Baldor NextMove ES Installation Manual Download Page 4

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Contents iii

MN1928

6.4

Configuring an axis

6-9

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

6.4.1

Selecting the axis type

6-9

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

6.4.2

Selecting a scale

6-10

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

6.4.3

Setting the drive enable output

6-11

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

6.4.4

Testing the drive enable output

6-12

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

6.5

Servo axis - testing and tuning

6-13

. . . . . . . . . . . . . . . . . . . . . . . . . . . .

6.5.1

Testing the demand output

6-13

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

6.5.2

An introduction to closed loop control

6-15

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

6.6

Servo axis - tuning for current control

6-18

. . . . . . . . . . . . . . . . . . . . . .

6.6.1

Selecting servo loop gains

6-18

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

6.6.2

Underdamped response

6-20

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

6.6.3

Overdamped response

6-21

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

6.6.4

Critically damped response

6-22

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

6.7

Servo axis - eliminating steady-state errors

6-23

. . . . . . . . . . . . . . . . .

6.8

Servo axis - tuning for velocity control

6-24

. . . . . . . . . . . . . . . . . . . . .

6.8.1

Calculating KVELFF

6-24

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

6.8.2

Adjusting KPROP

6-27

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

6.9

Stepper axis - testing

6-29

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

6.9.1

Testing the output

6-29

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

6.10 Digital input/output configuration

6-30

. . . . . . . . . . . . . . . . . . . . . . . . . .

6.10.1 Digital input configuration

6-30

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

6.10.2 Digital output configuration

6-31

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

6.11 Saving setup information

6-32

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

6.11.1 Loading saved information

6-33

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

7 Troubleshooting

7-1

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

7.1

Introduction

7-1

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

7.1.1

Problem diagnosis

7-1

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

7.1.2

SupportMe feature

7-1

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

7.2

NextMove ES indicators

7-2

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

7.2.1

Status display

7-2

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

7.2.2

Surface mount LEDs D3, D4, D16 and D20

7-3

. . . . . . . . . . . . . . . . . . . . . . . . .

7.2.3

Communication

7-4

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

7.2.4

Motor control

7-4

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

7.2.5

Mint WorkBench

7-6

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

7.2.6

CANopen

7-6

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

7.2.7

Baldor CAN

7-8

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

8 Specifications

8-1

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

8.1

Introduction

8-1

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

8.1.1

Input power

8-1

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

8.1.2

Analog inputs

8-1

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

8.1.3

Analog outputs

8-1

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Servo Systems Co. • 115 Main Road • P.O. Box 97 • Montville, NJ,

07045-0097 • (973) 335-1007 • Toll Free: (800) 922-1103

Fax: (973) 335-1661 • www.servosystems.com

Summary of Contents for NextMove ES

Page 1: ...tMove ES Motion Controller MOTION CONTROL Installation Manual 01 10Servo Systems Co 115 Main Road P O Box53 Green Pond Road Suite 2 Rockaway NJ 07866ree 800 922 1103 Fax 973 335 1661 www servosystems...

Page 2: ...pin connector pin assignment NES002 503 4 3 4 3 Analog I O 4 4 4 3 1 Analog inputs 4 4 4 3 2 Analog outputs 4 6 4 4 Digital I O 4 8 4 4 1 Digital inputs 4 8 4 4 2 Digital outputs 4 11 4 4 3 Error outp...

Page 3: ...uts 0 7 5 20 5 3 4 Digital inputs 8 15 5 21 5 3 5 Digital inputs 16 19 5 22 5 3 6 Digital outputs 0 7 5 26 5 3 7 Digital outputs 8 11 NES002 501 NES002 502 only 5 28 5 3 8 Stepper axes outputs 0 1 5 2...

Page 4: ...djusting KPROP 6 27 6 9 Stepper axis testing 6 29 6 9 1 Testing the output 6 29 6 10 Digital input output configuration 6 30 6 10 1 Digital input configuration 6 30 6 10 2 Digital output configuration...

