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Baldor NextMove BX, Руководство по установке

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Getting Started

  

MN1258V4  08/2000

51

Figure 4-18: MCT Jog Test

4.4.3 

System Gains for Current Control by Empirical
Method

After having confirmed that the encoder and motor are correctly wired, start applying some velocity
feedback, 

KVEL

.  Start with a value of 1 and increase it until you feel some resistance in the motor.

For some motors it may be necessary to apply fractional gains; all gain terms are floating point
numbers.  Once the feedback gain has been set, apply some proportional gain, 

KPROP

.  Start off with

a value which is a quarter of the feedback gain.  Select a tuning move such as the step response and
view the results of the motion.

Содержание NextMove BX

Страница 1: ...MN1258V4 08 2000 NextMove BX Installation Manual for Mint v4 Issue 4 0...

Страница 2: ...NextMove BX Installation Manual for Mint v4 ii MN1258V4 08 2000...

Страница 3: ...e held responsible for any expense including installation and removal inconvenience or consequential damage including injury to any person or property caused by items of our manufacture or sale Some s...

Страница 4: ...NextMove BX Installation Manual for Mint v4 iv MN1258V4 08 2000...

Страница 5: ...or troubleshoot this equipment WARNING Be sure that you are completely familiar with the safe operation of this equipment This equipment may be connected to other machines that have rotating parts or...

Страница 6: ...imes the rated motor torque can occur during control failure WARNING The motor shaft will rotate during the homing procedure Be certain that unexpected motor shaft movement will not cause injury to pe...

Страница 7: ...g NextMove BX Overview Getting Started Guide cTERM for Windows User Guide NextMove BX Hardware Guide 1 01 Sept 1998 MN00278 001 KeypadNode 4 information included 1 02 Nov 1998 UM00507 000 New revision...

Страница 8: ...NextMove BX Installation Manual for Mint v4 viii MN1258V4 08 2000...

Страница 9: ...ion J8 12 3 4 Digital I O 13 3 4 1 Digital Inputs J1 and J2 13 3 4 2 Fast Interrupts J6 15 3 4 3 Digital Outputs J4 16 3 5 Analog I O 19 3 5 1 Analog Inputs J3 19 3 5 2 Analog Outputs Drive Command J7...

Страница 10: ...Tool 40 4 4 Servo Setup 42 4 4 1 Tuning a Servo Drive 44 4 4 2 Selecting Servo Loop Gains 48 4 4 3 System Gains for Current Control by Empirical Method 51 4 4 4 System Gains for Velocity Control 53 4...

Страница 11: ...tion 73 6 3 EMC CE Marking 74 6 3 1 Machinery Directive 89 392 EEC 74 6 3 2 Low Voltage Directive 72 23 EEC 74 6 3 3 EMC Directive 89 336 EEC 74 6 4 EMC Performance of NextMove BX 75 6 5 EMC Advice 75...

Страница 12: ...NextMove BX Installation Manual for Mint v4 xii MN1258V4 08 2000...

Страница 13: ...Read Me First MN1258V4 08 2000 1 1 Read Me First 1 This chapter provides an overview of the manual and symbols used throughout this document...

Страница 14: ...nd conventions are used to indicate specific functions The screwdriver icon indicates that it is necessary to make a physical connection to NextMove BX by way of the screw terminations on the front pa...

Страница 15: ...Hardware Features MN1258V4 08 2000 3 2 Product Overview 2 A brief overview of NextMove BX and the software tools available on the Baldor Motion Toolkit...

Страница 16: ...channel up to 8 million counts per second 4 Axes of Servo Control NextMove BX Motion Controller 4 fast interrupt inputs with hardware position latches CAN Interface 2 x CAN bus 1MBaud industrial Loca...

Страница 17: ...llers See the Mint Configuration Tool Users Guide for details Mint WorkBench is the IDE and user interface for communicating with a Mint controller See the Mint WorkBench Users Guide for details PC De...

Страница 18: ...NextMove BX Installation Manual for Mint v4 6 MN1258V4 08 2000...

Страница 19: ...Hardware Features MN1258V4 08 2000 7 3 Hardware Guide 3 This chapter describes in detail the hardware interface to the NextMove BX controller...

Страница 20: ...NextMove BX Installation Manual for Mint v4 8 MN1258V4 08 2000 Figure 3 1 NextMove BX Top Panel Figure 3 2 NextMove BX Hardware...

Страница 21: ...ulation so as to constitute a safety extra low voltage supply The inputs and outputs of control circuit shall also be confined to SELV circuits The atmosphere shall not contain flammable gases or vapo...

