Baldor Nextmove ESB Installation Manual Download Page 1

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NextMove ESB

Motion Controller

MOTION CONTROL

Installation Manual

1/04

MN1924

Summary of Contents for Nextmove ESB

Page 1: ...NextMove ESB Motion Controller MOTION CONTROL Installation Manual 1 04 MN1924...

Page 2: ......

Page 3: ...4 1 Introduction 4 1 4 1 1 Connector locations 4 2 4 2 Analog I O 4 3 4 2 1 Analog inputs 4 3 4 2 2 Analog outputs 4 5 4 3 Digital I O 4 7 4 3 1 Digital inputs 4 7 4 3 2 Digital outputs 4 12 4 4 Other...

Page 4: ...n introduction to closed loop control 5 13 5 6 Servo axis tuning for current control 5 16 5 6 1 Selecting servo loop gains 5 16 5 6 2 Underdamped response 5 18 5 6 3 Overdamped response 5 19 5 6 4 Cri...

Page 5: ...7 Encoder inputs 7 2 7 1 8 Stepper control outputs 7 3 7 1 9 Serial RS232 RS485 port 7 3 7 1 10 CAN interface 7 3 7 1 11 Environmental 7 3 7 1 12 Weights and dimensions 7 4 Appendices A General A 1 A...

Page 6: ...iv Contents MN1924...

Page 7: ...ing installation and removal inconvenience or consequential 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 excl...

Page 8: ...injury WARNING The stop input to this equipment should not be used as the single means of achieving a safety critical stop Drive disable motor disconnect motor brake and other means should be used as...

Page 9: ...s a wide range of powerful commands for complex applications Standard features include H Control of 4 stepper and 3 servo axes H Point to point moves software cams and gearing H 20 general purpose dig...

Page 10: ...aces that allow PC applications to be written that communicate with the NextMove ESB This manual is intended to guide you through the installation of NextMove ESB The chapters should be read in sequen...

Page 11: ...SB for external damage during shipment and report any damage to the carrier that delivered it 5 If the NextMove ESB is to be stored for several weeks before use be sure that it is stored in a location...

Page 12: ...auge CAL CAN Application Layer CAN Controller Area Network CDROM Compact Disc Read Only Memory CiA CAN in Automation International Users and Manufacturers Group e V CTRL E on the PC keyboard press Ctr...

Page 13: ...equipment or directly below water steam pipes CAUTION Avoid locating the NextMove ESB in the vicinity of corrosive substances or vapors metal particles and dust The safe operation of this equipment de...

Page 14: ...flammable vertical surface Orientation must be as shown in Figure 1 with the two slots in the metal carrier heat sink assembly at the bottom 135 5 3 124 4 9 170 6 7 245 9 65 All dimensions shown as m...

Page 15: ...faster RAM 32MB 128MB Hard disk space 40MB 60MB CD ROM A CD ROM drive Serial port USB port or RS232 or RS485 serial port depending on NextMove ESB model Screen 800 x 600 256 colors 1024 x 768 16 bit...

Page 16: ...www supportme net 3 4 Basic Installation MN1924...

Page 17: ...This section describes the input and output capabilities of the NextMove ESB The following conventions will be used to refer to the inputs and outputs I O Input Output DIN Digital Input DOUT Digital O...

Page 18: ...ype B plug 1 2 3 4 5 6 7 8 9 10 12 11 10 9 8 7 6 5 4 3 2 1 10 9 8 7 6 5 4 3 2 1 X11 DOUT 0 7 DOUT0 DOUT1 DOUT2 DOUT3 DOUT4 DOUT5 DOUT6 DOUT7 USR V USR GND 1 2 3 4 5 6 7 8 9 10 X10 DIN 0 3 fast interru...

Page 19: ...log inputs pass through a differential buffer and second order low pass filter with a cut off frequency of approximately 1kHz Both inputs are normally sampled at 2kHz However an input can be disabled...

Page 20: ...C 0 1 2 3 X12 AIN0 Differential connection Single ended connection AIN0 1 2 3 AIN0 GND Figure 3 AIN0 analog input wiring AIN0 1k 0 25W potentiometer ADC 0 2 1 X12 1 5k 0 25W 0V 24VDC 3 Figure 4 Typica...

Page 21: ...ontrol servo axes 0 to 2 respectively The Demand3 output may be used as general purpose analog output See the DAC keyword in the MintMT help file The analog outputs may be used to drive loads of 1k or...

Page 22: ...e ESB Demand0 AGND 2 FlexDriveII servo amplifier AIN0 AIN0 Connect overall shield at one end only 3 Shield Servo amplifier 10VDC demand input 1 2 1 X1 X13 Figure 7 Analog output typical connection to...