Page 5: ...put non isolated 8 3 8 1 9 Error relay opto isolated backplanes 8 4 8 1 10 Encoder inputs 8 4 8 1 11 Stepper control outputs 8 4 8 1 12 Serial RS232 RS485 port 8 4 8 1 13 CAN interface 8 5 8 1 14 Envi...

Page 6: ...damage including injury to any person or property caused by items of our manufacture or sale Some countries and U S states do not allow exclusion or limitation of incidental or consequential damages s...

Page 7: ...mulators metal implants cochlear implants hearing aids and other medical devices To avoid risk stay away from the area surrounding a motor and its current carrying conductors The stop input to this eq...

Page 8: ...rol of 2 servo axes and 4 or 6 stepper axes model dependent H Point to point moves software cams and gearing H 20 general purpose digital inputs software configurable as level or edge triggered H 12 g...

Page 9: ...S This manual is intended to guide you through the installation of NextMove ES The chapters should be read in sequence The Basic Installation section describes the mechanical installation of the NextM...

Page 10: ...he catalog number NextMove ES cards are available with a number of optional backplane connector cards As a reminder of which products have been installed it is a good idea to write the catalog numbers...

Page 11: ...pact Disc Read Only Memory CiA CAN in Automation International Users and Manufacturers Group e V CTRL E on the PC keyboard press Ctrl then E at the same time DAC Digital to Analog Converter DS301 CiA...

Page 12: ...in the vicinity of corrosive substances or vapors metal particles and dust The safe operation of this equipment depends upon its use in the appropriate environment The following points must be conside...

Page 13: ...ount the backplane connector card optional at the rear of the rack system 2 Slide the NextMove ES card into the guide rails ensuring that it plugs securely into the backplane connector 3 Confirm that...

Page 14: ...r RAM 128 MB 1 GB Hard disk space 50 MB 50 MB CD ROM A CD ROM drive Serial port USB port or RS232 or RS485 serial port depending on NextMove ES model Screen 1024 x 768 16 bit color 1152 x 864 16 bit c...

Page 15: ...www baldormotion com 3 4 Basic Installation MN1928 Servo Systems Co 115 Main Road P O Box 97 Montville NJ 07045 0097 973 335 1007 Toll Free 800 922 1103 Fax 973 335 1661 www servosystems com...

Page 16: ...Digital Output AIN Analog Input AOUT Analog Output Most external connections to the NextMove ES card are made using an optional backplane card described in section 5 4 2 96 pin edge connector The pin...

Page 17: ...ND DOUT9 DOUT8 14 STEP2 STEP1 STEP0 15 DIR2 DIR1 DIR0 16 DOUT10 DGND NC 17 DGND AOUT2 NC 18 DIN4 DIN15 DIN2 19 DIN3 DIN5 DIN7 20 DIN6 DIN1 RXD RX on RS485 21 DIN0 RTS TX on RS485 TXD TX on RS485 22 DO...

Page 18: ...T8 STEP4 14 STEP2 STEP1 STEP0 15 DIR2 DIR1 DIR0 16 DOUT10 STEP5 DGND NC 17 DGND AOUT2 NC 18 DIN4 DIN15 DIN2 19 DIN3 DIN5 DIN7 20 DIN6 DIN1 RXD RX on RS485 21 DIN0 RTS TX on RS485 TXD TX on RS485 22 DO...

Page 19: ...ilter with a cut off frequency of approximately 1 kHz Both inputs are normally sampled at 2 kHz However an input can be disabled by setting ADCMODE to 4 _acOFF With one input disabled the remaining in...

Page 20: ...GND b28 a28 a30 Figure 2 AIN0 analog input wiring AIN0 1 k 0 25 W potentiometer ADC 0 1 5 k 0 25 W 0 V 24 VDC b28 a28 a30 Figure 3 Typical input circuit to provide 0 10 V approx input from a 24 V sour...

Page 21: ...The Demand2 and Demand3 outputs may be used as general purpose analog outputs See the DAC keyword in the Mint help file The analog outputs may be used to drive loads of 1 k or greater Shielded twiste...

Page 22: ...rall shield at one end only a32 Shield Drive amplifier 10 VDC demand input c27 a30 1 X1 Figure 6 Analog output typical connection to a Baldor FlexDriveII Flex DriveII or MintDriveII Servo Systems Co 1...

