Baldor NextMove ST Installation Manual Download Page 4

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ii Contents

MN1929

4.7

CAN

4-21

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

4.7.1

CAN connector

4-21

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

4.7.2

CAN wiring

4-22

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

4.7.3

CANopen

4-23

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

4.7.4

Baldor CAN

4-24

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

4.8

Connection summary - minimum system wiring

4-26

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

5 Operation

5-1

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

5.1

Introduction

5-1

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

5.1.1

Connecting the NextMove ST to the PC

5-1

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

5.1.2

Installing WorkBench v5

5-1

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

5.1.3

Starting the NextMove ST

5-1

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

5.1.4

Preliminary checks

5-2

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

5.1.5

Power on checks

5-2

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

5.2

WorkBench v5

5-3

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

5.2.1

Help file

5-3

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

5.2.2

Starting WorkBench v5

5-4

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

5.3

Configuring an axis

5-6

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

5.3.1

Selecting a scale

5-6

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

5.3.2

Setting Relay0 as the drive enable output

5-7

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

5.4

Stepper axis - testing

5-8

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

5.4.1

Testing the output

5-8

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

5.5

Digital input/output configuration

5-9

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

5.5.1

Digital input configuration

5-9

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

5.5.2

Digital output configuration

5-10

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

5.6

Saving setup information

5-11

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

5.6.1

Loading saved information

5-12

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

6 Troubleshooting

6-1

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

6.1

Introduction

6-1

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

6.1.1

Problem diagnosis

6-1

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

6.1.2

SupportMe feature

6-1

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

6.2

NextMove ST indicators

6-2

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

6.2.1

Status display

6-2

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

6.2.2

Surface mount LEDs D3, D4, D16 and D20

6-3

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

6.2.3

Communication

6-4

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

6.2.4

Motor control

6-4

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

6.2.5

WorkBench v5

6-4

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

6.2.6

CANopen

6-5

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

6.2.7

Baldor CAN

6-7

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

Summary of Contents for NextMove ST

Page 1: ...NextMove ST Motion Controller MOTION CONTROL Installation Manual 1 04 MN1929...

Page 2: ......

Page 3: ...4 2 4 2 Power connections 4 3 4 2 1 Operation using combined drive and logic supply 4 3 4 2 2 Operation using separate drive and logic supplies 4 4 4 3 Stepper outputs 4 5 4 3 1 Stepper axes 0 2 drive...

Page 4: ...guring an axis 5 6 5 3 1 Selecting a scale 5 6 5 3 2 Setting Relay0 as the drive enable output 5 7 5 4 Stepper axis testing 5 8 5 4 1 Testing the output 5 8 5 5 Digital input output configuration 5 9...

Page 5: ...connector 7 1 7 1 3 Analog inputs 7 2 7 1 4 Analog output 7 2 7 1 5 Digital inputs 7 2 7 1 6 Digital outputs 7 3 7 1 7 Stepper axis 0 2 drive outputs 7 3 7 1 8 Stepper axes 0 3 logic outputs 7 3 7 1 9...

Page 6: ...iv Contents MN1929...

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: ...l 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 a...

Page 9: ...e H Three stepper drive outputs with control for a fourth external stepper axis H Integral AC DC power supply H Point to point moves software cams and gearing H 24 general purpose 5V digital inputs so...

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

Page 11: ...ST for external damage during shipment and report any damage to the carrier that delivered it 5 If the NextMove ST 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: ...quipment or directly below water steam pipes CAUTION Avoid locating the NextMove ST in the vicinity of corrosive substances or vapors metal particles and dust The safe operation of this equipment depe...

Page 14: ...section 3 1 1 Mount the NextMove ST by the four slots in the metal carrier heat sink assembly M5 bolts or screws are recommended 213 8 39 140 5 51 All dimensions shown as mm inches 127 5 00 263 10 35...

Page 15: ...OM A CD ROM drive Serial port USB port or RS232 or RS485 serial port depending on NextMove ST model Screen 800 x 600 256 colors 1024 x 768 16 bit color Mouse A mouse or similar pointing device Operati...

Page 16: ...www supportme net 3 4 Basic Installation MN1929...

Page 17: ...ion describes the digital and analog input and output capabilities of the control card The following conventions will be used to refer to the inputs and outputs I O Input Output DIN Digital Input DOUT...