Страница 22: ...NextMove BX Installation Manual for Mint v4 10 MN1258V4 08 2000 Figure 3 3 Board Settings...

Страница 23: ...y Unit 12V 5V 0V 12V psu in Figure 3 4 NextMove BX Power Supply Unit The unit has an on board power supply to provide the following 5V regulated output for incremental encoders 12V output 5V output fo...

Страница 24: ...o generate the internal logic voltages from a dc input of 24V 20 The logic power rails are brought out on the front panel for analog sensors and associated circuitry These rails should not be used for...

Страница 25: ...for being edge triggered positive and negative or level triggered active high or low The digital outputs can be programmed as a drive enable output for any axis or general error output Again axes can...

Страница 26: ...tage e g usr V for use with NPN drive transistors or low side switches Alternatively the common rail may be connected to a negative voltage e g usr gnd for use with PNP drive transistors or high side...

Страница 27: ...facility for 4 high speed external interrupts on NextMove BX These are isolated using high speed opto isolators and full bridge rectification They are driven in the same way as the digital inputs see...

Страница 28: ...ltage exceeds 30V and the operation will be unpredictable below 8V The eight digital outputs are opto isolated They are driven by a PNP open collector Darlington type UDN2987A with internal over curre...

Страница 29: ...will eventually overheat and will be damaged Damage will also occur if the output is taken above usr V however transient excursions above usr V are clamped and therefore tolerated Each output has a fr...

Страница 30: ...generated from the user voltage to power the isolation stage allowing any user voltage to function with the same characteristics The digital outputs are inactive following system reset The digital inp...

Страница 31: ...6 ain 5 Analog Input 5 differential input 2 7 ain 6 Analog Input 6 differential input 3 8 ain 7 Analog Input 7 differential input 3 9 agnd 0v reference for analog circuit 10 chassis Chassis ground for...

Страница 32: ...words are ADCMODE ADC 3 5 2 Analog Outputs Drive Command J7 The controller provides up to four 10V 0 1 analog outputs for motor command one for each servo axis A 14 bit DAC is used which gives a resol...

Страница 33: ...vide complementary signals The input circuit is a differential line receiver with open circuit protection and 120 termination Each encoder channel has chA chB and index plus their complements The enco...

Страница 34: ...ed Figure 3 11 Encoder Connector Pin Signal Function Cabling 1 Encoder V Power to the encoder 7 gnd Power and signal ground 5 chA Channel A true signal 9 chA Channel A complement signal 8 chB Channel...

Страница 35: ...ty and should only be used on the shortest of cable runs 3m or approx 9 ft away from sources of interference The input receiver circuit includes diode protection on the inputs to guard against noise s...

Страница 36: ...contact for the enabling of other parts of the system such as drives The relay is controlled by a latch which is cleared during reset of the unit Reset occurs on power up or power down watchdog error...

Страница 37: ...eed 20m 65ft at 19 200 baud and 30m 98ft at 9 600 baud The minimum requirement is for three wires txd rxd and gnd This will only function without hardware handshaking The RS232 port is configured as a...

Страница 38: ...d 5 8 8 cts Clear to Send 4 7 9 gnd Signal Ground 7 9 Associated MINT keywords are SERIALBAUD 3 8 2 RS485 The RS485 connections are brought out onto a male 9 way D type connector on the top of the uni...

Страница 39: ...ss value is stored in EEPROM within the NextMove BX and is restored at power up Software details on RS485 multi drop can be found in the Mint v4 Programmers Manual A multi drop layout is shown in Figu...

Страница 40: ...AN offers 125kbit s serial communications over a two wire twisted pair cable up to a maximum of 500m approx 1640ft in length CAN offers very high reliability of communications in an industrial environ...

Страница 41: ...op of the unit each of which carries both CAN networks When NextMove BX is at the end of a CAN network the terminator for that channel must be activated The terminators are activated by fitting a link...

Страница 42: ...antly to provide immunity to conducted interference shielded twisted pair cabling should be used If two CAN channels are bundled in a cable then each requires a twisted pair Cable screens shields shou...

Страница 43: ...A at 3 0V for data retention This coupled with the consumption of the battery switch gives a total consumption of 2 2 A Theoretically this would give a data retention time of 14 years However the sel...

Страница 44: ...mory is via specific keywords within Mint and is not available for general variables 3 12 System Watchdog The system watchdog is a hardware protection method so that in the event of a firmware or C pr...

Страница 45: ...Updating firmware The following symbols are error conditions Errors are denoted by the flashing of the dot on the display at approximately 10Hz If the following conditions are seen please contact tech...

