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Baldor MN1928 - page 1
NextMove ES Motion Controller MOTIO N CONTROL Installation Manu al 8/03 M N1928 ...
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Baldor MN1928 - page 2
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Baldor MN1928 - page 3
Content s i MN1928 Contents 1 General Information 1-1 ................................. 2 Introduction 2-1 ........................................ 2.1 Next Move ES feat ures 2-1 .................................. 2.2 Receiving and ins pection 2-3 ................................ 2.2.1 Identify ing the c atalog number 2-3 .......................... ...
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Baldor MN1928 - page 4
ii Cont ents MN1928 5 Backplanes 5 - 1 ........................................ 5.1 I ntr oduction 5-1 ............................................ 5.2 BPL010 -501 non-isolat ed backplane 5-2 ....................... 5.2.1 Analog inputs 5-2 .................................................. 5.2.2 Analog outputs (demands ) 5-3 ....................... ...
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Baldor MN1928 - page 5
Content s ii i MN1928 6.5 Serv o axis - test ing and tuning 6-1 1 ............................ 6.5.1 T est ing the demand output 6-1 1 ....................................... 6.5.2 An introduc tion to c los ed loop contr ol 6-13 .............................. 6.6 Serv o axis - tuning for curr ent cont rol 6-16 ...................... 6.6.1 Selec tin ...
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Baldor MN1928 - page 6
iv Cont ents MN1928 Appendices A Appendix A-1 .......................................... A.1 A xis renum bering A -1 ....................................... ...
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Baldor MN1928 - page 7
General I nformat ion 1- 1 MN1928 Copy right Baldor ( c) 2003. A ll rights res erv ed. L T0202A00 This manual is c opyr ighted and all rights are r eserv ed. This document or attached s oftw are may not, in whole or in par t, be c opied or reproduc ed in any form wit hout the prior w ritten c ons ent of BALD OR . BALD OR makes no repres entations o ...
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Baldor MN1928 - page 8
1-2 General Inf ormati on MN1928 Safety N otice Only qualified pers onnel s hould attempt to s tart -up, program or troubles hoot this equipment. This equipment may be c onnec ted to other mac hines that hav e rotating part s or parts that are cont rolled by t his equipment. Improper use c an c ause s erious or fatal injur y . Pr ecautions W ARNING ...
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Baldor MN1928 - page 9
Int roducti on 2-1 MN 1928 2.1 NextMove ES features Nex tMov e ES is a high performanc e multi -axis intelligent cont roller for serv o and s tepper motors . Nex tMov e ES featur es th e MintMT motion contr ol language. MintMT 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 allow s y o ...
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Baldor MN1928 - page 10
2-2 I ntroduct ion MN 1928 Inc luded with Nex tMov e ES is the B aldor Motion T oolk it CD . This c ontains a number of utilities and usef ul resour ces to get the mos t fr om you MintMT c ontr oller . Thes e include: H Mint WorkBenc h v 5 This is the us er interfac e for c ommunicating w ith the Nex tMove ES . Ins talling Mint WorkBenc h v 5 will ...
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Baldor MN1928 - page 11
Int roducti on 2-3 MN 1928 2.2 Receiving and inspectio n When y ou receiv e y our Nex tMov e ES, there are s ev eral things you s hould do immediately : 1. Chec k t he condition of the pack aging and repor t any damage immediately to the c arr ier that deliv ered y our Nex tMov e ES. 2. Remov e the N extMov e ES fr om the shipping c ontainer but do ...
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Baldor MN1928 - page 12
2-4 I ntroduct ion MN 1928 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 MN1928 - page 13
Basic I nst allat ion 3- 1 MN1928 3.1 Intr oduction Y ou should read all t he sections in Basi c Insta llation . It is impor tant that the c orrec t s teps ar e followed w hen installing the N ext Move ES . This s ec tion des cribes the mec hanical ins tallation of the Nex tMove E S. 3.1. 1 Lo cati on req ui rements Y ou must r ead and understand t ...
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Baldor MN1928 - page 14
3-2 Basic Inst all ati on MN1928 3.1 .2 Inst alling the Ne xt Mov e ES ca rd CAUTION : Before t ouching the c ard, be s ure to dis c harge s tatic electr icity from y our body and c lothing by touc hing a grounded metal s urfac e. Alter natively, wear an ear th st rap while handling the c ard. The Nex tMov e ES is designed t o be mounted in a IEC 2 ...
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Baldor MN1928 - page 15
Input / Out put 4- 1 MN1928 4.1 Intr oduction This sec tion des cribes the input and out put capabilities of the N ext Move ES . 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 ............. AOU T An ...
