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Baldor iMN1921 - page 1
NextMove ST Motion Controller MOTIO N CONTROL Installation Manu al 2/03 M N1921 ...
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Baldor iMN1921 - page 2
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Baldor iMN1921 - page 3
Content s i MN1921 Contents 1 General Information 1-1 ................................. 2 Introduction 2-1 ........................................ 2.1 Next Move ST feat ures 2-1 ................................... 2.2 Receiving and ins pection 2-2 ................................ 2.3 Units and abbreviat ions 2-3 .................................. ...
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Baldor iMN1921 - page 4
ii Cont ents MN1921 5 Operation 5-1 .......................................... 5.1 I ntr oduction 5-1 ............................................ 5.1.1 Connec ting the Nex tMov e ST to the P C 5-1 ............................ 5.1.2 Installing WorkB ench v 5 5-1 ......................................... 5.1.3 S tar ting the Nex tMov e ST 5-1 ...... ...
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Baldor iMN1921 - page 5
General I nformat ion 1- 1 MN1921 L T0184A00 Copy right Baldor ( c) 2002. All rights res erv ed. This manual is c opy righted and all right s are r eser ved. This document or attac hed sof tware may not, in whole or in par t, be c opied or reproduc ed in any form w ithout the prior writ ten cons ent of B ALDO R. BALD OR makes no repr esentat ions o ...
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Baldor iMN1921 - page 6
1-2 General I nform ati on MN1921 Safety N otice Only qualified pers onnel s hould attempt the s tart -up proc edure or tr oubleshoot this equipment . This equipment may be c onnec ted to other machines that hav e rot ating parts or par ts that are cont rolled by t his equipment. Improper us e c an caus e s erious or fatal injur y . Pr ecautions W ...
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Baldor iMN1921 - page 7
Int roducti on 2-1 MN 1921 2.1 NextMove ST features Nex tMov e ST is a high performanc e multi -axis intelligent c ontroller f or s tepper motors . Nex tMov e ST featur es the MintMT mot ion contr ol language. Mint MT is a s truc tur ed form of Bas ic, c us tom designed f or st epper or s erv o motion cont rol applicat ions. It allows y ou to get s ...
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Baldor iMN1921 - page 8
2-2 I ntroduct ion MN1921 Inc luded with Nex tMov e ST is the B aldor Motion T oolk it CD . T his c ontains a number of utilit ies and usef ul resour ces to get the most from y ou MintMT c ontroller . T hese inc lude: H Mint WorkBenc h v 5 This is the us er interfac e for c ommunicating w ith the Nex tMove S T . Ins talling Mint WorkBenc h will als ...
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Baldor iMN1921 - page 9
Int roducti on 2-3 MN 1921 2.3 Units and abbreviations The following unit s and abbrev iations may appear in this manual: V V olt ( also VAC and VDC ) ............... WW a t t .............. A Ampere ............... Ω Ohm ............... µF mic rofarad .............. pF picofar ad .............. mH millihenry ............. Φ phase ............. ...
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Baldor iMN1921 - page 10
2-4 I ntroduct ion MN1921 ...
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Baldor iMN1921 - page 11
Basic I nst allat ion 3-1 MN1921 3.1 Intr oduction Y ou should read all t he sections in Basi c Insta lla tion . It is impor tant that the c orrec t s teps ar e followed w hen installing the N ext Move ST . This s ec tion des cribes the mec hanic al installat ion of the Nex tMov e ST . 3.1. 1 Lo cati on req ui rements Y ou must r ead and understand ...
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Baldor iMN1921 - page 12
3-2 Basic I nstal lati on MN1921 3.1 .2 Mounting the Ne xtMov e ST CAUTION : Before t ouching the unit be s ure to dis c harge s tatic elect ricit y fr om your body and c lothing by touc hing a grounded metal s urfac e. Alter nativ ely , wear an ear th st rap while handling the unit. Ens ure y ou have read and under st ood the locat ion requirement ...
