Baldor BXII manuale d’uso

NextMove BX II Motion Controller Installation Manu al 9/02 M N1904 MOTIO N CONTRO L[...]

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Content s i MN1904 Contents 1 General Information 1-1 ................................. 2 Introduction 2-1 ........................................ 2.1 Next Move B X II feat ures 2 -1 ................................. 2.2 Receiving and ins pect ion 2-2 ................................ 2.2.1 Identify ing the c atalog number 2-2 .....................[...]

ii Cont ents MN1904 4.7.5 Connec ting Baldor HMI O perator P anels 4-17 ........................... 4.7.6 RS422 / RS 485 - X14 4-18 ........................................... 4.7.7 CAN connec tor s - X 16 & X17 4-20 .................................... 4.7.8 CA Nopen 4-21 ..................................................... 4.7.9 Baldor CA N [...]

Content s ii i MN1904 6 T roubleshooting 6 -1 .................................... 6.1 I ntr oduct ion 6-1 ............................................ 6.1.1 Problem diagnos is 6-1 .............................................. 6.1.2 Suppor tMe t feature 6 -1 ............................................ 6.2 Next Move B X II indicator s 6 -2 .......[...]

iv Cont ents MN1904[...]

General I nformat ion 1- 1 MN1904 L T0158A01 Copy right B aldor (c ) 2002. All r ights r eser v ed. This manual is c opy righted and all r ights are res er ved. This document or attached s oftw are may not, in whole or in par t, be c opied or r eproduc ed in any f orm wit hout the prior writt en cons ent of BALD OR . BALD OR mak es no representat i[...]

1-2 General I nform ati on MN1904 Safety N otice Only qualified pers onnel s hould attempt the st art -up proc edure or tr oubles hoot this equipment. This equipment may be c onnec ted to ot her mac hines that hav e rotating par ts or parts that ar e contr olled by this equipment . I mproper us e c an c ause s er ious or fatal injury. O nly qualif [...]

Int roducti on 2-1 MN 1904 2.1 NextMove BX II featu res Ne xtM ove BX II is a high s peed multi -axis intelligent motion cont roller , s upporting up to four ser vo axe s. Ne xtM ove BX II features the Mint motion c ontrol l anguage. Mint is a s truc tur ed form of B asic , cus tom des igned for motion c ontr ol applic ations . It allows you t o ge[...]

2-2 I ntroduct ion MN 1904 2.2 Receiving and inspectio n When y ou rec eiv e your Nex tMov e BX II , there ar e sev er al things you s hould do immediately : 1. Chec k the c ondition of the pac k aging and repor t any damage immediately to the c arr ier that deliver ed your Nex tMov e BX II . 2. Remov e the N ext Move B X II from the s hipping c on[...]

Int roducti on 2-3 MN 1904 2.3 Units and abbreviations The following unit s and abbr ev iations may appear in this manual: V V olt ( als o V A C and VD C) ............... WW a t t .............. A Ampere ............... Ω Ohm ............... µF mic rofar ad .............. pF picofar ad .............. mH millihenry ............. Φ phase ........[...]

2-4 I ntroduct ion MN 1904[...]

Basic I nst allat ion 3- 1 MN1904 3.1 Intr oduction Y ou should read all t he sections in Basic I nstal lation . It is impor tant that the c orr ect steps are follow ed when ins talling the N ex tMov e BX II .T h i s sec tion des c ribes the mec hanic al inst allation and power requirements of the N ex tMov e BX II . 3.1. 1 Po wer so u rces An exte[...]

3-2 Basic I nstal lati on MN1904 3.1 .3 T ools and misc ella neous ha rdwa re H Y our PC oper ating syste m use r m anual might be useful if y ou ar e not familiar w ith Windows H A s mall sc r ewdriv er (s upplied) wi th a blade width les s than 2.5mm (1/ 10 in). H M5 sc r ews or bolts for mounting the Nex tMov e BX II H Crimping t ool. A c onnect[...]