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Baldor MN1928 - page 16
4-2 Input / Output MN1928 4.2. 1 96-pi n co nn ector pi n assig n ment Row Pin c b a 1 +5VDC +5VDC +5V DC 2 +5VDC +5VDC +5V DC 3 DGND DGND DGND 4 DOUT6 DOUT7 OUT COM 5 DOUT3 DOUT4 DOUT5 6 DOUT0 DOUT1 DOUT2 7 Enc oder 1 CH B+ Enc oder 0 CH A+ Encoder 0 C HB+ 8 Enc oder 1 CH Z+ Enc oder 0 CH Z+ E ncoder 1 C HA + 9 Enc oder 1 CH A - Enc oder 0 CH Z - ...
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Baldor MN1928 - page 17
Input / Out put 4- 3 MN1928 4.3 Analog I/O The Nex tMov e ES prov ides : H T w o 12-bit res olution analog inputs . H Four 12 -bit resolut ion analog outputs . 4.3 .1 Ana log input s The analog inputs are av ailable on pins a28 & b28 ( AIN 0) and a27 & c 28 (AIN 1). H Differential inputs . H V oltage r ange: ±10V . H Res olution: 12 -bit w ...
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Baldor MN1928 - page 18
4-4 Input / Output MN1928 AIN0 ( ADC.0 ) AIN0 ( ADC.0 ) b28 a28 a30 AIN0- Differential connec tion Single ended c onnection AIN0+ AI N0+ GND b28 a28 a30 Figure 2 - AIN 0 analog input wiring AIN0 1k Ω ,0 . 2 5 W potentiometer ( ADC.0 ) 1.5k Ω , 0.25W 0V +24VDC b28 a28 a30 Figure 3 - T ypical input circuit to provide 0-10V (approx.) input from a ...
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Baldor MN1928 - page 19
Input / Out put 4- 5 MN1928 4.3 .2 Ana log output s The four analog output s are av ailable on a range of pins, as s hown in s ection 4. 2.1. H Four independent analog output s. H Output r ange: ±10VDC (±0.1%) . H Re sol uti on : 12- bi t (accu ra cy ± 4. 9mV ). H Output c urr ent: 10mA max imum. H Update fr equency : 10k Hz max imum (fac tory d ...
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Baldor MN1928 - page 20
4-6 Input / Output MN1928 4.4 Digital I/O The Nex tMov e ES prov ides : H 20 general purpos e digital inputs . H 12 general purpos e digital outputs . 4.4 .1 Digit al input s The digital inputs are av ailable acr oss a range of pins , as show n in sec tion 4.2.1. All digital inputs have a c ommon spec ific ation: H 5V digital inputs with int ernal ...
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Baldor MN1928 - page 21
Input / Out put 4- 7 MN1928 4.4.1.2 A uxiliary encoder input s - DIN17 (STEP), D IN18 (DIR), DIN19 (Z) DIN 17-DIN 19 may als o be us ed as an aux iliary enc oder input. DI N17 ac cepts s tep (puls e) signals and DI N18 ac cepts direc tion s ignals, allowing an ex ternal s ourc e to prov ide the referenc e for the speed and dir ect ion of an axis . ...
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Baldor MN1928 - page 22
4-8 Input / Output MN1928 4.4. 2 Dig ital ou tp uts The digital outputs are av ailable acr oss a range of pins , as s hown in s ection 4. 2.1. H 12 general purpos e digital outputs . H One err or output, c onfigur able as a general pur pose digit al output. H Update fr equency : Immediate. There are 12 gener al purpos e digital outputs . An output ...
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Baldor MN1928 - page 23
Input / Out put 4- 9 MN1928 4.4.2.2 D OU T8 - D OUT 1 1 Outputs D OUT 8 - DO UT1 1 are driv en by a U LN2003 dev ic e. The outputs are des igned to sink cur rent from an ex ternal s upply (ty pic ally 24V DC) , but have no ov ercur rent or s hort c irc uit protec tion. When an output is ac tiv ated, it is grounded through the U LN2003. The ULN 2003 ...
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Baldor MN1928 - page 24
4-10 Input / Output MN1928 4.4 .3 Err or output - Error Out The error output is available on pin b1 1. This 5V 100mA output c an be used t o stop ex ternal equipment in the ev ent of an error. The output level can be c ontrolled us ing jumpers JP 3, J P4 and JP 5 as s hown in T able 2. The jumpers are si tuated at the top edge of t he card. Jumpers ...
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Baldor MN1928 - page 25
Input / Out put 4- 1 1 MN1928 4.5 Other I/O 4.5 .1 S te pper c ontrol output s The st epper c ontrol outputs are av ailable acr oss a range of pins , as s hown in s ection 4. 2.1. There are f our s ets of s tepper motor c ontrol outputs , operat ing in the range 10Hz to 1MH z. Eac h of the s tep (puls e) and direc tion s ignals fr om the Nex tMov e ...