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Baldor iMN1921 - page 13
Basic I nst allat ion 3-3 MN1921 3.1. 3 Oth er req ui rements for i nstal lati on H The Nex tMov e ST requir es a pow er supply as des cr ibed in sec tion 4.2. H A PC that fulfills the following s pec ification: Minimum sp ecificati on Recommend ed specificat ion Pro cessor Intel Pent ium 133MHz Intel Pent ium 200MHz or fas ter RAM 32MB 64MB Hard d ...
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Baldor iMN1921 - page 14
3-4 Basic I nstal lati on MN1921 ...
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Baldor iMN1921 - page 15
Input / Out put 4-1 MN1921 4.1 Intr oduction This sec tion des cr ibes the digit al and analog input and output c apabilities of the Nex tMov e ST . The following c onv entions w ill be us ed to refer t o the inputs and out puts: I/O Input / Out put .............. DIN Digital Input ............. DO UT Digital O utput ........... AIN Analog Input .. ...
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Baldor iMN1921 - page 16
4-2 Input / Out put MN1921 4.1. 1 Con nect or l ocati o ns T ightening torque for terminal block connecti ons is 0.25Nm (2.2 lb-in) Anal og Inputs Shield AIN0+ AIN0- AIN1+ AIN1- AGN D Digit al Outputs 0-7 Digit al Outputs 8-15 Digit al Inputs 8-15 Axis 1 Output Axis 0 Output Axis 2 Output Power In Power Out Digit al Inputs 0-7 Digit al Inputs 16-23 ...
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Baldor iMN1921 - page 17
Input / Out put 4-3 MN1921 4.2 Power connection s The Nex tMov e ST c an acc ept AC or D C power supplies , and has c onnect ions for separ ate driv e and logic s upplies . How ever, the NextMov e ST c an operate f rom a single c ombined supply if nec ess ary. Supply connecti on Recommend ed supply volt age Supply volt age range Power requirement L ...
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Baldor iMN1921 - page 18
4-4 Input / Out put MN1921 4.2. 2 Op erati on u sin g separate d rive an d l o gi c sup pl ies For improv ed nois e immunity, the ±12V and +5V s upplies us ed for t he contr ol car d and internal cir cuitr y c an be deriv ed from a s eparate logic s upply. T o operate the N extMov e ST using separ ate driv e and logic s upplies , do not link power ...
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Baldor iMN1921 - page 19
Input / Out put 4-5 MN1921 4.3 Ste pper output s The Nex tMov e ST prov ides three 37VD C (max ), 2A s tepper ax es driv e outputs , operat ing at 10Hz to 200k Hz . Logic lev el outputs are pr ovided to c ontrol a f ourth s tepper ax is. If requir ed, the output c urrent f or indiv idual axes c an be derated. This c an only be ac hiev ed by making ...
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Baldor iMN1921 - page 20
4-6 Input / Out put MN1921 4.3.1.2 C onnectin g a 6-w ire moto r Six -wir e unipolar motors c an be us ed with the N extMov e ST . Six -wir e motors are s imilar to eight -wire motors ex cept t he coils in eac h phase hav e a permanent c enter t ap connec tion. Connec tions are s hown in Figur e 6. If the motor t urns in the wr ong direct ion, rev ...
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Baldor iMN1921 - page 21
Input / Out put 4-7 MN1921 4.3.1.3 C onnectin g a 8-w ire moto r Eight -wire (univ ers al) motors c an be us ed with the N extMov e ST . C onnect ions ar e show n in Figures 7 and 8. If t he motor turns in the w rong direc tion, rev ers e the c onnect ions fr om one of the phase out puts A B or C D, but not bot h. Eight -wire motors c an be c onnec ...
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Baldor iMN1921 - page 22
4-8 Input / Out put MN1921 4.3. 2 Stepp er axes 0-3 lo gi c ou tp uts J3 DIR3 BOOS T3 DIR2 BOOS T2 DIR1 BOOS T1 DIR0 BOOS T0 DGND STEP3 DGND STEP2 DGND STEP1 DGND STEP0 Next Move ST STEP0 DGND ULN2003 Ste p Output 74AHCT244 GND Figure 9 - S tepper output pin header J 3, and output circuit (STEP0 s hown) T o allow ex ternal s tepper amplifier s to b ...