Page 18: ...eld 12V OUT Shield 12V OUT DGND 5V OUT Shield DGND DIN7 DIN6 DIN5 DIN4 DIN3 DIN2 DIN1 DIN0 DGND Shield Shield DGND DIN23 DIN22 DIN21 DIN20 DIN19 DIN18 DIN17 DIN16 DGND Shield Shield DGND AUXZ IN AUXDI...

Page 19: ...ed drive and logic supply To operate the NextMove ST using a combined drive and logic supply it is necessary to connect links between the power input connections as shown in Figure 2 The drive and log...

Page 20: ...ternal circuitry can be derived from a separate logic supply To operate the NextMove ST using separate drive and logic supplies do not link power input connector pins Connect power as shown in Figure...

Page 21: ...nical Support for details 4 3 1 Stepper axes 0 2 drive outputs D2 C2 B2 A2 ST L298 Driver ST L297 Controller Step Direction Motor outputs Shield AXIS 2 5 4 3 2 1 Figure 4 Stepper output axis 2 shown T...

Page 22: ...ors except the coils in each phase have a permanent center tap connection Connections are shown in Figure 6 If the motor turns in the wrong direction reverse the connections from one of the phase outp...

Page 23: ...n reverse the connections from one of the phase outputs AB or CD but not both Eight wire motors can be connected in two ways depending on the required torque and speed characteristics Phase 1 Phase 2...

Page 24: ...from the NextMove ST control card are divided into two groups each group driven by an ULN2003 open collector Darlington output device Each ULN2003 has a maximum power dissipation of 900mW at 25 C The...

Page 25: ...ential buffer and second order Butterworth filter with a cut off frequency of approximately 1kHz Both inputs are normally sampled at 2kHz However an input can be disabled by setting ADCMODE to 4 _acOF...

Page 26: ...oltage can be controlled by the variable resistor R35 located just behind the SOUT and SGND pins of the Misc connector SOUT NextMove ST MintMT AUXDAC 0 PWM signal SGND GND Opto isolator TI TLC272C Int...

Page 27: ...AIN0 Connect overall shield at one end only Servo amplifier 10VDC demand input 1 X1 NextMove ST SGND Shield TI TLC272C Integration of PWM signal and offset adjustment R35 SOUT 12 1 2 Figure 13 Analog...

Page 28: ...Stop and Error inputs H Sampling frequency 1kHz DGND DIN0 GND MintMT INX 0 5V NextMove ST 10k 74AHCT14 1nF 3 2 Figure 14 General purpose digital input DIN0 shown CAUTION Do not connect 24V signals to...

Page 29: ...ex equipment output NEC PS2562L 1 X3 3 2 Figure 15 Digital input typical connections from a Baldor MicroFlex DGND DIN0 GND MintMT INX 0 5V NextMove ST 10k 74AHCT14 1nF 3 2 USRV DOUT0 FlexDriveII equip...

Page 30: ...2 Auxiliary Encoder inputs AUXSTEP IN AUXDIR IN AUXZ IN These inputs accept step pulse and direction signals allowing an external source to provide the reference for the speed and direction of an axis...

Page 31: ...limit The maximum current limit for any output within a group is 500mA if only one output is in use reducing to 150mA if all outputs in the group are in use These limits are for a 100 duty cycle If t...

Page 32: ...ill be disabled The RELAY keyword cannot control the error output if it is configured as a drive enable output 4 5 3 3 GLOBALERROROUTPUT keyword By default the error output is used as the global error...

Page 33: ...If it is connected to a hub shared by other USB devices communication couldbe affectedby theactivity of the other devices A 2m 6 5 ft standard USB cable is supplied The maximum recommended cable lengt...

Page 34: ...connector backshell Figure 19 RS232 serial port connections The RS232 port is configured as a DCE Data Communications Equipment unit so it is possible to operate the controller with any DCE or DTE Dat...

Page 35: ...connector on the NextMove ST control card Network slave TR RX DGND RX TX TX RX DGND RX TX TX RX DGND RX TX TX Twisted pairs TR Connect overall shield to connector backshell Network slave Network mast...

Page 36: ...e ST 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 ST Serial Port Without hardware handshaking With hardware handsh...

Page 37: ...er Baldor devices both cannot be supported at the same time This is because NextMove ST only has a single hardware CAN channel Separate firmware builds are available to support each of the protocols T...

Page 38: ...t 500 250Kbit s 450ns at 125Kbit s and 1 5ms at 50 10Kbit s 1 CAN baud rate not supported on Baldor CAN 2 For bus lengths greater than about 1000m bridge or repeater devices may be needed H The compro...