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Baldor MN1928 - page 26
4-12 Input / Output MN1928 4.5 .2 Encode r inputs The encoder inputs are available on pins a7 -a10, b7-b10 and c7 -c10. S ee sec tion 4.2.1. T w o incr emental encoder s may be connec ted to N ex tMove ES , eac h with c omplementary A, B and Z c hannel inputs. E ach input c hannel us es a MA X3095 differential line rec eiver with pull up res istor ...
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Baldor MN1928 - page 27
Input / Out put 4- 13 MN1928 4.5. 3 RS232 serial co nn ecti on Locatio n Seria l Mating c onnector : 9 -pin female D-ty pe Pin Name Descriptio n 96-pin connector 1 Shield Shield c onnect ion a32 2 RXD Recei ve Data a20 3 TXD Transmitted D ata a21 4 (NC) (Not c onnec ted) a16* 5 DGND Digital gr ound a3 6 (NC) (Not c onnec ted) a17* 7 RTS R equest T ...
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Baldor MN1928 - page 28
4-14 Input / Output MN1928 NextMove ES (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 12 - RS232 serial port connections The maximum r ecommended c able length is 3m (10ft) at 57.6Kbaud. When using l ower baud rates , lo ...
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Baldor MN1928 - page 29
Input / Out put 4- 15 MN1928 4.5. 5 CAN con nect io n The CA N c onnection is made us ing the RJ 45 c onnector on the Nex tMov e ES c ard. Locatio n Ne xtM ove ES 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 signals 5 CAN V+ CAN power V+ (12 -24V) 6 - (N ...
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Baldor MN1928 - page 30
4-16 Input / Output MN1928 The CA N c hannel is opto -isolated. A v oltage in the range 12 -24V mus t be applied to pin 5 of the CAN c onnector. An internal v oltage regulator pr ovides the 5V r equired for the is olated C AN cir cuit. Prac tic al operation of the C AN c hannel is limited to 500Kbit/s owing t o the propagation delay of t he opto -i ...
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Baldor MN1928 - page 31
Input / Out put 4- 17 MN1928 4.6 Connection su mm ary - minimum system wiring As a guide, Figure 14 s hows an ex ample of the ty pical minimum w iring required t o allow the Nex tMov e ES and a s ingle axis s tepper amplifier to work together. The optional opto-isolat ing back plane c ard BPL010 -502 is s hown. Details of the c onnector pins ar e s ...
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Baldor MN1928 - page 32
4-18 Input / Output MN1928 Backplan e card connector Pin Name o f signal Function Conn ection on dr ive (Not e: driv e may be labelled differently) X6 9 USR GND Us er power s upply G ND Enable signal ground X8 9 REL NO Switc hed relay c ontact Enable signal input 10 REL COM Common relay c onnect ion ( l i n k e dt oU S R V + ) X9 2 STEP0- S t e p s ...
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Baldor MN1928 - page 33
Input / Out put 5- 1 MN1928 5.1 Intr oduction This sec tion des cribes the optional bac k plane car ds av ailable for us e wit h the Nex tMove E S. Thes e cards all prov ide s tandard wir ing connec tions to the Nex tMov e ES, but there are a number of va riants av ailable: H Baldor part number BPL010 -501: Non -isolated back plane. H Baldor part n ...
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Baldor MN1928 - page 34
5-2 Input / Output MN1928 5.2 BPL010-501 non-isolated backplane This bac k plane prov ides dir ect c onnec tion to the N extMov e ES s ignals without is olation. The electr ical s pec ific ations of all s ignals are theref ore the s ame as des c ribed in s ection 4. In the follow ing sec tions , the s ignals AG ND , DG ND and Shield are lis ted wit ...
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Baldor MN1928 - page 35
Input / Out put 5- 3 MN1928 5.2 .2 Ana log output s (de ma nds) Locatio n X7 Mating c onnector : Weidmüller Omnimate B L 3.5/12 Pin Name Descriptio n 96-pin connector 12 Shield Shield c onnect ion a32 11 AGND Analog gr ound a30 10 DEMAND3 Analog output AOU T3 b22 9 Shield Shield c onnect ion a32 8 AGND Analog gr ound a30 7 DEMAND2 Analog output AO ...
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Baldor MN1928 - page 36
5-4 Input / Output MN1928 5.2 .3 Digit al inputs 0 -7 Locatio n X12 Mating c onnector : Weidmüller Omnimate B L 3.5/10 Pin Name Descriptio n 96-pin connector 10 Shield Shield c onnect ion a32 9 DGND Digital gr ound a3 8 DIN7 Digital input D IN7 a19 7 DIN6 Digital input D IN6 c20 6 DIN5 Digital input D IN5 b19 5 DIN4 Digital input D IN4 c18 4 DIN3 ...