Page 23: ...t is configured as edge triggered the triggering pulse must have a duration of at least 1 ms one software scan to guarantee acceptance by Mint The use of shielded cable for inputs is recommended 4 4 1...

Page 24: ...7 allowing the input to be used as an auxiliary master encoder input The input can be used as a master position reference for cam fly and follow move types For this the MASTERSOURCE keyword must be us...

Page 25: ...equipment output NEC PS2562L 1 User supply GND User supply 24 V X1 6 18 c21 a3 Figure 9 Digital input typical connections from a Baldor FlexDriveII Flex DriveII or MintDriveII Servo Systems Co 115 Ma...

Page 26: ...LN2803 device The outputs are designed to sink current from an external supply typically 24 VDC but have no overcurrent or short circuit protection When an output is activated it is grounded through t...

Page 27: ...as the DIR3 and STEP3 outputs see section 4 5 1 so the current demands of these signals must also be considered If an output is driving an inductive load such as a relay a suitably rated diode must b...

Page 28: ...word The command RELAY 0 1 will enable the error output the command RELAY 0 0 will disable it These commands are valid regardless of whether an opto isolating backplane is actually connected 4 4 3 3 D...

Page 29: ...so the current demands of these digital outputs must also be considered On model NES002 503 STEP3 and DIR3 are sourced from the same ULN2003 device used for the additional STEP4 STEP5 and DIR4 DIR5 s...

Page 30: ...air MicroFlex FlexDriveII Flex DriveII MintDriveII encoder output a11 DGND Connect internal shield to DGND Do not connect other end CHA CHA 1 6 X7 CHB CHB MAX3095 120R a7 c10 Twisted pair CHB CHB 2 7...

Page 31: ...oveES is aself powered USB 1 1 12 Mbps compatible device If it is connected to a slower USB 1 0 host PC or hub communication speed will be limited to the USB 1 0 specification 1 5 Mbps If it is connec...

Page 32: ...l connections at the same time NextMove ES is available with either an RS232 or RS485 serial port see section 2 2 1 The port is fully ESD protected to IEC 1000 4 2 15 kV When the NextMove ES is connec...

Page 33: ...transmission with hardware handshaking is supported Only the TXD RXD and 0V GND connections are required for communication but since many devices will check the RTS and CTS lines these must also be co...

Page 34: ...TX TX RX DGND RX TX TX RX DGND RX TX TX Twisted pairs TR Connect overall shield to connector backshell Network slave Network master Figure 16 4 wire RS422 multi drop connections Each transmit receive...

Page 35: ...extMove ES Serial Port Twisted pair 7 RTS 8 CTS 3 TXD 2 RXD 5 GND 1 RXD 2 TXD 3 GND 5 Baldor HMI PLC PORT CTS 11 RTS 10 Twisted pair NextMove ES Serial Port Without hardware handshaking With hardware...

Page 36: ...is because NextMove ES only has a single hardware CAN channel Separate firmware builds are available to support each of the protocols To determine which firmware is currently installed start Mint Work...

Page 37: ...orted on Baldor CAN 2 For bus lengths greater than about 1000 m bridge or repeater devices may be needed H The compromise between bus length and CAN baud rate must be determined for each application T...

Page 38: ...on com Figure 19 shows a typical CANopen network with two NextMove ES units and a Baldor HMI operator panel 1 2 4 5 NextMove ES RJ45 7 2 Baldor HMI Operator Panel Twisted pairs Twisted pairs TR TR End...

Page 39: ...embrane labeled for control of 3 axes X Y Z H KeypadNode 4 Baldor part KPD002 505 an operator panel CAN node with 4 x 20 LCD display and 41 key membrane labeled for control of 4 axes 1 2 3 4 A typical...

Page 40: ...can then be monitored using the Mint BUS2 event Note All CAN related Mint keywords are referenced to either CANopen or Baldor CAN using the bus parameter Although the NextMove ES has a single physical...