Basic I nst allat ion 3- 3 MN1904 3.2 Mechanical installation and location requirements It is essential that you r ead and understand this section before beginning the insta llation . The s afe operation of t his equipment depends upon its us e in the appropr iate env ironment. The following point s mus t be c ons idered: H The Nex tMov e BX II mus[...]

3-4 Basic I nstal lati on MN1904 3.2 .1 Mounting the Ne xtMov e BX II Ens ure y ou hav e read and unders tood the Mechanic al ins tallation and loc ation r equirements in sec tion 3.2. Mount the Nex tMov e BX II on its r ear s ide, the s ide oppos ite the fr ont panel. The Nex tMov e BX II mus t be mount ed upright to ens ur e adequate c ooling. M5[...]

Input / Out put 4-1 MN1904 4.1 Intr oduction This sec tion des c ribes the loc ation and purpos e of eac h c onnec tor on the N ex tMov e BX II . The following c onv entions will be us ed to r efer to the input s and out puts : I/O Input / Out put .............. DIN D igital Input ............. DO UT Digit al Output ........... AIN Analog Input ...[...]

4-2 Input / Out put MN1904 4.3 Connector locat ions - fr ont pa nel X2 Digi t al Input s 0-7 X3 Analog I nput s X1 Digi t al Input s 8-15 X4 Digi t al Output s 0-7 Tighteni ng torque for t erminal block connec tions is 0.25Nm (2.2 lb-in) X5 Relay & User Power X6 Int err upts X7 Demands X8 Power X9 Encoder 0 X10 Encoder 1 X1 1 Encoder 2 X12 Enco[...]

Input / Out put 4-3 MN1904 4.4 Power connection s A 24VD C, 2A supply mus t be prov ided to pow er the c ontr ol elect ronic s . It is r ec ommended that a s eparate fus ed 24V supply is prov ided for the N ex tMov e BX II , with the fus e rated at 4A maximum. If other devic es are to be pow ered fr om the s ame 24V s upply, a filter (Baldor catalo[...]

4-4 Input / Out put MN1904 4.5 Analog I/O The Nex tMov e BX II pr ov ides: H Eight 12 -bit res olution analog inputs , av ailable on c onnect or X3. H Four 14 -bit res olution analog outputs , av ailable on c onnec tor X7. Sec tions 4.5.1 to 4.5.2 des c ribe eac h analog input and output . 4.5 .1 Ana log inputs - X3 Locatio n Connec tor X6 (Mating [...]

Input / Out put 4-5 MN1904 H Ps eudo differential, bipolar ( ADCMODE 3) : Inputs are us ed in pairs (0 and 1, 2 and 3, 4 and 5, 6 and 7) to c reat e four differential inputs . Wit hin each pair, the odd numbered input is t he negative i nput, and the ev en numbered input is the pos itiv e input. The input range is ±2.5V . H True dif ferential ( AD[...]

4-6 Input / Out put MN1904 4.5 .2 Ana log output s (D em ands) - X7 Locatio n Connec tor X7 (Mating c onnec tor: Weidmüller BL 3.5/ 10, 3.5mm pitc h) Pin Name MintMT keyword / descrip tion 1 Demand0 DAC.0 2 AGND Analog gr ound 3 Demand1 DAC.1 4 AGND Analog gr ound 5 Demand2 DAC.2 6 AGND Analog gr ound 7 Demand3 DAC.3 8 AGND Analog gr ound 9 AGND A[...]

Input / Out put 4-7 MN1904 4.6 Digital I/O There are a t otal of 20 digital inputs . Input s D IN 0 to DIN 15 are gener al purpos e inputs , whic h can be c onfigur ed in Mint for any of the f ollowing func tions : H forw ard limit (end of trav el) input on any ax is H rev ers e limit (end of trav el) input on any ax is H home input on any axis H d[...]

4-8 Input / Out put MN1904 4.6 .1 Digit al inputs - X1 Locatio n Connec tor X1 (Mating c onnec tor: Weidmüller BL 3.5/ 10, 3.5mm pitc h) Pin Name Mint keyword / descript ion 1 DIN8 INX.8 2 DIN9 INX.9 3 DIN10 INX.10 4 DIN1 1 INX.11 5 DIN12 INX.12 6 DIN13 INX.13 7 DIN14 INX.14 8 DIN15 INX.15 9 CREF Common c onnec tion 10 Shield Shield c onnec tion D[...]