Страница 46: ...NextMove BX Installation Manual for Mint v4 34 MN1258V4 08 2000...

Страница 47: ...n and Setup 4 This chapter is step by step guide to setting up a NextMove BX servo control system Basic familiarity with PC s and the Windows environment is assumed Introduction to servo systems and t...

Страница 48: ...r is not essential for operation of the controller but is required for programming A standard serial cable should be used or built according to the wiring diagram in section 3 8 An RS232 cable is avai...

Страница 49: ...r makes use of both of these applications and it is recommended that both of these are installed 4 3 Configuring your System This section shows you how to configure your system and check the system wi...

Страница 50: ...re that the motor is always in the correct position 4 3 1 Minimum System Wiring Example The following section is a guide to setting up a minimum system A minimum system is one where the controller and...

Страница 51: ...1 DEMANDS INTERRUPTS RELA Y CAN AXIS 2 AXIS 3 MASTER POWER s s s NextMove Servo Drive Encoder Output from drive or motor Demand Command Demand Command Enable GND Screened Shielded Twisted Pair Cable...

Страница 52: ...the Mint v4 program group Figure 4 4 Mint Configuration Tool Start Up Page Select Next and proceed to the Controller Type Select page NextMove BX should have been found automatically and will appear i...

Страница 53: ...ected as a servo NextMove BX is available in a number of axis variants 2 3 or 4 axes Axes are labeled from 0 to 3 The axes selection screen will show the current configuration of each axis and the pos...

Страница 54: ...nts per revolution and select the number of lines on the encoder 4 4 Servo Setup Clicking Next brings up the Test Select screen In order to perform some basic tests on the system wiring select Perform...

Страница 55: ...ve encoder change and a negative command signal should result in a negative encoder change Figure 4 11 MCT Command Test If the encoder runs in the opposite direction when a command voltage is applied...

Страница 56: ...roller compares desired and actual positions and calculates the correct demand for the motor The corrective signal is calculated by a PIDVFA Proportional Integral Derivative Velocity Feedback Velocity...

Страница 57: ...ty feedback gain is illustrated by the Under damped line in Figure 4 12 In NextMove BX an alternative damping method is provided in the form of the derivative of the error signal Derivative action has...

Страница 58: ...se of the axis This helps in reducing overshoot If the effect of the velocity feedback term is dominant in the control law this will lead to instability in the axis Velocity Feedforward This acts on t...

Страница 59: ...ng the closed loop involves selecting values for some or all of the terms KP KD KI KV KF and KA to provide the best performance for a particular motor encoder combination and load inertia In view of t...

Страница 60: ...elocity control mode The procedure for setting system gains differs slightly for each In order to check that the encoder and motor are wired up correctly it is recommended that the motor is tested and...

Страница 61: ...otors it is necessary to have a feel for the effect that changing each gain term will have on the performance of an axis In order to achieve an acceptable dynamic response high gain values may be requ...

Страница 62: ...17 Mint WorkBench Tuning After initial tuning has been completed click Next to proceed to the Jog and Direction Test page This allows a final check of system operation by jogging axis in either direct...

Страница 63: ...feedback KVEL Start with a value of 1 and increase it until you feel some resistance in the motor For some motors it may be necessary to apply fractional gains all gain terms are floating point numbe...

Страница 64: ...ional gain KPROP Increase proportional gain KPROP until the motor shaft becomes stiff Finally set the velocity feed forward gain KVELFF to the same value as the velocity feedback gain KVEL An alternat...

Страница 65: ...the closed loop and therefore does not have an effect on system stability This means that the term can be increased to maximum without causing the motor to oscillate provided that the other terms are...

Страница 66: ...values of KVELFF When attempting this make sure that there is zero integral gain since this will cause the following error to tend to zero under steady state conditions thereby negating the effect of...

Страница 67: ...gram Description Mint On Controller Basic style language supplied with controller Embedded C On Controller ANSI C compiled and linked using the Texas Instruments C31 compiler to libraries supplied by...

Страница 68: ...t a time either Mint or an embedded application For further details on programming the controller in any of the above languages see the Mint v4 PC Programming Guide 4 6 Documentation All NextMove BX d...

Страница 69: ...EED 0 1 10 20 REM Set slew speed on axes 0 and 1 ACCEL 0 1 100 200 REM Set acceleration on axes 0 and 1 MOVER 0 1 50 100 REM Load positional moves GO 0 1 REM Start motion The use of the square bracket...