Page 41: ...The backplane s relay is driven by the NextMove ES Error Out signal This signal may be controlled by the keywords DRIVEENABLEOUTPUT GLOBALERROROUTPUT or RELAY The drive amplifier s Fault relay connec...

Page 42: ...d to USR V X9 2 STEP0 Step signal for axis 0 Step pulse input 3 STEP0 Step signal for axis 0 Step pulse input 4 DIR0 Direction signal for axis 0 Direction input 5 DIR0 Direction signal for axis 0 Dire...

Page 43: ...www baldormotion com 4 28 Input Output MN1928 Servo Systems Co 115 Main Road P O Box 97 Montville NJ 07045 0097 973 335 1007 Toll Free 800 922 1103 Fax 973 335 1661 www servosystems com...

Page 44: ...BPL010 503 Isolated NPN backplane It is recommended to use one of these dedicated backplanes with your NextMove ES Each table shows the required mating connector and the associated pin on the NextMove...

Page 45: ...onding pins on the 96 pin connector although they are all electrically connected on the backplane The OUT COM pin on connector X11 is not connected to ground Some signals are duplicated on multiple id...

Page 46: ...STEP0 DGND Shield DGND RSTIN ERROR AGND AIN1 AIN1 AGND AIN0 AIN0 Shield AGND DEM 3 Shield AGND DEM 2 Shield AGND DEM 1 Shield AGND DEM 0 DGND DGND 5V 12V 12V DGND DOUT11 DOUT10 DOUT9 DOUT8 DGND DIN19...

Page 47: ...3 8 NC c12 7 ERROR Error output b11 6 AGND Analog ground a30 5 AIN1 Analog input AIN1 a27 4 AIN1 Analog input AIN1 c28 3 AGND Analog ground a30 2 AIN0 Analog input AIN0 a28 1 AIN0 Analog input AIN0 b2...

Page 48: ...ld connection a32 8 AGND Analog ground a30 7 DEMAND2 Analog output AOUT2 b17 6 Shield Shield connection a32 5 AGND Analog ground a30 4 DEMAND1 Demand 1 output AOUT1 b27 3 Shield Shield connection a32...

Page 49: ...al specifications of the digital inputs 5 2 4 Digital inputs 8 15 Location X13 Mating connector Weidm ller Omnimate BL 3 5 10 Pin Name Description 96 pin connector 10 Shield Shield connection a32 9 DG...

Page 50: ...on X11 Mating connector Weidm ller Omnimate BL 3 5 10 Pin Name Description 96 pin connector 10 DGND Digital ground a3 9 OUT COM Common a4 8 DOUT7 Digital output DOUT7 b4 7 DOUT6 Digital output DOUT6 c...

Page 51: ...nnector 5 DGND Digital ground a3 4 DOUT11 Digital output DOUT11 c22 3 DOUT10 Digital output DOUT10 c16 2 DOUT9 Digital output DOUT9 b13 1 DOUT8 Digital output DOUT8 a13 See section 4 4 2 2 for electri...

Page 52: ...a3 Stepper axes outputs 0 1 on the backplane are driven by DS26LS31 line drivers providing RS422 differential outputs See also Figures 25 and 26 The DS26LS31 drivers are static sensitive devices Take...

Page 53: ...igital ground a3 Stepper axes outputs 2 3 on the backplane are driven by DS26LS31 line drivers providing RS422 differential outputs The DS26LS31 drivers are static sensitive devices Take appropriate E...

Page 54: ...ection to a Baldor MicroFlex STEP2 DGND 1 DS26LS31 STEP2 3 Backplane Connect shields at one end only 6 Shield X10 DIR2 DS26LS31 DIR2 5 Twisted pairs 96 pin connector Pulse GND Pulse X9 1 6 Dir 2 FlexD...

Page 55: ...tputs 4 5 are not isolated or driven by the backplane See section 4 4 2 2 for electrical specifications of step and direction outputs 4 and 5 5 2 11 Power inputs Location X1 Mating connector Weidm lle...

Page 56: ...y to encoder a1 5 2 13 Encoder input 1 Location X2 Encoder1 Mating connector 9 pin male D type Pin Name Description 96 pin connector 1 CHA Channel A signal a8 2 CHB Channel B signal c7 3 CHZ Index cha...