Input / Out put 4-9 MN1904 The inputs are c onditioned us ing Sc hmitt tr igger buffers . If an input is c onfigur ed as edge triggered, the trigger ing pulse mus t hav e a durat ion of at leas t 1ms (one s oftw are s c an) to guarantee ac c eptanc e by Mint . The us e of s hielded cable f or inputs is rec ommended. Active high : c onnec t +24VD C [...]

4-10 Input / Out put MN1904 4.6 .3 Digit al input s (Inte rrupt s) - X6 Digital inputs F ASTI N0 to FASTIN3 c an be us ed as high s peed pos ition latc hes , allow ing any combination of axes to be c aptur ed by the har dwar e. Us ing F AST IN0, t he latenc y betw een input trigger ing and capt ure is 30µs . Us ing F AST IN1 to FASTIN3, lat ency i[...]

Input / Out put 4-1 1 MN1904 4.6. 4 Dig i tal ou tp u ts - X4 Locatio n Connec tor X4 (Mating c onnec tor: Weidmüller BL 3.5/ 10, 3.5mm pitc h) Pin Name Mint keyword / descript ion 1 DOUT0 OUTX.0 2 DOUT1 OUTX.1 3 DOUT2 OUTX.2 4 DOUT3 OUTX.3 5 DOUT4 OUTX.4 6 DOUT5 OUTX.5 7 DOUT6 OUTX.6 8 DOUT7 OUTX.7 9 USR V+ C us tomer power s upply V+ 10 CGND Cus[...]

4-12 Input / Out put MN1904 4.7 Other I/O 4.7. 1 En cod er in terfaces - X9, X10, X1 1, X12, X13 Locatio n Connec tors X9, X 1 1, X11, X12, X13 Pin Name Descriptio n 1 CHA+ Channel A s ignal 2 CHB+ Channel B s ignal 3 CHZ+ Index c hannel s ignal 4 (NC) Not c onnec ted 5 DGND Power s upply ground 6 CHA- C hannel A s ignal c omplement 7 CHB- C hannel[...]

Input / Out put 4-13 MN1904 4.7 .2 Encode r input fr eque ncy The maximum enc oder input frequenc y is affect ed by t he length of the enc oder c ables . The theoretic al maximum frequency i s 7.5 million quadr ature counts per s ec ond. This is equivalent to a maximum fr equenc y f or the A and B signals of 1.87MH z . How ev er , the effect of c a[...]

4-14 Input / Out put MN1904 4.7. 3 Relay an d u ser po w er - X5 Locatio n Connec tor X5 (Mating c onnec tor: Weidmüller BL 3.5/ 10, 3.5mm pitc h) Pin Name Descriptio n 1 Rel ay COM Common relay c onnec tion 2 Rela y NC N ormally c losed relay c onnec tion 3 Rela y NO Normally open relay c onnecti on 4 Rel ay COM Common relay c onnec tion 5 USR V+[...]

Input / Out put 4-15 MN1904 4.7. 4 RS232 - X 15 Locatio n T op panel, c onnect or X15 Pin Name 1 Shield 2 RXD 3 TXD 4 DTR (internally c onnec ted to pin 6) 5 0V 6 DSR (internally c onnec ted to pin 4) 7 RTS 8 CTS 9 0V Descri ptio n RS232 c onnec tions on a s ingle 9 -pin male D-ty pe c onnect or The Nex tMov e BX II has a full -duplex R S232 s eria[...]

4-16 Input / Out put MN1904 NextMove B X II (DTE) 9- -p i n Computer COM Port (DCE / DTE) RS232 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 9 - RS 232 serial port connections The maximum r ecommended c able length is 3m (10f t) at 57.6K baud. W hen using l ower baud ra[...]