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Baldor MN1928 - page 37
Input / Out put 5- 5 MN1928 5.2 .5 Digit al inputs 1 6-19 Locatio n X6 Mating c onnector : Weidmüller Omnimate B L 3.5/5 Pin Name Descriptio n 96-pin connector 5 DGND Digital gr ound a3 4 DIN19 Digital input DIN 19 b26 3 DIN18 Digital input DIN 18 c25 2 DIN17 Digital input DIN 17 c24 1 DIN16 Digital input DIN 16 c1 1 See s ection 4. 4.1 for elec t ...
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Baldor MN1928 - page 38
5-6 Input / Output MN1928 5.2. 7 Dig ital o ut pu ts 8-1 1 Locatio n X5 Mating c onnector : Weidmüller Omnimate B L 3.5/5 Pin Name Descriptio n 96-pin connector 5 DGND Digital gr ound a3 4 DOUT1 1 D igital output D OUT 1 1 c22 3 DOUT10 Digital output DO UT10 c16 2 DOUT9 Digital output D OU T9 b13 1 DOUT8 Digital output D OU T8 a13 See s ection 4. ...
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Baldor MN1928 - page 39
Input / Out put 5- 7 MN1928 5.2. 8 Stepp er axes ou tpu ts 0-1 Locatio n X9 Mating c onnector : Weidmüller Omnimate B L 3.5/12 Pin Name Descriptio n 96-pin connector 12 Shield Shield c onnect ion a32 11 DIR1+ Direct ion output 1+ b15 10 DIR1- Direc tion output 1- 9 STEP1+ S tep (puls e) out put 1+ b14 8 STEP1- Step (pulse) output 1- 7 DGND Digital ...
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Baldor MN1928 - page 40
5-8 Input / Output MN1928 5.2. 9 Stepp er axes ou tpu ts 2-3 Locatio n X10 Mating c onnector : Weidmüller Omnimate B L 3.5/12 Pin Name Descriptio n 96-pin connector 12 Shield Shield c onnect ion a32 11 DIR3+ Direct ion output 3+ a23 10 DIR3- Direc tion output 3- 9 STEP3+ S tep (puls e) out put 3+ b23 8 STEP3- Step (pulse) output 3- 7 DGND Digital ...
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Baldor MN1928 - page 41
Input / Out put 5- 9 MN1928 5.2 .10 Power input s Locatio n X1 Mating c onnector : Weidmüller Omnimate B L 3.5/5 Pin Name Descriptio n 96-pin connector 5 DGND Digital gr ound a3 4 DGND Digital gr ound a3 3 +5 +5V input a1 2 -12 -12V input a31 1 +12 +12V input a29 See s ection 3. 1.3 for pow er requirement s. 5.2 .1 1 Encode r input 0 Locatio n X3 ...
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Baldor MN1928 - page 42
5-10 Input / Output MN1928 5.2 .12 Encode r input 1 Locatio n X2 Enc oder1 Mating c onnector : 9 -pin male D-type Pin Name Descriptio n 96-pin connector 1 CHA+ Channel A s ignal a8 2 CHB+ Channel B s ignal c7 3 CHZ+ Index c hannel s ignal c8 4 Shield Shield c onnect ion a32 5 DGND Digital gr ound a1 6 CHA- C hannel A s ignal complement c9 7 CHB- C ...
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Baldor MN1928 - page 43
Input / Out put 5- 1 1 MN1928 5.3 BPL010-502/503 backplane with op to-isolator card These bac k planes ar e prov ided with an additional plug in c ard w hich pr ovides opto -isolation for many of the Nex tMov e ES s ignals. On BP L010 -502, the general purpos e digital outputs are PN P (c urrent s ourc ing) output s. The general purpos e digital in ...
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Baldor MN1928 - page 44
5-12 Input / Output MN1928 5.3 .1 Ana log input s Locatio n X8 Mating c onnector : Weidmüller Omnimate B L 3.5/10 Pin Name Descriptio n NextMove E S 96-pin connector 10 REL COM C ommon relay contac t 9 REL NO Nor mally open relay c ontact 8 REL NC Normally c losed relay cont act 7 REL COM C ommon relay contac t 6 Shield Shield c onnect ion a32 5 A ...
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Baldor MN1928 - page 45
Input / Out put 5- 13 MN1928 5.3.1.1 E rro r relay co nnection s The double -pole relay on the opto -isolator car d is c ontrolled direc tly by the Error Out s ignal (s ection 4. 4.3), as show n in Figure 18. Relay Next Move ES REL COM REL NC REL NO 96 pin connector Backpla ne 7 9 ‘X8’ 8 MintMT GLOBALERROROUTPUT or DRIVEENABLEOUTPUT +5V Control ...
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Baldor MN1928 - page 46
5-14 Input / Output MN1928 5.3 .2 Ana log output s (de ma nds) Locatio n X7 Mating c onnector : Weidmüller Omnimate B L 3.5/12 Pin Name Descriptio n NextMove E S 96-pin connector 12 Shield Shield c onnect ion a32 11 AGND Analog gr ound a30 10 DEMAND3 Analog output AOU T3 b22 9 Shield Shield c onnect ion a32 8 AGND Analog gr ound a30 7 DEMAND2 Anal ...