Page 57: ...5 DGND Digital ground a3 6 NC NC a17 7 RTS TX output b21 8 CTS RX input a22 9 DGND NC a3 This serial connector carries the same signals as the serial connector on the NextMove ES control card Do not...

Page 58: ...listed with nominal corresponding pins on the 96 pin connector although they are all electrically connected on the backplane The OUT COM pin on connector X11 is not connected to ground All terminals l...

Page 59: ...DIR0 DIR0 STEP0 STEP0 DGND RELCOM REL NO REL NC RELCOM Shield AIN1 AIN1 AGND AIN0 AIN0 Shield AGND DEM 3 Shield AGND DEM 2 Shield AGND DEM 1 Shield AGND DEM 0 DGND DGND 5V 12V 12V DGND DOUT11 DOUT10 D...

Page 60: ...og input AIN1 c28 3 AGND Analog ground a30 2 AIN0 Analog input AIN0 a28 1 AIN0 Analog input AIN0 b28 The analog inputs on the backplane are connected directly to the NextMove ES and do not pass throug...

Page 61: ...eyword and can be configured as the global error output by setting GLOBALERROROUTPUT to 1000 _RELAY0 See the Mint help file While there is no error the relay is energized and REL COM is connected to R...

Page 62: ...Demand 1 output AOUT1 b27 3 Shield Shield connection a32 2 AGND Analog ground a30 1 DEMAND0 Demand 0 output AOUT0 c27 The outputs on the backplane are connected directly to the NextMove ES and do not...

Page 63: ...gital input DIN6 c20 6 DIN5 Digital input DIN5 b19 5 DIN4 Digital input DIN4 c18 4 DIN3 Digital input DIN3 c19 3 DIN2 Digital input DIN2 a18 2 DIN1 Digital input DIN1 b20 1 DIN0 Digital input DIN0 c21...

Page 64: ...al input DIN14 c23 6 DIN13 Digital input DIN13 b24 5 DIN12 Digital input DIN12 c26 4 DIN11 Digital input DIN11 a25 3 DIN10 Digital input DIN10 a24 2 DIN9 Digital input DIN9 b25 1 DIN8 Digital input DI...

Page 65: ...describe the two input types 5 3 5 1 BPL010 502 Active high inputs The user power supply connection USR GND is common to all inputs To activate an input a voltage must be applied that is sufficient t...

Page 66: ...connections from a Baldor MicroFlex USRV DOUT0 6 18 FlexDriveII equipment output NEC PS2562L 1 Backplane opto isolator card 96 pin connector 2k2 TLP521 4 DIN16 User supply 24 V User supply GND USR GN...

Page 67: ...V NextMove ES Backplane opto isolator card 96 pin connector 10k 74AHCT14 2k2 TLP521 4 USR V User supply 24 V User supply GND X6 6 1 Figure 34 Digital input circuit DIN16 with active low inputs Status...

Page 68: ...96 pin connector 2k2 TLP521 4 USR V DIN16 User supply 24 V User supply GND X1 X6 6 18 6 1 Figure 36 Digital input typical connections from a Baldor FlexDriveII Flex DriveII or MintDriveII Servo System...

Page 69: ...l output DOUT2 a6 2 DOUT1 Digital output DOUT1 b6 1 DOUT0 Digital output DOUT0 c6 The digital outputs DOUT0 DOUT7 are buffered by the opto isolator card The BPL010 502 and BPL010 503 opto isolating ca...

Page 70: ...T0 7 with PNP current sourcing module DOUT0 shown 5 3 6 2 BPL010 503 NPN outputs An external supply typically 24 VDC is used to power the UDN2803 output devices and drive the load as shown in Figure 3...

Page 71: ...put is activated it is grounded through the ULN2003 which can sink up to 50 mA per output all outputs on 100 duty cycle If an output is used to drive a relay a suitably rated diode must be fitted acro...

Page 72: ...round a3 Stepper axes outputs 0 1 on the backplane are driven by DS26LS31 line drivers providing RS422 differential outputs See also Figures 42 and 43 The DS26LS31 drivers are static sensitive devices...