Page 23: ...uch as a home limit stop or error input See the keywords HOMEINPUT LIMITFORWARDINPUT LIMITREVERSEINPUT STOPINPUT and ERRORINPUT in the MintMT help file 4 3 1 1 DIN0 DIN3 Digital inputs DIN0 to DIN3 ca...

Page 24: ...neral purpose digital input DIN11 shown If an input is configured as edge triggered the triggering pulse must have a duration of at least 1ms one software scan to guarantee acceptance by MintMT The us...

Page 25: ...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 used to configure the step input as a m...

Page 26: ...9 Figure 13 Digital input typical active low input connection using a switch Note The circuits shown in Figures 12 and 13 are not suitable for use with fast inputs DIN0 to DIN3 Using a mechanical swit...

Page 27: ...1924 NextMove ESB USRV DOUT0 8 9 FlexDriveII equipment output NEC PS2562L 1 3k3 TLP280 X1 User supply GND User supply 24V 6 18 DIN4 CREF1 X9 Figure 15 Digital input typical connections from a Baldor F...

Page 28: ...d on any single output H The maximum allowable power dissipation for the UDN2982 driver is 1 5W If an output is used to drive an inductive load such as a relay a suitably rated diode must be fitted ac...

Page 29: ...d can be used to directly control the output frequency between 60Hz and 500kHz see the MintMT help file CAUTION The DS26LS31 drivers are static sensitive devices Take appropriate ESD precautions when...

Page 30: ...puts Each input channel uses a MAX3095 differential line receiver with pull up resistors and terminators Encoders must provide RS422 differential signals The use of individually shielded twisted pair...

Page 31: ...port Location USB Mating connector USB Type B downstream plug Pin Name Description 1 VBUS USB 5V 2 D Data 3 D Data 4 GND Ground The USB connector can be used as an alternative method for connecting t...

Page 32: ...o configure the serial port The configuration can also be changed using the Mint keyword SERIALBAUD see the Mint help file for details It is stored in EEPROM and restored at power up The port is capab...

Page 33: ...ntroller If firmware is updated over RS485 RS422 it can only be downloaded to the controller that was chosen in the Select Controller dialog in WorkBench v5 Master and final slave are shown with termi...

Page 34: ...TS 8 CTS 3 TXD 2 RXD 5 GND 1 RXD 2 TXD 3 GND 5 Baldor HMI PLC PORT NextMove ESB 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 pai...

Page 35: ...unlike other Baldor devices both cannot be supported at the same time This is because NextMove ESB only has a single hardware CAN channel Separate firmware builds are available to support each of the...

Page 36: ...maximum bus length worst case assuming 5ns m propagation delay and a total effective device internal in out delay of 210ns at 1Mbit s 300ns at 500 250Kbit s 450ns at 125Kbit s and 1 5ms at 50 10Kbit s...

Page 37: ...tronic Data Sheets EDS which can be found on the Baldor Motion Toolkit CD supplied with your product or downloaded from www supportme net Figure 24 shows a typical CANopen network with two NextMove ES...

Page 38: ...24 x digital output CAN node H KeypadNode Baldor part KPD002 501 an operator panel CAN node with 4 x 20 LCD display and 27 key membrane labeled for control of 3 axes X Y Z H KeypadNode 4 Baldor part...

Page 39: ...e network by the NextMove ESB using the MintMT NODETYPE keyword Any network and node related events can then be monitored using the MintMT BUS2 event Note All CAN related MintMT keywords are reference...

Page 40: ...allow the NextMove ESB and a single axis servo amplifier to work together Details of the connector pins are shown in Table 2 Servo amplifier axis 0 Encoder output from drive or motor Gnd Enable Demand...

Page 41: ...ground 2 24V Control supply 24V input X5 Encoder0 Encoder0 feedback input Encoder output X12 9 REL NO Normally open relay contact closed to enable drive Enable 24V 10 REL COM Common relay connection E...

Page 42: ...www supportme net 4 26 Input Output MN1924...

Page 43: ...t be wired in accordance with Figure 20 in section 4 4 5 To use USB connect a USB cable between a PC USB port and the NextMove ESB USB connector Your PC must be using Windows 2000 or Windows XP 5 1 2...

Page 44: ...river When the NextMove ESB is powered Windows 2000 or XP only will automatically detect the controller and request the driver The driver consists of two files baldorusb inf and baldorusb sys Both fil...

Page 45: ...ol topics The help file can be displayed at any time by pressing F1 On the left of the help window the Contents tab shows the tree structure of the help file each book contains a number of topics The...