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Baldor iMN1921 - page 23
Input / Out put 4-9 MN1921 4.4 Analog I/O The Nex tMov e ST prov ides : H T w o 12-bit res olution analog inputs . H One 0 -1 1V analog output. 4.4 .1 Ana log input s H Differential inputs . H V oltage r ange: ±10V . H Res olution: 12 -bit with s ign (ac cur acy ±4. 9mV @ ±10V input) . H Input impedanc e: 120k Ω . H Sampling frequenc y : 4k Hz ...
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Baldor iMN1921 - page 24
4-10 Input / Out put MN1921 4.4 .2 Ana log output H Single ended output. H V oltage r ange: 0 -1 1V . H Output c urr ent: 30mA max imum. The analog output prov ides an independent opto -isolated 0 -1 1V output for c ontrolling an additional ax is or ot her ex ternal equipment. The output is cont rolled usi ng the AUXDAC key wor d - s ee the MintMT ...
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Baldor iMN1921 - page 25
Input / Out put 4-1 1 MN1921 4.5 Digital I/O The Nex tMov e ST prov ides : H 24 general purpos e digital inputs . H 16 general purpos e digital outputs . Note: It is rec ommended to us e s eparate s hielded cables for t he digital inputs . The shield s hould be c onnected t o the input connec tor ’s s hield pin. 4.5 .1 Digit al input s The digita ...
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Baldor iMN1921 - page 26
4-12 Input / Out put MN1921 Using a digital input as a LIMIT or HOME input An input c an be conf igured as a Limit or H ome input for any ax is, us ing the LIMITFORWARDINPUT , LIMITREVERSEINPUT or HOMEINPUT key wor ds. T ypic ally, limit and home inputs will be grounded by nor mally c losed s w itches . When a limit or home s witc h is act ivated, ...
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Baldor iMN1921 - page 27
Input / Out put 4-13 MN1921 4.5. 2 Dig ital ou tp uts The digital outputs are av ailable ac ros s a r ange of connec tors , as s hown in s ection 4. 1.1. H 16 general purpos e digital outputs H Update fr equency : Immediate There are 16 gener al purpos e digital outputs , arranged in t wo groups ; DO UT0 -DO UT7 and DO UT8 -DOU T15. Each group is d ...
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Baldor iMN1921 - page 28
4-14 Input / Out put MN1921 4.5 .3 Err or output The Nex tMov e ST c ontrol c ard has an internal er ror output c onnec ted direc tly t o the enable inputs of the ST L297 s tepper c ontroller s ( see s ec tion 4.3.1). The error output mus t therefor e be used t o enable the axes . Ther e are a number of methods for cont rolling the err or output. 4 ...
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Baldor iMN1921 - page 29
Input / Out put 4-15 MN1921 4.6 Other I/O 4.6. 1 RS232 serial commu ni cati on Locatio n Seria l Mating c onnector : 9 -pin female D-ty pe Pin Name Descriptio n 1 SC Shield c onnection 2 RXD Recei ve Data 3 TXD Transmitted D ata 4 (NC) (Not c onnec ted) 5 0V GN D Signal G round 6 (NC) (Not c onnec ted) 7 RTS R equest T o S end 8 CTS Clear T o Send ...
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Baldor iMN1921 - page 30
4-16 Input / Out put MN1921 NextMove ST (DCE) 9- -p i n Computer COM Port (DCE / DTE) RS232 RXD 2 TXD 3 GND 5 2R X D 3T X D 5G N D RTS 7 CTS 8 7R T S 8C T S COM Connect overall shiel d to connector backs hell. Figure 15 - RS232 serial port connections The maximum r ecommended c able length is 3m (10ft) at 57.6Kbaud. When us ing lower baud rates , l ...