Page 73: ...DGND Digital ground a3 Stepper axes outputs 2 3 on the backplane are driven by DS26LS31 line drivers providing RS422 differential outputs The DS26LS31 drivers are static sensitive devices Take appropr...

Page 74: ...ection to a Baldor MicroFlex STEP2 DGND 1 DS26LS31 STEP2 3 Backplane Connect shields at one end only 6 Shield X10 DIR2 DS26LS31 DIR2 5 Twisted pairs 96 pin connector Pulse GND Pulse X9 1 6 Dir 2 FlexD...

Page 75: ...puts When an output is activated it is grounded through the ULN2003 which can sink up to 50 mA per output all outputs on 100 duty cycle If an output is used to drive a relay a suitably rated diode mus...

Page 76: ...0 Location X3 Encoder0 Mating connector 9 pin male D type Pin Name Description NextMove ES 96 pin connector 1 CHA Channel A signal b7 2 CHB Channel B signal a7 3 CHZ Index channel signal b8 4 Shield S...

Page 77: ...pecifications of the encoder inputs 5 3 14 Serial port Location X4 Serial Mating connector 9 pin female D type Pin RS232 name RS485 RS422 name NextMove ES 96 pin connector 1 Shield NC a32 2 RXD RX inp...

Page 78: ...ector Your PC must be using Windows 2000 XP or Vista 6 1 2 Installing Mint Machine Center and Mint WorkBench You will need to install Mint Machine Center MMC and Mint WorkBench to configure and tune t...

Page 79: ...er If you have connected the NextMove ES to the PC using the USB connection it will be necessary to install the USB driver When the NextMove ES is powered Windows 2000 XP or Vista only will automatica...

Page 80: ...es various options to be displayed in the information pane Double clicking on a controller s name launches an instance of Mint WorkBench that is automatically connected to the controller Application V...

Page 81: ...formation pane click Scan 3 When the search is complete click once on NextMove ES in the controller pane to select it then double click to open an instance of Mint WorkBench The NextMove ES will be al...

Page 82: ...functions can be accessed from the menu or by clicking a button use whichever you prefer Most buttons include a tool tip hold the mouse pointer over the button don t click and its description will app...

Page 83: ...you to search for them by name The Search tab allows you to search for words or phrases appearing anywhere in the help file Many words and phrases are underlined and highlighted with a color normally...

Page 84: ...ce of Mint WorkBench go straight to section 6 4 to continue configuration 1 On the Windows Start menu select Programs Mint Machine Center Mint WorkBench 2 In the opening dialog box click Start New Pro...

Page 85: ...Check that the NextMove ES is powered correctly and has completed its startup sequence indicated by the node number being displayed by the Status display Click Scan to re scan the ports 4 A dialog bo...

Page 86: ...nnel assignment can be altered by clicking in the Hardware Channel column and choosing an alternative channel This means the axis will no longer use the correspondingly numbered physical outputs Deman...

Page 87: ...the motor four revolutions The same concept applies to stepper motors where the scale can be set according to the number of steps per revolution Typically this would be 200 for a motor with a 1 8 step...

Page 88: ...the output should behave when activated to enable the axis 3 If you are going to use theerror output ignore this step and go straight to step 4 If you are going to use a digital output drag the appro...

Page 89: ...kBench toolbar click the Drive enable button Click the button again Each time you click the button the drive enable outputs for the selected axes are toggled When the button is in the pressed down pos...

Page 90: ...s to be tested In this example this shouldcause ademand of 5 of maximum output 0 5 V to be produced at the DEMAND0 output backplane connector X7 pin 1 In Mint WorkBench look at the Spy window located...

Page 91: ...and then the DACMODE and ENCODERMODE keywords should be used The DACMODE keyword can be used to invert the demand output voltage The ENCODERMODE keyword must also be used to reverse the incoming feedb...

Page 92: ...as but end up falling behind a little You keep repeating this and after a few tries you end up level with Demand traveling at a steady speed This is what you wanted to do but it has taken you a long t...