Page 46: ...Programs WorkBench v5 WorkBench v5 WorkBench v5 will start and the Tip of the Day dialog will be displayed You can prevent the Tip of the Day dialog appearing next time by removing the check mark nex...

Page 47: ...o search for the NextMove ESB When the search is complete click NextMove ESB in the list to select it and then click Select Note If the NextMove ESB is not listed check the serial or USB cable between...

Page 48: ...speed or acceleration may need to use a large number to specify a significant move For example MOVER 16000 Move Relative would rotate the motor by 16000 quadrature counts only four revolutions By set...

Page 49: ...put with other axes If an output is shared an error on any of the axes sharing the output will cause all of them to be disabled The drive enable output can either be the relay or a digital output 1 In...

Page 50: ...s step for the other axes Ifyou areusing adigital output drag the bright blue OUT icon to the grey Drive Enable OP axis icon on the right of the screen To configure multiple axes with the same drive e...

Page 51: ...s for the selected axes are toggled When the button is in the pressed down position the amplifier should be enabled When the button is in the raised up position the amplifier should be disabled If thi...

Page 52: ...is the axis stepper output to be tested and 2 is the speed The JOG command specifies the speed in user units per second so the speed is affectedby SCALEFACTOR section5 3 1 If youhave notselected asca...

Page 53: ...be tested In this example this shouldcause ademand of 5 of maximum output 0 5V to be produced at the DEMAND0output connector X13 pin1 In WorkBench v5 look at the Spy window located on the right of th...

Page 54: ...for the motor to turn in the opposite direction for a positive demand then the DACMODE and ENCODERMODE keywords should be used The DACMODE keyword is used to invert the demand output voltage The ENCOD...

Page 55: ...so hard you go right past Demand To try and stay level you ease off the gas but end up falling behind a little You keep repeating this and after a few tries you end up level with Demand traveling at...

Page 56: ...in has a de stabilizing effect but a small amount can be used to reduce any steady state errors By default KINTMODE is always on mode 1 H KINTLIMIT The integration limit determines the maximum value o...

Page 57: ...www supportme net Operation 5 15 MN1924 Figure 28 The NextMove ESB servo loop...

Page 58: ...te The method explained in this section should allow you to gain good control of the motor but will not necessarily provide the optimum response without further fine tuning Unavoidably this requires a...

Page 59: ...e so that units could be expressed in revolutions or other unit of your 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...

Page 60: ...then the value for KDERIV should be increased to add extra damping to the move If the overshoot is excessive or oscillation has occurred it may be necessary to reduce the value of KPROP Measured posit...

Page 61: ...in Figure 30 then the value for KDERIV should be decreased to reduce the damping of the move If the overdamping is excessive it may be necessary to increase the value of KPROP Measured position Deman...

Page 62: ...ponse If the graph shows that the response reaches the demand quickly and only overshoots the demand by a small amount this can be considered an ideal response for most systems See Figure 31 Measured...

Page 63: ...non zero demand output is required to hold the load in the correct position to achieve zero following error Care is required when setting KINT since a high value will cause instability during moves A...

Page 64: ...vo amplifier have been connected and that a positive demand causes a positive feedback signal 5 8 1 Calculating KVELFF To calculate the correct value for KVELFF you will need to know H The speed in re...

Page 65: ...esired position 6 In the Move Type drop down box check that the move type is set to Trapezoid 7 Click intheDistancebox andenter adistance for the step move It is recommended to set a value that will c...

Page 66: ...o make changes to the calculated value of KVELFF If the trace for Measured velocity appears above the trace for Demand velocity reduce the value of KVELFF If the trace for Measured velocity appears be...

Page 67: ...y 1 Click in the KPROP box and enter a starting value of 0 1 2 Click Go The NextMove ESB will perform the move and the motor will turn As the soon as the move is completed WorkBench v5 will upload cap...

Page 68: ...which represents the following error Adjust KPROP by small amounts until the two traces appear on top of each other approximately as shown in Figure 33 Note It may be useful to use the zoom function t...

Page 69: ...pose function such as a Home or Limit input In the following example 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 c...

Page 70: ...end the changes to the NextMove ESB Note If required multiple inputs can be configured before clicking Apply 5 9 2 Digital output configuration The Digital Outputs tab allows you to define how each di...

Page 71: ...on in a file which can be loaded when the unit is next used 1 In the 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 me...

Page 72: ...on 2 On the main menu choose File Open File Locate the file and click Open A Startup block should be included in every Mint program so that whenever a program is loaded and run the NextMove ESB will b...

Page 73: ...e mailed saved as a text file or copied to another application The PC must have e mail facilities to use the e mail feature If you prefer to contact Baldor technical support by telephone or fax conta...