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Baldor MN1928 - page 47
Input / Out put 5- 15 MN1928 5.3 .3 Digit al inputs 0 -7 Locatio n X12 Mating c onnector : Weidmüller Omnimate B L 3.5/10 Pin Name Descriptio n NextMove E S 96-pin connector 10 Shield Shield c onnect ion a32 9 USR GND Cus tomer power s upply gr ound 8 DIN7 Digital input D IN7 a19 7 DIN6 Digital input D IN6 c20 6 DIN5 Digital input D IN5 b19 5 DIN4 ...
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Baldor MN1928 - page 48
5-16 Input / Output MN1928 5.3 .4 Digit al inputs 8 -15 Locatio n X13 Mating c onnector : Weidmüller Omnimate B L 3.5/10 Pin Name Descriptio n NextMove E S 96-pin connector 10 Shield Shield c onnect ion a32 9 USR GND Cus tomer power s upply gr ound 8 DIN15 Digital input DIN 15 b18 7 DIN14 Digital input DIN 14 c2 3 6 DIN13 Digital input DIN 13 b24 ...
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Baldor MN1928 - page 49
Input / Out put 5- 17 MN1928 5.3 .5 Digit al inputs 1 6-19 Locatio n X6 Mating c onnector : Weidmüller Omnimate B L 3.5/10 Pin Name Descriptio n NextMove E S 96-pin connector 10 Shield Shield c onnect ion a32 9 USR GND Cus tomer power s upply gr ound 8 USR GND Cus tomer power s upply gr ound 7 USR V+ Cus tomer power s upply 6 USR V+ Cus tomer powe ...
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Baldor MN1928 - page 50
5-18 Input / Output MN1928 5.3.5.1 BPL010- 502 - Act ive high inputs The us er power s upply connec tion U SR G ND is c ommon to all inputs . T o ac tiva te an input, a volt age must be applied that is s ufficient to c aus e at least 5mA in the input c irc uit. T o ens ure that an input becomes inac tiv e, the curr ent must be les s t han 1mA. GND ...
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Baldor MN1928 - page 51
Input / Out put 5- 19 MN1928 5.3. 6 Dig ital o ut pu ts 0-7 Locatio n X1 1 Mating c onnector : Weidmüller Omnimate B L 3.5/10 Pin Name Descriptio n NextMove E S 96-pin connector 10 USR COM Common s upply c onnec tion* a3 9 OUT COM Common* a4 8 DOUT7 Digital output D OU T7 b4 7 DOUT6 Digital output D OU T6 c4 6 DOUT5 Digital output D OU T5 a5 5 DOU ...
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Baldor MN1928 - page 52
5-20 Input / Output MN1928 5.3.6.1 B PL010-502 - PNP outputs An ex ternal s upply ( typic ally 24VDC ) is used to pow er the U DN2982 out put devic es , as s how n in Figure 22. When an out put is ac tiv ated, c urrent is s ourc ed from the us er s upply thr ough the UD N2982, whic h c an sour ce up to 75mA per output ( all outputs on, 100% duty c ...
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Baldor MN1928 - page 53
Input / Out put 5- 21 MN1928 5.3. 7 Dig ital o ut pu ts 8-1 1 Locatio n X5 Mating c onnector : Weidmüller Omnimate B L 3.5/5 Pin Name Descriptio n NextMove E S 96-pin connector 5 DGND Digital gr ound a3 4 DOUT1 1 D igital output D OUT 1 1 c22 3 DOUT10 Digital output DO UT10 c16 2 DOUT9 Digital output D OU T9 b13 1 DOUT8 Digital output D OU T8 a13 ...
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Baldor MN1928 - page 54
5-22 Input / Output MN1928 5.3. 8 Stepp er axes ou tpu ts 0-1 Locatio n X9 Mating c onnector : Weidmüller Omnimate B L 3.5/12 Pin Name Descriptio n NextMove E S 96-pin connector 12 Shield Shield c onnect ion a32 11 DIR1+ Direct ion output 1+ b15 10 DIR1- Direc tion output 1- 9 STEP1+ S tep (puls e) out put 1+ b14 8 STEP1- Step (pulse) output 1- 7 ...
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Baldor MN1928 - page 55
Input / Out put 5- 23 MN1928 5.3. 9 Stepp er axes ou tpu ts 2-3 Locatio n X10 Mating c onnector : Weidmüller Omnimate B L 3.5/12 Pin Name Descriptio n 96-pin connector 12 Shield Shield c onnect ion a32 11 DIR3+ Direct ion output 3+ a23 10 DIR3- Direc tion output 3- 9 STEP3+ S tep (puls e) out put 3+ b23 8 STEP3- Step (pulse) output 3- 7 DGND Digit ...