Input / Out put 4-17 MN1904 4.7. 5 Con n ecti ng Bal d or HM I O p erato r Pan els Baldor H MI Oper ator P anels us e a 15 -pin male D -type c onnec tor ( mark ed PLC PORT) , but the NextMove BX II RS232 c onnec tor is a 9 -pin male D -type c onnec tor . If y ou do not require hardwar e hands haking then us e the c onnec tions s hown in Figur e 10:[...]

4-18 Input / Out put MN1904 4.7. 6 RS422 / RS485 - X14 If y ou will be us ing RS 422 / RS 485 and y our PC does not have an R S422 / R S485 c onnec tor , an RS232 t o 4-wir e RS 422 / RS 485 conv ert er will be required. Thes e c ommerc ially av ailable devic es c onver t the s ignals from the PC RS 232 port to the s ignals nec es sar y f or R S422[...]

Input / Out put 4-19 MN1904 Final sl ave shown with terminating resis tor , T R , typic al val ue 120 Ω . Network slave T R RX- DGND RX+ TX+ TX- RX- DGND RX+ TX+ TX- RX- DGND RX+ TX+ TX- T wisted pairs T R Connect overall s hield to connec tor ba ckshell. Network slave Network master Figure 12 - 4-wir e RS485 multi-drop connections Eac h TX/R X n[...]

4-20 Input / Out put MN1904 4.7. 7 CAN con n ecto rs - X16 & X 17 CAN (C ontroller A rea N etwor k) offers v ery reliable s er ial communic ations ov er a tw o wir e twis ted pair c able. I n an indust rial env ironment, t he probability of an undetec ted err or is 4.7x10 -1 1 . CAN als o offers high speed dat a trans fer ( up to 1Mbit/s , depe[...]

Input / Out put 4-21 MN1904 4.7. 8 CANop en CAN open is a network ing system b ased o n the se ria l bus CAN . It u ses th e int ern at i onal CAN st andard ISO 1 1898 as the bas is for c ommunic ation. The Mint firmw are implements a CAN open protoc ol on C AN bus 1, bas ed on the ‘C ommunic ation Pr ofile’ CiA DS -301, whic h suppor ts both d[...]

4-22 Input / Out put MN1904 4.8 Reset st ates During pow er up, N ex tMov e BX II is held in a s afe non -operational s tate k nown as hardw are res et. I t will als o go into har dware r es et if the 24V logic s upply drops below approx imately 18V . This pr ev ents uncontr olled operation due to t he elect ronic s losing pow er . When Ne xtM ove [...]

Input / Out put 4-23 MN1904 4.9 Connection su mm ary - minimum system wir ing As a guide, Figure 14 s how s an ex ample of t he ty pical minimum w iring requir ed to allow t he Ne xtM ove BX II and a single s erv o amplifier (motor driv e) to w ork together . Host PC NextMo ve BX II Servo amplif ier (axis 0) Encode r output fr om driv e or motor Er[...]

4-24 Input / Out put MN1904 NextMo ve BX II connector Name o f signal Function Servo amplifier connecti on (Not e: driv e may be labelled differently) X1 DIN8 Error input Err or output X5 Rel ay COM C ommon connec tion of relay Enable input Rela y NC Normally c los ed connec tion of relay Gr ound X7 Demand0 Command s ignal for ax is 0 Demand+ input[...]

Oper ati on 5-1 MN 1904 5.1 Intr oduction Before pow ering the N ex tMov e BX II y ou w ill need to c onnect it to the PC using a s er ial cable and install the supplied P C s oftw are Wor k Benc h v5 . This soft ware inc ludes a number of t ools to allow y ou to c onfigure, tune and program the N ex tMov e BX II . If y ou do not hav e exper ienc e[...]

5-2 Oper ation MN1904 5.1. 5 Po wer o n ch ecks If at any time one of the Ax is LEDs is illuminated red, this indicates that the N ex tMove B X II has detec ted a f ault - see s ect ion 6. 1. Turn on the 24VDC supply. 2. After a br ief tes t s equenc e the S t atus dis play s hould s how the node number , for ex ample (the factor y pres et). If the[...]