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Baldor iMN1921 - page 31
Input / Out put 4-17 MN1921 4.6. 3 CAN commu ni cati on The CA N c onnection is made us ing the RJ 45 c onnect or on the Nex tMov e ST c ontrol c ard. Locatio n Ne xtM ove ST co ntr ol ca rd Pin Name Descriptio n 1 CAN+ CAN channel pos itiv e 2 CAN- C AN c hannel negativ e 3 - (NC) 4 CAN 0V Ground/ earth refer ence f or CAN s ignals 5 CAN V+ CAN po ...
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Baldor iMN1921 - page 32
4-18 Input / Out put MN1921 The CA N c hannel is opto -isolated. A v oltage in the range 12 -24V must be applied to pin 5 of the CAN c onnector. An internal v oltage regulator prov ides the 5V required f or the is olated CAN cir cuit. Prac tic al operation of t he CAN channel is limited t o 500Kbit/s owing to t he propagation delay of t he opto -is ...
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Baldor iMN1921 - page 33
Input / Out put 4-19 MN1921 4.7 Connection summar y - minimum system wiring As a guide, Figure 17 s hows an ex ample of the ty pic al minimum wiring r equired to allow t he Nex tMov e ST to c ontrol a s ingle s tepper motor . The diagram s hows the logic s upply being deriv ed from the main Dr ive s upply (s ee sec tion 4.2.1) . Host PC Serial comm ...
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Baldor iMN1921 - page 34
4-20 Input / Out put MN1921 ...
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Baldor iMN1921 - page 35
Oper ati on 5-1 MN1921 5.1 Intr oduction The sof tware pr ovided inc ludes a number of applic ations and utilities to allow you to c onfigur e, tune and program the N ext Move ST . The Baldor Mot ion T oolkit C D c ontaining the s oftwar e can be found separ ately within the pac k aging. 5.1. 1 Con nect in g th e NextM ove ST to th e PC Connec t th ...
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Baldor iMN1921 - page 36
5-2 Oper ation MN1921 5.1. 5 Pow er o n ch ecks If at any time the s tatus dis play s hows a digit and a flas hing dec imal point, this indic ates that the Nex tMov e ST has detec ted a fault - see s ect ion 6. 1. Turn on the Logic s upply ( if separ ate from the D riv e supply ). 2. Turn on the Driv e supply. 3. After a br ief test s equenc e, ( f ...
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Baldor iMN1921 - page 37
Oper ati on 5-3 MN1921 5.2 W orkBench v5 WorkBenc h v5 is a fully featured applic ation for pr ogramming and controlling the Nex tMove S T . The main WorkBenc h window cont ains a menu s ys tem, the T oolbox and other toolbars . Many func tions c an be ac ces s ed from the menu or by clic king a butt on - use whichev er y ou pr efer . Most buttons ...
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Baldor iMN1921 - page 38
5-4 Oper ation MN1921 5.2. 2 St artin g WorkBen ch v5 1. On the W indows Start menu, selec t Programs , Wo r kBen ch v5 , Wo r kBen ch v5 . WorkBenc h v 5 will s tart, and the Tip of the Day dialog w ill be display ed. Y ou can prev ent the Tip of the Day dialog appear ing next t ime by remov ing the c hec k mark nex t to Show tips at s tartup. Cli ...
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Baldor iMN1921 - page 39
Oper ati on 5-5 MN1921 3. In the Selec t Cont roller dialog, go to t he drop down box near the t op and selec t the PC ser ial port to w hich the N ext Move ST is c onnec ted. If y ou are uns ure w hich PC s erial port is c onnec ted to the driv e, s elect Scan all ser ial ports . Clic k Scan to se ar ch for th e Next Mo ve ST . When the s earc h i ...
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Baldor iMN1921 - page 40
5-6 Oper ation MN1921 5.3 Configuri ng an axi s The Nex tMov e ST is capable of cont rolling up to four s tepper ax es . This sec tion des c ribes the basic s etup for t hese ax es . Commands ty ped in the Command w indow hav e immediate effect - they do not need to be s eparately dow nloaded to the Nex tMov e ST . 5.3. 1 Select in g a scal e When ...
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Baldor iMN1921 - page 41
Oper ati on 5-7 MN1921 5. Clic k Apply . This immediately sets the s caling fact or for the selec ted ax is, w hich w ill remain in the Nex tMov e ST until another s cale is defined or power is r emoved from the N ext Move ST . ...
