Baldor NXE100-1608Dx, Installation Manual

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Operation 5-13 MN1941
5.5 Configuring axes
The NextMove e 100 is capable of controlling its own 4 stepper and 3 servo axes, plus further
‘remote’ axes over ETHERNET Powerlink (EPL). Each axis must be assigned a unique axis
number. The axis number is used throughout Mint WorkBench and the NextMove
e 100’s Mint
programs to identify a particular axis. This section describes how to configure each type of axis.
5.5.1 Local axes, remote axes and profilers
The NextMove e 100 is capable of simultaneously ‘profiling’ up to 16 axes. A profiler is a
calculator used by the NextMove e 100 to constantly update the required axis position during a
move’s progress. Axes that require a profiler include each of the 7 local axes, and each manager
node profiled remote axis (see 5.5.1.2 below). The profilers can be used to control independent
axes or to coordinate synchronized motion on up to 16 axes. For example, the NextMove e 100
could profile its 7 local axes plus 9 independent manager node profiled remote axes, 4 groups of
4 synchronized axes, or any other combination. If none of the local axes are required, all 16
profilers could be used for remote
manager node profiled remote axes.
5.5.1.1 Local axes
The NextMove e 100 has 7 ‘local’ axes, each of which requires one profiler (if in use). The local
axes are the 4 stepper axes and 3 servo axes for which electrical connections are provided on
the NextMove
e 100’s edge connectors (STEP & DIR for stepper axes, Demand and ENC for
servo axes).
5.5.1.2 Remote axes
In addition to the 7 local axes, the NextMove e 100 can also control several ‘remote’ axes.
Remote axes are drive amplifiers, such as MicroFlex e 100, connected to the NextMove e 100
over the EPL connection. There are three ways for the NextMove e 100 (the manager node) to
control a remote axis (a controlled node):
H
NextMove e 100 can profile moves on behalf of the drive, sending continuously updated
incremental demands to the drive (‘ manager node profiled ’). Each remote axis of this type
consumes one profiler on the NextMove e 100.
H
NextMove e 100 can send a single demand to the drive, and then allow the drive to profile
the move itself (‘ controlled node profiled ’). After sending the demand the NextMove e 100
takes no further part in controlling the move, so this type of remote axis does not consume
a profiler on the NextMove
e 100.
H
NextMove e 100 can simply monitor the feedback from the drive, sending no demand
signals. This type of remote axis does not consume a profiler on the NextMove e 100.
When controlling a remote axis, the NextMove e 100 controller sends demand signals and/or
receives position information from the e 100 drives over the EPL network. However, since the
e 100 system uses intelligent positioning drives, the controller / drive combination does not form
a traditional feedback system. Instead, the position, speed and torque loops are closed locally by
the
e 100 drive for higher performance. Since the e 100 drive / motor combination can be
autotuned, setup is much simpler than traditional systems.