Oper ati on 5-3 MN 1904 5.2 W orkBench v5 WorkBenc h v 5 is a fully featured applic at ion for progr amming and c ontrolling the Ne xtM ove BX II . The main WorkBenc h v 5 window cont ains a menu system , the T oo lbo x and other toolbar s. Many func tions c an be ac c ess ed fr om the menu or by c lick ing a butt on - use whic hev er y ou prefer. [...]

5-4 Oper ation MN1904 5.2. 2 St arti ng Wo rkBench v5 1. On the W indows Start menu, selec t Pro grams , Wor k Ben ch v5 , Wo r kBe nc h v5 . WorkBenc h v 5 will s tar t, and the Tip of the Day dialog will be dis play ed. Y ou can prev ent t he Tip of the Day dialog appearing nex t time by remov ing the chec k mark next to S how tips at s tartup. C[...]

Oper ati on 5-5 MN 1904 3. In the Selec t C ontroller dialog, go to the drop down box near the top and select the PC ser ial port to w hich t he Nex tMov e BX II is c onnec ted. (If y ou are uns ur e whic h PC ser ial port is c onnec ted to the N ext Move B X II , selec t S can all serial po rts . During t he detec tion proc es s , a dialog box may[...]

5-6 Oper ation MN1904 5.3 Configuri ng an axi s The Nex tMov e BX II is c apable of c ontrolling up t o 4 ser v o axes , depending on model. Ax is numbering alway s begin at 0. For example, a four ax is model has ax es numbered 0, 1, 2 and 3. This sec tion des c ribes the bas ic setup f or a s ingle ax is. Note: The Next Move B X II is also c apabl[...]

Oper ati on 5-7 MN 1904 4. Clic k in the Sc ale box and type a v alue. 5. Clic k Apply . This immediately s ets the sc aling factor for the selec ted ax is . It w ill remain in the Ne xtM ove BX II until another s c ale is defined, or power is r emov ed. 5.3. 2 Sett in g th e d rive en ab le o u tp ut The driv e enable output allow s Nex tMov e BX [...]

5-8 Oper ation MN1904 4. If y ou are going to us e the relay, drag the grey Relay 0 ic on to the grey X axis icon on the right of the s cr een. T o c onfigure multiple ax es to us e the r elay, repeat this s tep for the other axes . If y ou are us ing a digital output, drag the bright blue O UT ic on to t he grey X axis ic on on the right of the s [...]

Oper ati on 5-9 MN 1904 5.4 T esting and tuning This sec tion des c ribes the method for t est ing and tuning an ax is. 5.4 .1 T esting the driv e comm and output This sec tion tes ts the oper ation and direc tion of the ax is c ommand output. I t is rec ommended that the motor is dis c onnect ed for this tes t. 1. Chec k that the D riv e enable bu[...]

5-10 Oper ation MN1904 6. T o remov e the demand and s top the test , ty pe: STOP.0 This s hould c aus e the demand produced at the Demand0 output t o become 0V .[...]

Oper ati on 5-1 1 MN1904 5.5 An introduc tion to close d loop contr ol This s ec tion des c ribes the basic princ iples of c los ed loop contr ol. If you are familiar with clos ed loop contr ol go s traight t o sec tion 5.6. 1. When there is a requirement to mov e an axis , the Nex tMov e BX II contr ol s oftwar e tr ans lates this into a demand ou[...]

5-12 Oper ation MN1904 In s ummary, the following rules c an be us ed as a guide: H KPR OP : Inc reas ing KPR OP will s peed up the res pons e and reduc e t he effect of dis turbanc es and load var iations . The side effect of incr easing K PR OP is t hat it als o incr eas es t he over shoot , and if set too high it will c aus e the syst em to b ec[...]

Oper ati on 5-13 MN1904 Figure 16 - The NextMove BX II servo l oop[...]

5-14 Oper ation MN1904 5.6 T uning an axis for c urr ent control 5.6. 1 Sel ecti ng servo l o op g ai ns All s erv o loop parameter s default to z ero, meaning that the demand output w ill be zer o at power up. Most ser vo amplif iers can be s et t o cur rent ( torque) contr ol mode or v eloc ity contr ol mode; c heck that t he ser v o amplifier w [...]

