

Comment s MN1928 Thank you for taking the time to help us.[...]

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