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Baldor MN1928 - page 56
5-24 Input / Output MN1928 5.3 .10 Power input s Locatio n X1 Mating c onnector : Weidmüller Omnimate B L 3.5/5 Pin Name Descriptio n NextMove E S 96-pin connector 5 DGND Digital gr ound a3 4 DGND Digital gr ound a3 3 +5 +5V input a1 2 -12 -12V input a31 1 +12 +12V input a29 See s ection 3. 1.3 for pow er requirement s. 5.3 .1 1 Encode r input 0 L ...
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Baldor MN1928 - page 57
Input / Out put 5- 25 MN1928 5.3 .12 Encode r input 1 Locatio n X2 Enc oder1 Mating c onnector : 9 -pin male D-type Pin Name Descriptio n 96-pin connector 1 CHA+ Channel A s ignal a8 2 CHB+ Channel B s ignal c7 3 CHZ+ Index c hannel s ignal c8 4 Shield Shield c onnect ion a32 5 GND Digital gr ound a1 6 CHA- C hannel A s ignal complement c9 7 CHB- C ...
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Baldor MN1928 - page 58
5-26 Input / Output MN1928 ...
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Baldor MN1928 - page 59
Oper ati on 6-1 MN1928 6.1 Intr oduction The sof tware pr ovided inc ludes a number of applic ations and utilities t o allow y ou to conf igure, tune and program the N ext Move ES . The Baldor Motion T oolkit C D c ontaining the s oftw are can be found s eparat ely w ithin the pac kaging. 6.1. 1 Con nect in g th e NextM ove ES to the P C The Nex tM ...
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Baldor MN1928 - page 60
6-2 Oper ation MN1928 6.1. 4 Preli mi nary ch ecks Before y ou apply power f or the firs t time, it is v ery important t o verif y the f ollowing: H Dis connec t the load fr om the motor until ins truc ted to apply a load. H Inspec t all pow er c onnections for ac c urac y , work mans hip and tightnes s. H V er ify t hat all wiring c onforms to app ...
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Baldor MN1928 - page 61
Oper ati on 6-3 MN1928 6.2 W orkBench v5 WorkBenc h v5 is a fully featured applic at ion for progr amming and contr olling the Nex tMov e ES. The main Work Benc h window c ontains a menu sy s tem, the T oolbox and other toolbars . Many funct ions c an be ac ces se d from the menu or by c lick ing a button - use whic hever you pr efer . Most butt on ...
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Baldor MN1928 - page 62
6-4 Oper ation MN1928 6.2. 2 St artin g WorkBen ch v5 1. On the W indows Start menu, selec t Programs , Wo rk Benc h v5 , Wo rk Benc h v5 . WorkBenc h v 5 will s tart, and the Tip of the Day dialog will be display ed. Y ou can prev ent the Tip of the Day dialog appearing nex t time by remov ing the c heck mark nex t to Show tips at s tar tup. Clic ...
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Baldor MN1928 - page 63
Oper ati on 6-5 MN1928 3. In the Selec t Cont roller dialog, go to t he drop down box near the top and s elec t the PC ser ial port to w hich the N ext Move ES is c onnec ted. If y ou are uns ure whic h PC ser ial port is c onnec ted to the driv e, s elect Scan all serial p orts . I f the Nex tMov e ES is c onnected using U SB, it will be s canned ...
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Baldor MN1928 - page 64
6-6 Oper ation MN1928 6.3 Configuri ng an axi s The Nex tMov e ES is capable of contr olling 4 stepper and 2 ser vo ax es. This s ec tion desc ribes the bas ic s etup for bot h types of ax is. Commands typed in t he Command window hav e immediate effect - they do not need t o be separat ely dow nloaded to the Nex tMov e ES. 6.3. 1 Select in g a sca ...
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Baldor MN1928 - page 65
Oper ati on 6-7 MN1928 5. Clic k Apply . This immediately sets the sc aling factor for the selec ted ax is, w hich w ill remain in the Nex tMov e ES until another s cale is defined or power is remov ed fr om the N ext Move ES. See s ection 6.10 for details about sav ing conf iguration parameter s. 6.3. 2 Setti n g th e dri ve en abl e ou tpu t A dr ...
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Baldor MN1928 - page 66
6-8 Oper ation MN1928 4. If y ou ar e going t o use the er ror output, dr ag t h eR e l a y 0i c o nt ot h e grey D riv e E nable OP icon on the right of the sc reen. Note: The error output is repr esented by the R elay0 ic on. This is bec aus e the error output alway s contr ols a r elay w hen the Nex tMov e ES is used in c onjunc tion with an opt ...
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Baldor MN1928 - page 67
Oper ati on 6-9 MN1928 6.3 .3 T esting the driv e enable output 1. On the main W ork Bench v 5 toolbar , c lic k the Ax is 0 button. In the Selec t D efault Ax es dialog, selec t the ax es to be c ontrolled. C lick OK to cl ose the dialog. 2. On the main W ork Bench v 5 toolbar , c lic k the Driv e enable button. C lick the but ton again. Eac h tim ...