Oper ati on 5-15 MN1904 4. In the Mov e T y pe drop dow n box , c heck that the move t ype is s et to Step. 5. Clic k in the Dis tanc e box and enter a dist ance for the s tep mov e. I t is r ec ommended to set a value t hat will c aus e the motor t o turn a short dist ance, f or ex ample one rev olution. Note: The dist ance depends on t he sc ale [...]

5-16 Oper ation MN1904 5.6 .2 Unde rda mpe d res ponse If the graph s how s that the res pons e is underdamped (it over shoot s t he demand, as show n in Figure 17) t hen the v alue for KD ER IV s hould be inc reas ed to add ex tr a damping to the mov e. If the ov ers hoot is ex ces s iv e or os c illation has oc cur red, it may be nec es sar y to [...]

Oper ati on 5-17 MN1904 5.6 .3 Ove rda mpe d res ponse If the graph s how s that the res pons e is over damped (it r eac hes the demand t oo slow ly, as show n in Figure 18) then the v alue for K DER IV s hould be dec reas ed to r educe t he damping of the move. If the ov erdamping is ex c ess iv e, it may be nec es sar y to incr eas e the value of[...]

5-18 Oper ation MN1904 5.6 .4 Cr itica lly dampe d res ponse If the graph s how s t hat the res pons e reac hes the demand quic k ly and only ov ers hoots the demand by a s mall amount, this c an be c ons idered an ideal r espons e for most syste ms. See Figure 19. Measur ed position Demand position Figure 19 - Cr itically damped (ideal) response[...]

Oper ati on 5-19 MN1904 5.7 Elim inating stead y-state er rors In syst em s whe re p reci se po siti oni ng accu racy is r equired, it is often nec es sar y to posit ion within one enc oder c ount. The proport ional gain, KPR O P , is not normally able to ac hiev e this becaus e a v ery s mall followi ng error will only produc e a s mall demand for[...]

5-20 Oper ation MN1904 5.8 T uning an axis for veloc ity contr ol Driv es des igned for v eloc ity cont rol inc orporat e their ow n veloc ity feedbac k term to pr ovide syste m da mp ing . For t his re aso n, KDE RIV (a nd KVEL ) can be set to zero. Correct s etting of the velo city feed forward ga in KVELFF is importan t to get the optim um res p[...]

Oper ati on 5-21 MN1904 The analog demand output is c ontrolled by a 12 -bit DAC, whic h c an cr eate output v oltages in the range -10V to +10V . This means a max imum output of +10V cor res ponds to a DAC v alue of 2048. The v alue of KVELFF is calculat ed b y dividing 2048 by the number of quadr ature counts per ser vo loop, so: KVELFF = 2048 / [...]

5-22 Oper ation MN1904 Measur ed velocity De man d velo city Figure 20 - Corr ect value of KVELFF It may be neces s ary to mak e c hanges to the c alc ulated v alue of KVELFF . If the trace for Measur ed veloc it y appear s abov e the t rac e for D emand v elocit y, reduce the v alue of KVELFF . If the tr ace f or Meas ured v eloc ity appears below[...]

Oper ati on 5-23 MN1904 5.8 .2 Adjus ting KP ROP The KPR OP term c an be us ed to reduc e follow ing error. Its v alue will us ually be muc h smaller than the v alue used f or an equiv alent c urr ent cont rolled s y st em. A fr act ional value, for ex ample 0.1, will pr obably give the bes t r espons e. 1. Clic k in the KPR OP box and ent er a s t[...]

5-24 Oper ation MN1904 Measur ed position Demand position Figure 21 - Cor rect value of KPR OP The two t rac es w ill probably appear w ith a s mall offset fr om each ot her . Adjus t KPR OP by small amounts until the t wo tr aces appear on t op of eac h other ( approx imately ), as s hown in Figure 21.[...]

Oper ati on 5-25 MN1904 5.9 Digit al input/output configur ation The Digital I /O w indow c an be us ed to s etup other digital inputs and outputs . 5.9 .1 Digit al input configur ation The Digital I nputs tab allows you t o define how eac h digital input w ill be trigger ed and, optionally, if it is to be alloc ated to a s pec ial func tion, for e[...]