Page 74: ...d See the CAM keyword General error See the AXISERROR keyword The 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...

Page 75: ...the help file Initialization errors should not normally occur When a node number between 1 and 15 is displayed it is shown in hexadecimal format 1 F For node numbers greater than 15 three horizontal...

Page 76: ...al is connected to the encoder input the encoder has power if required see sections 4 4 2 and 7 1 7 and is functioning correctly Check that the drive is connected correctly to the NextMove ESB and tha...

Page 77: ...check the complement signals Ensure that the encoder cable uses shielded twisted pair cable with the outer shield connected at both ends and the inner shields connected only at the NextMove ESB end St...

Page 78: ...e passive state once the problem has been rectified this may take several seconds The CANopen bus is off This means that the internal CAN controller in the NextMove ESB has experiencing a fatal number...

Page 79: ...in question If the node in question does not conform to DS401 or DS403 and is not a Baldor CANopen node communication is still possible using a set of general purpose MintMT keywords See the MintMT he...

Page 80: ...recover from the passive state once the problem has been rectified The Baldor CAN bus is off This means that the internal CAN controller in the NextMove ESB has experiencing a fatal number of Tx and...

Page 81: ...Type Differential Common mode voltage range VDC 10 Input impedance k 120 Input ADC resolution bits 12 includes sign bit Equivalent resolution 10V input mV 4 9 Sampling interval s 500 both inputs enab...

Page 82: ...t Max source per output one output on Max source per output all outputs on Maximum total output current mA DOUT0 7 DOUT8 10 350 350 62 5 166 500 500 Update interval Immediate 7 1 6 Relay output All mo...

Page 83: ...t 115200 RS232 only 7 1 10 CAN interface Description Unit Value Signal 2 wire isolated Channels 1 Protocols CANopen or Baldor CAN selected by choice of firmware Bit rates CANopen Baldor CAN Kbit s 10...

Page 84: ...www supportme net 7 4 Specifications MN1924 7 1 12 Weights and dimensions Description Value Weight Approximately 700g 1 5 lb Nominal overall dimensions 245mm x 135mm x 43mm 9 65in x 5 32in x 1 69in...

Page 85: ...nd 5 share an internal hardware channel This means they cannot both be servo or stepper axes If one is servo the other must be stepper The servo demand output for axis 1 or 5 is always the DEMAND1 out...

Page 86: ...s 5 To configure axis 0 as a servo axis type CONFIG 0 _cfSERVO Other axes can be assigned as required subject to the limitations described above It is recommended that unused axes are always turned of...

Page 87: ...number Length Cable assembly description Baldor catalog number m ft Servo Amplifier to NextMove ESB Feedback Cable with 9 pin male D type connectors at both ends CBL005MF A2 CBL010MF A2 CBL015MF A2 C...

Page 88: ...www supportme net A 4 General MN1924...

Page 89: ...responsibility of the system integrator to ensure that the entire system complies with all relative directives at the time of installing into service Motors and controls are used as components of a s...

Page 90: ...ark compliance rests entirely with the party who offers the end system for sale such as an OEM or system integrator B 1 4 EMC installation suggestions To ensure electromagnetic compatibility EMC the f...

Page 91: ...selecting a scale 5 6 setting the drive enable output 5 7 testing a stepper axis 5 10 testing and tuning a servo axis 5 11 testing the drive enable output 5 9 Connectors CAN 4 19 locations 4 2 serial...

Page 92: ...necting serial Baldor HMI panels 4 18 Servo axis 5 11 adjusting KPROP 5 25 eliminating steady state errors 5 21 testing the demand output 5 11 tuning for current control 5 16 tuning for velocity contr...

Page 93: ...Units and abbreviations 2 4 USB installing the driver 5 2 port 4 15 W Weights and dimensions 7 4 WorkBench v5 5 3 digital input output configuration 5 27 help file 5 3 loading saved information 5 30 s...

Page 94: ...Index MN1924...

Page 95: ...your comments in the space provided below remove this page from the manual and mail it to Manuals Baldor UK Ltd Mint Motion Centre 6 Bristol Distribution Park Hawkley Drive Bristol BS32 0BF United Ki...

Page 96: ...Comments MN1924 Thank you for taking the time to help us...

Page 97: ......

Page 98: ...52 477 761 2010 U S A Headquarters Baldor Electric Company Tel 1 479 646 4711 Fax 1 479 648 5792 Singapore Baldor Electric PTE Ltd Tel 65 744 2572 Fax 65 747 1708 Japan Baldor Japan Corporation Tel 8...

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