Page 93: ...ce any steady state errors By default KINTMODE is always on mode 1 H KINTLIMIT The integration limit determines the maximum value of the effect of integral action This is specified as a percentage of...

Page 94: ...motion com Operation 6 17 MN1928 Figure 48 The NextMove ES servo loop Servo Systems Co 115 Main Road P O Box 97 Montville NJ 07045 0097 973 335 1007 Toll Free 800 922 1103 Fax 973 335 1661 www servosy...

Page 95: ...in good control of the motor but will not necessarily provide the optimum response without further fine tuning Unavoidably this requires a good understanding of the effect of the gain terms 1 In the T...

Page 96: ...our choice then those are the units that will be used here If you did not set a scale the amount you enter will be in encoder counts 6 Click in the Duration box and enter a duration for the move in se...

Page 97: ...the move If the overshoot is excessive or oscillation has occurred it may be necessary to reduce the value of KPROP Measured position Demand position Figure 49 Underdamped response 9 Click in the KDE...

Page 98: ...e the damping of the move If the overdamping is excessive it may be necessary to increase the value of KPROP Measured position Demand position Figure 50 Overdamped response 10 Click in the KDERIV and...

Page 99: ...and only overshoots the demand by a small amount this can be considered an ideal response for most systems See Figure 51 Measured position Demand position Figure 51 Critically damped ideal response S...

Page 100: ...correct position to achieve zero following error Care is required when setting KINT since a high value will cause instability during moves A typical value for KINT would be 0 1 The effect of KINT sho...

Page 101: ...ve feedback signal 6 8 1 Calculating KVELFF To calculate the correct value for KVELFF you will need to know H The speed in revolutions per minute produced by the motor when a maximum demand 10 V is ap...

Page 102: ...e type is set to Trapezoid 7 Click intheDistancebox andenter adistance for the step move It is recommended to set a value that will cause the motor to make a few revolutions for example 10 Note The di...

Page 103: ...asured velocity appears above the trace for Demand velocity reduce the value of KVELFF If the trace for Measured velocity appears below the trace for Demand velocity increase the value of KVELFF Repea...

Page 104: ...Go The NextMove ES will perform the move and the motor will turn As the soon as the move is completed Mint WorkBench will upload captured data from the NextMove ES The data will then be displayed in t...

Page 105: ...ntil the two traces appear on top of each other approximately as shown in Figure 53 Note It may be useful to use the zoom function to magnify the end point of the move In the graph area click and drag...

Page 106: ...ed The JOG command specifies the speed in user units per second so the speed is affectedby SCALEFACTOR section6 4 2 If youhave notselected ascale thecommand JOG 0 2 will cause rotation at only 2 half...

Page 107: ...e digital input 1 will be set to trigger on an active low input and allocated to the forward limit input of axis 0 1 In the Toolbox click the Digital I O icon 2 At the bottom of the Digital I O screen...

Page 108: ...can be configured before clicking Apply 6 10 2 Digital output configuration The Digital Outputs tab allows you to define how each digital output will operate and if it is to be configured as a drive e...

Page 109: ...e Toolbox click the Edit Debug icon 2 On the main menu choose File New File A new program editing window will appear 3 On the main menu choose Program Generate Mint Startup block Mint WorkBench will r...

Page 110: ...k Open A Startup block should be included in every Mint program so that whenever a program is loaded and run the NextMove ES will be correctly configured Remember that every drive motor combination ha...

Page 111: ...www baldormotion com 6 34 Operation MN1928 Servo Systems Co 115 Main Road P O Box 97 Montville NJ 07045 0097 973 335 1007 Toll Free 800 922 1103 Fax 973 335 1661 www servosystems com...

Page 112: ...must have e mail facilities to use the e mail feature If you prefer to contact Baldor technical support by telephone or fax contact details are provided at the front of this manual Please have the fo...

Page 113: ...motion toolbar displays the status of AXISERROR which is a bit pattern of all latched errors See also the Error Log topics in the help file Error input The ERRORINPUT has been activated and generated...

Page 114: ...d 15 is displayed it is shown in hexadecimal format 1 F For node numbers greater than 15 three horizontal bars are displayed User defined symbols can be made to appear using the keywords LED and LEDDI...