Page 39: ...ectronic Data Sheets EDS which can be found on the Baldor Motion Toolkit CD supplied with your product or downloaded from www supportme net Figure 23 shows a typical CANopen network with two NextMove...

Page 40: ...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 K...

Page 41: ...he network by the NextMove ST 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 42: ...n example of the typical minimum wiring required to allow the NextMove ST to control a single stepper motor The diagram shows the logic supply being derived from the main Drive supply see section 4 2...

Page 43: ...le must be wired in accordance with Figure 19 in section 4 6 3 To use USB connect a USB cable between a PC USB port and the NextMove ST USB connector Your PC must be using Windows 2000 or Windows XP 5...

Page 44: ...nt please contact Baldor technical support 5 1 5 1 Installing the USB driver If you have connected the NextMove ST to the PC using the USB connection it will be necessary to install the USB driver Whe...

Page 45: ...l 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 I...

Page 46: ...ograms 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 next t...

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

Page 48: ...nvolves distance speed or acceleration may need to use a large number to specify a significant move For example MOVER 1600 Move Relative would rotate the motor by 1600 steps only four revolutions By s...

Page 49: ...s 1 In the Toolbox click the Digital I O icon 2 At the bottom of the Digital I O screen click the Digital Outputs tab The left of the screen shows columns of grey icons including one icon named Relay0...

Page 50: ...here 0 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 section 5 3 1 If youhave notselect...

Page 51: ...purpose function such as a Home or Limit input In the following example digital input 1 will be set to trigger on a falling edge and allocated to the forward limit input of axis 0 1 In the Toolbox cli...

Page 52: ...ck Apply to send the changes to the NextMove ST Note If required multiple inputs can be configured before clicking Apply 5 5 2 Digital output configuration The Digital Outputs tab allows you to define...

Page 53: ...xt used Alternatively the information can be included in program files as part of the Startup block 1 In the Toolbox click the Edit Debug icon 2 On the main menu choose File New File A new program edi...

Page 54: ...it Debug icon 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...

Page 55: ...formation which can then be 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 suppor...

Page 56: ...rformed in parallel with the follow See the FOLLOW and OFFSET keywords Circle A circle move is being performed See the CIRCLEA or CIRCLER keywords Cam A Cam profile is being profiled See the CAM keywo...

Page 57: ...t 1 F For node numbers greater than 15 three horizontal bars are displayed User defined symbols can be made to appear using the LED and LEDDISPLAY keywords See the MintMT help file for details of each...

Page 58: ...ured as the drive enable output see section 5 3 2 Use WorkBench v5 to perform the basic system tests see section 5 4 A motor that is controlled by the analog output runs as soon as the controller is s...

Page 59: ...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 ST has experiencing a fatal number...

Page 60: ...n 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 hel...

Page 61: ...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 ST has experiencing a fatal number of Tx and o...

Page 62: ...www supportme net 6 8 Troubleshooting MN1929...

Page 63: ...30VAC 60W 60VA Drive power Nominal supply voltage Minimum supply voltage Maximum supply voltage Power consumption 24VDC 24VAC 12VDC 12VAC 35VDC 30VAC 150W 150VA current not to exceed 6A Combined driv...

Page 64: ...10V input mV 4 9 Sampling interval s 500 both inputs enabled 250 one input disabled 7 1 4 Analog output Description Unit Value Type Single ended Output voltage range VDC 0 11V Output current max mA 1...

Page 65: ...mediate 7 1 7 Stepper axis 0 2 drive outputs Description Unit Value Maximum output frequency kHz 200 Output voltage VDC 40 Output current maximum per axis A 2 7 1 8 Stepper axes 0 3 logic outputs Desc...

Page 66: ...11 Environmental Description Unit Operating temperature range Min Max C F 0 32 40 104 Maximum humidity 80 for temperatures up to 31 C 87 F decreasingly linearly to 50 relative humidity at 40 C 104 F...

Page 67: ...D Digital I O 4 12 auxiliary encoder inputs 4 14 configuration 5 9 digital inputs 4 12 digital outputs 4 15 error output 4 16 DRIVEENABLEOUTPUT keyword 4 16 E Environmental 3 1 7 4 Error output 4 16...

Page 68: ...al port 4 17 connecting serial Baldor HMI panels 4 20 Specifications 7 1 analog inputs 7 2 analog outputs 7 2 CAN interface 7 4 digital inputs 7 2 digital outputs 7 3 environmental 7 4 input power 7 1...

Page 69: ...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 70: ...Comments MN1929 Thank you for taking the time to help us...

Page 71: ......

Page 72: ...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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