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Baldor MN1928 - page 68
6-10 Oper ation MN1928 6.4 S tep per axis - testing This sec tion des cribes the method for test ing a stepper axis . The s tepper c ontrol is an open loop sy s tem so no tuning is nec ess ary. 6.4 .1 T esting the output This sec tion tes ts the operation and direc tion of the out put. It is rec ommended that the s y stem is initially tes ted wit h ...
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Baldor MN1928 - page 69
Oper ati on 6-1 1 MN1928 6.5 Ser vo axis - testing and tuning This sec tion des cribes the method for test ing and tuning a ser vo ax is . The amplifier mus t already have been tuned f or basic c urrent or veloc ity cont rol of the motor. 6.5 .1 T esting t he de mand output This sec tion tes ts the operation and direc tion of the demand out put for ...
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Baldor MN1928 - page 70
6-12 Oper ation MN1928 5. T o repeat the tes ts for negativ e (r ever se) demands, ty pe: TORQUE.4=-5 This should c ause a demand of -5% of max imum output ( -0.5V) to be produc ed at the DEMA ND0 output. Corr espondingly, the S py window ’s V eloc ity dis play should show a negative v alue. 6. T o remov e the demand and s top the tes t, ty pe: S ...
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Baldor MN1928 - page 71
Oper ati on 6-13 MN1928 6.5 .2 An intr oduction to c lose d loop control This s ec tion desc ribes the bas ic pr inciples of c losed loop c ontrol. If y ou are familiar w ith clos ed loop c ontrol go s traight to s ec tion 6.6.1. When there is a requir ement to move an ax is , the N extMov e ES contr ol soft ware tr anslat es this int o a demand ou ...
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Baldor MN1928 - page 72
6-14 Oper ation MN1928 The remaining gain ter ms ar e V elo city Feed f orw ard ( KVELFF ) and Acceler ation Feed forward ( KACCEL ) desc ribed below . In s ummary, the following rules can be us ed as a guide: H KPR OP: Incr easing KP RO P will s peed up the res pons e and reduc e the effect of distur bances and load v ariations . The side effect o ...
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Baldor MN1928 - page 73
Oper ati on 6-15 MN1928 Figure 28 - The NextMove ES servo loop ...
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Baldor MN1928 - page 74
6-16 Oper ation MN1928 6.6 Ser vo axis - tuning for curr ent contr ol 6.6. 1 Select in g servo lo op g ain s All s erv o loop parameters default to z ero, meaning t hat the demand output w ill be zer o at power up. Mos t ser vo amplif iers c an be s et to c urrent ( torque) c ontrol mode or veloc ity cont rol mode; c heck that the s erv o amplifier ...
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Baldor MN1928 - page 75
Oper ati on 6-17 MN1928 3. Clic k in t he KPRO P box and enter a v alue that is approximately one quar ter of the value of KDE RIV . If the motor begins to vibrate, decr ease the v alue of KP RO P or inc reas e the value of KD ERIV until the v ibration s tops . Small changes may be all that is necess ary. 4. In the Mov e T y pe drop down box , c he ...
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Baldor MN1928 - page 76
6-18 Oper ation MN1928 6.6 .2 Unde rda mped r es ponse If the graph s hows that t he res ponse is underdamped (it overs hoots the demand, as s hown in Figure 29) t hen the value f or KDE RIV should be inc reas ed to add ex tra damping to the mov e. If the ov ers hoot is exc ess iv e or os cillati on has oc cur red, it may be nec ess ary to reduc e ...
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Baldor MN1928 - page 77
Oper ati on 6-19 MN1928 6.6 .3 Ove rda mped r es ponse If the graph s hows that t he res ponse is over damped (it reac hes the demand too s lowly, as show n in Figure 30) t hen the value f or KDE RIV should be dec reas ed to reduc e the damping of the move. If the ov erdamping is ex ces s ive, it may be nec ess ary to inc reas e the value of KPROP ...
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Baldor MN1928 - page 78
6-20 Oper ation MN1928 6.6 .4 Cr itic ally da mped re spons e If the graph s hows that t he respons e reac hes the demand quick ly and only ov ers hoots the demand by a s mall amount, this c an be cons idered an ideal r espons e for mos t system s. See Figure 31. Measur ed position Demand position Figure 31 - Cr itically damped (ideal) response ...
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Baldor MN1928 - page 79
Oper ati on 6-21 MN1928 6.7 Ser vo axis - eliminating steady-state err ors In syst e m s whe re p reci se po siti on in g accur acy is r equired, it is oft en neces sar y t o position within one enc oder c ount. Proport ional gain, KPR OP , is not normally able to ac hiev e this becaus e a v ery small follow ing error will only produc e a small dem ...