5-26 Oper ation MN1904 4. Now dr ag the IN1 ic on onto t he Fwd Limit ic on . This will s etup IN 1 as the F orwar d Limit input of ax is 0. 5. Clic k Apply to s end the c hanges to the N ext Move B X II . Note: If required, multiple inputs c an be c onfigured befor e c lick ing A pply . 5.9 .2 Digit al output conf igura tion The Digital O utputs t[...]

Oper ati on 5-27 MN1904 5.10 Saving setup in formation When power is r emoved f rom the N ext Move B X II , configur ation and tuning parameter s are lost. Y ou should ther efore s av e this information in a f ile, whic h c an be loaded after the unit is star ted. A lternativ ely, the information c an be inc luded in program files as part of t he S[...]

5-28 Oper ation MN1904 4. On the main menu, c hoos e File , Save Fil e . Loc ate a folder , enter a filename and clic k Save . 5.1 1 Load ing saved information 1. In the T oolbox , c lick the E dit & D ebug icon. 2. On the main menu, c hoos e File , Open File... Locate t he file and c lick Open . WorkBenc h v 5 will open a new editing window to[...]

T roubl eshooti ng 6-1 MN1904 6.1 Intr oduction This sec tion ex plains c ommon problems that may be encount ered, toget her wit h poss ible soluti ons. 6.1 .1 Proble m diagnosis If y ou have f ollowed all the ins tr uct ions in t his manual in s equenc e, y ou s hould hav e few problems installing t he Nex tMov e BX II . If y ou do hav e a problem[...]

6-2 T r oubleshoot ing MN1904 6.2 NextMove BX II indicator s 6.2. 1 St atu s di sp lay The S t atus LED normally dis play s the unit ’s node number. T o dis play information about a s pec ific axis , us e the LED k ey wor d (s ee the MintMT help file). W hen a s pecif ic axis is selec ted, its LE D ( numbered 0-3) w ill be illuminated, and the fo[...]

T roubl eshooti ng 6-3 MN1904 Jog. The ax is is jogging. In t he Mint help file, s ee the topic s JOG , JOGCOMMAND and Jog mode . Offset move. T he axis is perfor ming an offset mov e. Pos itional Mov e. T he axis is perfor ming a linear mov e. See the Mint k ey wor ds MOVEA and MOVER . S top. A STOP command has been is s ued or the s top input is [...]

6-4 T r oubleshoot ing MN1904 6.2 .2 Motor c ontrol Symptom Check Ne xtM ove BX II appears to be wor king but w ill not caus e motor to turn. Chec k that the c onnec tions between motor and driv e are cor rec t. Us e WorkBenc h v 5 to perf orm the bas ic sy s tem tes ts (se e sect ion 5 .4) . Ens ure that w hile the Nex tMov e BX II is not in er ro[...]

T roubl eshooti ng 6-5 MN1904 Sympto m Check Motor is under c ontr ol, but when mov ed to a pos ition and then back to t he star t it does not return t o the same pos ition. Us ing an os cillos c ope, c hec k : H all encoder channels are c lear signals and free f rom electr ic al noise; H they ar e c orrec tly wir ed to the c ontroller ; H when the[...]

6-6 T r oubleshoot ing MN1904[...]

S pecif icat ions 7- 1 MN1904 7.1 Intr oduction This s ec tion pr ovides tec hnic al s pecif icat ions of the Nex tMov e BX II . 7.1 .1 Input power De scri pt ion Uni t Va l u e Logic supply input voltage VDC 24 Minimum input v oltage VDC 18 Maximum input voltage 30 Logic supply input current ( maximum) mA 700 User supply input voltage VDC 12 -24 U[...]

7-2 S pecifi cations MN1904 7.1 .3 Ana log outputs ( De ma nds - X7) De scri pt ion Uni t Va l u e Ty p e Bipolar Output voltage range VDC ±10 Output curr ent (max) mA 1 Output DA C resolution bits 14 (inc ludes s ign bit) Equival ent resol ution mV ±1.22 Up date in terva l Immediate 7.1 .4 Digit al inputs ( X1 & X2 ) De scri pt ion Uni t Va [...]