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Baldor iMN1921 - page 42
5-8 Oper ation MN1921 5.4 S tep per axis - testing This sec tion des cr ibes the method f or tes ting a st epper ax is. T he stepper cont rol is an open loop sy s tem so no tuning is nec es sar y . 5.4 .1 T esting the output This sec tion tes ts the operation and dir ect ion of the output. It is r ecommended that the s ys tem is initially tes ted a ...
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Baldor iMN1921 - page 43
Oper ati on 5-9 MN1921 5.5 Digit al input/output configur ation The Digital I /O w indow c an be used to s etup other digital inputs and outputs . 5.5 .1 Digit al input configur ation The Digital I nputs tab allow s y ou to define how eac h digital input will be tr iggered, and if it should be as s igned to a spec ial purpos e func tion s uch as a ...
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Baldor iMN1921 - page 44
5-10 Oper ation MN1921 4. Now dr ag the IN1 ic on onto the Fw d Limit icon . This will s etup IN1 as the For ward Limit input of ax is 0. 5. Clic k Apply to s end the c hanges to the N ex tMove ST . Note: If required, multiple inputs c an be c onfigured before c lic king A pply . 5.5 .2 Digit al output conf igura tion The Digital O utputs tab allow ...
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Baldor iMN1921 - page 45
Oper ati on 5-1 1 MN1921 5.6 Saving setup information When power is r emoved fr om the Nex tMov e ST all data, inc luding c onfiguration par ameters , is lost. Y ou should ther efore s ave t his infor mation in a file, whic h c an be loaded when the c ard is next us ed. A lternativ ely , the informat ion can be inc luded in program f iles as part o ...
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Baldor iMN1921 - page 46
5-12 Oper ation MN1921 4. On the main menu, c hoos e File , Save File . Locate a folder, enter a filename and c lic k S ave . 5.6. 1 Lo adi ng saved i nf ormati o n 1. In the T oolbox , clic k the Edit & Debug ic on. 2. On the main menu, c hoos e File , Open File... Locate t he file and clic k Open . A S tartup bloc k s hould be inc luded in ev ...
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Baldor iMN1921 - page 47
T roubl eshooti ng 6-1 MN1921 6.1 Intr oduction This sec tion ex plains c ommon problems and their solut ions. If y ou want to k now the meaning of the LED indic ator s, s ee s ection 6. 2. 6.1 .1 Proble m diagnosis If y ou have follow ed all the ins truc tions in t his manual in s equenc e, you s hould hav e few problems installing t he Nex tMove ...
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Baldor iMN1921 - page 48
6-2 T r oubleshoot ing MN1921 6.2 NextMove ST indicators 6.2. 1 St atus d isp lay The S t atus LE D normally display s the unit’s node number. T o display infor mation about a spec ific ax is, us e the LED k ey word ( see the MintMT help f ile). When a s pecific axis is s elec ted, the following symbols may be display ed by the S tatus LED . Some ...
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Baldor iMN1921 - page 49
T roubl eshooti ng 6-3 MN1921 Ax is dis abled. The ax is /driv e must be enabled befor e operation c an cont inue. See sec tion 5.4.1. Clic k the Dr ive enable button in W ork Benc h v5. Sus pend. T he SUSPEND command has been is sued and is ac tiv e. Motion will be ramped to z ero demand w hilst ac tiv e. Rev ers e soft ware or hardwar e limit. A ...
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Baldor iMN1921 - page 50
6-4 T r oubleshoot ing MN1921 6.2. 3 Commu ni cati on If the problem is not lis ted below pleas e c ontact Baldor T ec hnic al Support. Symptom Check Cannot detec t N extMov e ST Chec k that the N extMov e ST is power ed. Chec k t hat the ser ial lead is w ired c orrec tly and properly connec ted. Chec k t hat no other applic ation on the PC is att ...