Page 115: ...ly connected to the backplane Cannot communicate with the controller after downloading firmware After firmware download always power cycle the controller remove 24 V power and then reconnect 7 2 4 Mot...

Page 116: ...is set to a reasonable value For setting up purposes following error detection may be disabled by setting FOLERRORMODE to zero Motor is under control but vibrates or overshoots during a move Servo ou...

Page 117: ...d Check that a USB Motion Controller device is listed in Windows Device Manager If not there could be a problem with the PC s USB interface 7 2 6 CANopen Symptom Check The CANopen bus is passive This...

Page 118: ...wing H Only nodes that conform to DS401 DS403 and other Baldor CANopen nodes are supported by the Mint NODESCAN keyword H Check that the node in question has been assigned a unique node ID H The node...

Page 119: ...The Baldor CAN bus is off This means that the internal CAN controller in the NextMove ES has experienced a fatal number of Tx and or Rx errors greater than the off threshold of 255 At this point the...

Page 120: ...voltage range VDC 10 Input impedance k 120 Input ADC resolution bits 12 includes sign bit Equivalent resolution 10 V input mV 4 9 Sampling interval s 500 both inputs enabled 250 one input disabled 8...

Page 121: ...ms 1 8 1 5 Digital inputs opto isolated This specification is for the optional opto isolating backplanes BPL010 502 or BPL010 503 when used in conjunction with the NextMove ES card Description Unit V...

Page 122: ...nit Value USR V supply voltage Maximum Minimum VDC 30 V 12 V Output current BPL010 502 Max source per output one output on Max source per output all outputs on mA DOUT0 7 DOUT8 11 350 400 75 50 Output...

Page 123: ...aximum input frequency quadrature MHz 20 Output power supply to encoders 5 V 500 mA max total for both encoders Maximum recommended cable length 30 5 m 100 ft 8 1 11 Stepper control outputs Descriptio...

Page 124: ...p to 31 C 87 F decreasingly linearly to 50 relative humidity at 40 C 104 F non condensing according to DIN40 040 IEC144 Maximum installation altitude above m s l m ft 2000 6560 Shock 10 G according to...

Page 125: ...www baldormotion com 8 6 Specifications MN1928 Servo Systems Co 115 Main Road P O Box 97 Montville NJ 07045 0097 973 335 1007 Toll Free 800 922 1103 Fax 973 335 1661 www servosystems com...

Page 126: ...e with 9 pin D type connectors at both ends one male one female CBL005MF E3B CBL010MF E3B CBL015MF E3B CBL020MF E3B CBL030MF E3B CBL040MF E3B CBL050MF E3B 0 5 1 1 5 2 0 3 0 4 0 5 0 1 6 3 3 5 6 6 9 8 1...

Page 127: ...www baldormotion com A 2 Appendix MN1928 Servo Systems Co 115 Main Road P O Box 97 Montville NJ 07045 0097 973 335 1007 Toll Free 800 922 1103 Fax 973 335 1661 www servosystems com...

Page 128: ...critically damped response 6 22 digital inputs 6 30 digital outputs 6 31 eliminating steady state errors 6 23 overdamped response 6 21 selecting a scale 6 10 selecting servo loop gains 6 18 selecting...

Page 129: ...plane 5 2 X1 screw terminal block 5 12 X2 Encoder1 D type connector 5 13 X3 Encoder0 D type connector 5 13 X4 Serial D type connector 5 14 X5 screw terminal block 5 8 5 12 X6 screw terminal block 5 7...

Page 130: ...trol 6 24 Specifications 8 1 analog inputs 8 1 analog outputs demands 8 1 CAN interface 8 5 digital inputs 8 2 digital outputs 8 3 encoder inputs 8 4 environmental 8 5 error output 8 3 8 4 power 8 1 r...

Page 131: ...backplane 5 5 opto isolated backplanes 5 19 X8 screw terminal block non isolated backplane 5 4 opto isolated backplanes 5 17 X9 screw terminal block non isolated backplane 5 9 opto isolated backplanes...

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Baldor NextMove ES, Installation Manual

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