Страница 70: ...control program The two files can contain the same instructions except that the Configuration Buffer is only 8K maximum size while the Program Buffer can be up to 1Mb 4 7 1 The Configuration File The...

Страница 71: ...s to tune the system response Scale factor to set the units of measure of the application Maximum following error to set a safe maximum difference between actual and desired positions Default speeds a...

Страница 72: ...4 MCT Digital Input Setup Digital Outputs Each of the digital output channels may be configured to be active high or low Digital outputs may also be assigned for use as drive enable channels or as a g...

Страница 73: ...ber of voltage ranges and as single ended or differential inputs Figure 4 26 MCT Analog Input Setup Axis Params This page allows basic axis parameters to be setup such as speed and acceleration You ma...

Страница 74: ...ror modes to be set for each error type When an error occurs the action specified will occur Figure 4 28 MCT Axis Errors Miscellaneous This page allows the auxiliary encoder parameters to be set and t...

Страница 75: ...suitable for use in an embedded application Figure 4 30 MCT Create Configuration File 4 7 2 The Program File The Mint WorkBench has a built in editor which can be used to edit both Configuration and P...

Страница 76: ...tor As with the Configuration file in order to execute the Program file it must be downloaded to the controller Once the program has been downloaded to the controller it can be executed by either typi...

Страница 77: ...file MOVEA MOVER GO Vector Multi axis absolute and relative position moves with a trapezoidal velocity profile VECTORA VECTORA GO Circle Circular motion CIRCLEA CIRCLER GO Incremental Positional move...

Страница 78: ...NextMove BX Installation Manual 66 MN1258V4 08 2000...

Страница 79: ...Options and Accessories MN1258V4 08 2000 67 5 Options and Accessories 5 This chapter describes the option and accessories for NextMove BX...

Страница 80: ...No of axes NextMove BX 2 NMX004 501 NextMove BX 3 NMX004 502 NextMove BX 4 NMX004 503 NextMove BX standalone controller Item Order Code Description NextMove BX Installation Manual MN1258V4 Includes Ba...

Страница 81: ...ode KPD002 505 41 key keypad and 4 line LCD display Runs on Baldor CAN bus inputNode 8 ION001 503 8 digital inputs Runs on Baldor CAN bus outputNode 8 ION003 503 8 digital outputs Runs on Baldor CAN b...

Страница 82: ...NextMove BX Installation Manual 70 MN1258V4 08 2000...

Страница 83: ...cessories MN1258V4 08 2000 71 6 Specifications and Product Data 6 This chapter provides a product summary and describes the basis for CE marking and describes how to avoid common EMC problems when usi...

Страница 84: ...over relay rated at 500mA 24V dc Contact sensitivity 10 A 10mV DC 1 output per controller software programmable Fail safe operation relay de energized on loss of power Software programmable to de ener...

Страница 85: ...months when fully charged Dimensions 280mm 316mm including flanges x 236mm x 59mm 11 in 12 45 including flanges x 9 3 in x 2 32 in Weight Approximately 1 86kg 4 1lb Operating Temperature 0 40 C 32 104...

Страница 86: ...ipment should be used 6 3 2 Low Voltage Directive 72 23 EEC Applies to equipment powered from 75V dc to 1500V dc or 50V ac to 1000V ac Therefore this directive does not apply to NextMove BX 6 3 3 EMC...

Страница 87: ...ual except no connections to 5V 12V 12V 0V serial port operated in RS232 mode Test covered 10V m 26 80MHz 10V m 80 1000MHz with 80 1kHz modulation equipment functioned correctly throughout Fast burst...

Страница 88: ...NextMove BX Installation Manual 76 MN1258V4 08 2000...

Страница 89: ...Troubleshooting Guide MN1258V4 08 2000 77 7 Troubleshooting Guide 7 This chapter covers common problems found when using the NextMove BX controller...

Страница 90: ...nections between motor and controller are correct Use the Mint Configuration Tool to perform the basic system wiring tests described in section 4 4 Ensure that the amplifier is enabled and working whe...

Страница 91: ...or overshoots during a move Servo loop gains may be set too high Go through the servo system set up procedure to establish correct gains Motor is under control but when moved to a position and then ba...

Страница 92: ...NextMove BX Installation Manual 80 MN1258V4 08 2000...

Страница 93: ...2 Mint v4 Advanced Programming Guide MN1270 3 Mint v4 PC Programming Guide MN1278 4 Mint v4 Embedded Programming Guide MN1279 5 Mint v4 Function Reference Guide MN1280 6 Mint v4 CAN Programming Guide...

Страница 94: ...NextMove BX Installation Manual 82 MN1258V4 08 2000...

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