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Baldor iMN1921 - page 51
S pecif icati ons 7-1 MN1921 7.1 Intr oduction This s ec tion prov ides t echnic al s pecific ations of the N extMov e ST . 7.1 .1 Input power De scri pti o n Va l u e Logic power Nominal s upply v oltage Minimum supply v oltage Maximum s upply v oltage Power c ons umption 24VDC / 24V AC 12VDC / 12V AC 35VDC / 30V A C 60W / 60V A Drive power Nomina ...
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Baldor iMN1921 - page 52
7-2 S pecifi cations MN1921 7.1 .3 Ana log input s De scri pti o n Unit Val u e Ty p e Differential Common mode volta ge range VDC ±10 Input impedance k Ù 120 Input ADC r esolution bits 12 (inc ludes s ign bit) Equival ent resol ution ( ±10V input) mV ±4.9 Samplin g interval ì s 500 (both inputs enabled) 250 (one input dis abled) 7.1 .4 Ana lo ...
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Baldor iMN1921 - page 53
S pecif icati ons 7-3 MN1921 7.1. 6 Dig ital ou tp uts De scri pti o n Unit Val u e Load supply volt age (max imum) V 50 Output curr ent (DOUT 0-DOUT 7) Per output, one output on Per output , all outputs on mA 500 150 Output curr ent (DOUT 8-DOUT 15) Per output, one output on Per output , all outputs on mA 500 150 Up date i nterv al Immediate 7.1 . ...
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Baldor iMN1921 - page 54
7-4 S pecifi cations MN1921 7.1. 9 CAN in terface De scri pti o n Unit Val u e Signal 2- wir e , iso la te d Channels 1 Protocols CA Nopen Baldor C AN ( with optional fir mware) Bit r ates Kbit/s 10, 20, 50, 100, 125, 250, 500 7.1. 10 En viro nmen tal De scri pti o n Unit Oper ating t emperat ure r ange Min Max °C °F 0 +32 +40 +104 Maximum hum id ...
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Baldor iMN1921 - page 55
Index MN1921 A Abbrev iations , 2-3 Analog I/O , 4 -9 analog inputs, 4 -9 analog output, 4 -10 Aux iliary enc oder , 4-12 B Bas ic Ins tallation, 3 -1 locat ion requirements , 3 -1 mounting, 3 -2 C CAN int erfac e connec tion, 4 -17 spec ific ations , 7-4 Configur ation axis , 5 -6 digital inputs , 5 -9 digital outputs , 5 -10 sel ecti ng a scal e, ...
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Baldor iMN1921 - page 56
Index MN 1921 J Jumper s ettings CAN terminat or , 4 -18 error out put, 4-14 L LED indic ators stat us dis play , 6-2 sur face mount, 6 -3 Loading sav ed informat ion, 5 -12 O Operat ion, 5-1 connec ting to the P C, 5 -1 installing Work Benc h v5, 5 -1 po wer o n che cks, 5-2 pr eli mi na ry che cks, 5- 1 star ting, 5 -1 P Power sour ces , 3 -3, 4- ...
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Baldor iMN1921 - page 57
Comments MN1921 If y ou have any s uggest ions for improv ements to this manual, pleas e let us k now. Write your comment s in the s pac e prov ided below , remov e this page f rom the manual and mail it to: Manuals Baldor UK Lt d Mint Motion Cent re 6 Bris tol Dis tr ibution Park Hawkley Dri v e Bristol BS32 0BF United K ingdom. Alternat ively, yo ...
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Baldor iMN1921 - page 58
Comment s MN1921 Thank you for taking the time to help us. ...
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Baldor iMN1921 - page 59
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Baldor iMN1921 - page 60
P r i n t e di nU K E Baldor UK Ltd L T 0184A00 Eur ope (Southe rn) Baldor ASR AG , Switzer land T el: +41 52 647 4700 Fax: +41 52 659 2394 Eur ope Baldor ASR GmbH, Ger many T el: +49 (0) 89 905 080 Fax: +49 (0) 89 905 08491 Australia Australian Baldor PTY Ltd T el: +61 2 9674 5455 Fax: +61 2 9674 2495 Mexico Baldor de Mexico T el: +52 477 761 2030 ...
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