S pecif icat ions 7- 3 MN1904 7.1. 6 Dig i tal ou tp u ts (X4) De scri pt ion Uni t Va l u e Output curr ent (max imum cont inuous, each output ) mA 50 Up date in terva l Immediate 7.1. 7 Relay o u tp ut (X 5) De scri pt ion Uni t Va l u e Contact s N ormally c losed Contact rating (resistive) 1A @ 24VDC or 0.5A @ 120VAC Ma xim um ca rryin g curren[...]

7-4 S pecifi cations MN1904 7.1. 10 Envi ro nmen tal De scri pt ion Uni t Oper atin g temper atur e rang e Min Max °C °F 0 +32 +40 +104 Maximum hum idity % 80% for temper atures up to 87°F (31°C ) decr easingly linear ly to 50% relativ e humidity at 104°F ( 40°C), non -c ondensing (ac cor ding to DI N40 040 / IE C144) Maximum ins tallation al[...]

Accessori es A-1 MN1904 A.1 I ntroducti on The c apabilities of the Nex tMov e BX II can be ex panded us ing additional peripher al devic es . A.1 .1 Baldor C AN node s Digital I/ O c an be ex panded eas ily on N ex tMov e BX II us ing the B aldor C AN ( CA N2) connec tion. T his pr ov ides a high s peed s erial bus inter fac e to a range of I/ O d[...]

A-2 Accessor ies MN1904 A.1 .2 Encoder S plitte r/B uffe r boar d This is a s tand -alone PCB that tak es an encoder signal, eit her s ingle ended or differential and gives differential outputs . This is us eful for ‘dais y c haining’ an encoder signal f rom a mas ter acr oss a number of cont rollers . Catalog num ber Descr ipt ion OPT 008-501 [...]

Index MN1904 A Abbrev iations , 2 -3 Acce ssor ies, A- 1 Baldor CA N nodes , A -1 encoder s plitter /buffer board, A -2 Analog I/O , 4 -4 analog inputs - X3, 4 -4 analog outputs - X7, 4-6 B Baldor CA N nodes , A -1 Bas ic Ins tallat ion, 3 -1 C CAN acce ssori es, A-1 Baldor CA N, 4 -21 CAN open, 4 -21 connec tor s, 4 -20 spec ific ations , 7 -3 Cat[...]

Index MN 1904 I Indicat ors , 6 -2 axis LED s , 6 -2, 6-5 stat us dis play, 6-2, 6-5 Input / Out put analog I/O , 4 -4 analog inputs - X3, 4 -4, 7-1 analog outputs ( Demands ) - X7, 4 -6, 7-2 CAN - X16 & X17, 4 -20 connec tion s ummar y, 4-23 digital I/O, 4-7 digital inputs ( Interr upts ) - X6, 4-10, 7 -2 digital inputs - X1, 4 -8, 7-2 digital[...]

Index MN1904 T T esting and t uning, 5 -9 tes ting the driv e c ommand output, 5 -9 T ools, 3 -2 Troubleshooting, 6 -1 axis LE D is red, 6-5 communic ation, 6 -5 help file, 5 -3 motor c ontrol, 6 -4 problem diagnos is, 6-1 stat us dis play, 6-2 show s a flashing s y mbol, 6 -5 SupportMe, 6 -1 Tuning, 5-9 adjusti ng KPR OP , 5-23 axis for c urr ent [...]

Index MN 1904[...]

Comments MN1904 If y ou have any s ugges tions for impr ovement s t o this manual, please let us k now. W rite y our comment s in t he spac e pr ovided below, remove t his page f rom the manual and mail it to: Manuals Baldor UK Lt d Mint Motion Cent re 6 Bris tol D is tribution P ark Hawkley Dri v e Bristol BS32 0BF United K ingdom. Alternat ively,[...]

Comment s MN1904 Thank you for taking the time to help us.[...]

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