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Baldor MN1928 - page 80
6-22 Oper ation MN1928 6.8 Ser vo axis - tuning fo r velocity control Driv es designed for veloc ity cont rol inc orporate their own v elocity feedbac k term to prov ide syste m da m pi ng. F or th is rea son, K DER IV ( a nd KVEL ) can often be set to zero. Correct s etting o f the velocity feed forward gain KVELFF is impo rtant to get the op timu ...
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Baldor MN1928 - page 81
Oper ati on 6-23 MN1928 The analog demand output is cont rolled by a 12 -bit DA C, whic h c an cr eate output v oltages in the range -10V to +10V . This means a max imum output of +10V c orres ponds to a DAC value of 2048. The v alue of KVELFF is calcula ted by d ividing 2048 by the number of quadr ature counts per s erv o loop, s o: KVELFF = 2048 ...
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Baldor MN1928 - page 82
6-24 Oper ation MN1928 9. Us ing the c heck boxes below t he graph, selec t the Meas ured v elocit y and D emand vel ocit y tra ces. Measur ed velocity De ma nd ve loci ty Figure 32 - Corr ect value of KVELFF It may be neces s ary to make c hanges to the c alculated v alue of KVELFF . If the trace for Measur ed veloc ity appears above the t rac e f ...
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Baldor MN1928 - page 83
Oper ati on 6-25 MN1928 6.8 .2 Adjus ting K PR OP The KPR OP term can be us ed to r educe follow ing error. Its v alue will us ually be muc h s maller than the v alue used for an equivalent curr ent c ontrolled s ys tem. A f rac tional value, f or ex ample 0.1, will pr obably be a good s tart ing figure whic h c an then be incr eased s lowly. 1. Cl ...
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Baldor MN1928 - page 84
6-26 Oper ation MN1928 Measur ed position Demand position Figure 33 - Cor rect value of KPRO P The two t races will probably appear with a s mall offset fr om each other, which r epresent s the following er ror . Adjust KPRO P by s mall amounts until t he two tr aces appear on top of eac h other (appr oximately ), as s hown in Figur e 33. Note: It ...
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Baldor MN1928 - page 85
Oper ati on 6-27 MN1928 6.9 Digit al input/output configur ation The Digital I /O w indow c an be used to s etup other digital inputs and outputs. 6.9 .1 Digit al input configur ation The Digital I nputs tab allow s y ou to define how each digit al 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 MN1928 - page 86
6-28 Oper ation MN1928 4. Now dr ag the IN1 ic on onto the Fw d Limit icon . This will s etup IN1 as the Forw ard Limit input of axis 0. 5. Clic k Apply to s end the c hanges to the N ex tMove ES . Note: If required, multiple inputs c an be configur ed before c lick ing Apply . 6.9 .2 Digit al output conf igura tion The Digital O utputs tab allows ...
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Baldor MN1928 - page 87
Oper ati on 6-29 MN1928 6.10 S avin g setup information When power is remov ed fr om the Nex tMove E S all data, inc luding c onfiguration and tuning parameters , 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 used. 1. In the T oolbox , clic k the Edit & D ebug ic on. 2. On the ...
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Baldor MN1928 - page 88
6-30 Oper ation MN1928 4. On the main menu, c hoos e File , Save File . Loc ate a folder , enter a filename and clic k Save . 6.10. 1 L oad i ng saved i nfo rmati on 1. In the T oolbox , clic k the Edit & D ebug ic on. 2. On the main menu, c hoos e File , Open File... Locate t he file and clic k Ope n . A S tartup bloc k s hould be inc luded in ...
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Baldor MN1928 - page 89
T roubl eshooti ng 7-1 MN1928 7.1 Intr oduction This sec tion ex plains c ommon problems and their s olutions . If y ou want to k now the meaning of the LED indic ators , s ee sec tion 7.2. 7.1 .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 the N ext Move ...
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Baldor MN1928 - page 90
7-2 T r oubleshoot ing MN1928 7.2 NextMove ES indicators 7.2. 1 St atus d isp lay The S t atus LE D normally dis plays the unit ’s node number . T o display information about a spec ific axis , us e the LED k ey word ( see t he MintMT help f ile). When a spec ific axis is s elec ted, the follow ing symbols may be display ed by the S t atus LED. S ...
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Baldor MN1928 - page 91
T roubl eshooti ng 7-3 MN1928 Offset move. The ax is is per forming an offset mov e. Pos itional Move. The ax is is perf orming a linear mov e. See the MOVEA and MOVER key wor ds. S top. A STOP c ommand has been is s ued or the s top input is act ive. Ax is dis abled. The ax is /driv e must be enabled befor e operation c an cont inue. See sec tion ...
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Baldor MN1928 - page 92
7-4 T r oubleshoot ing MN1928 7.2. 3 Commu ni cati on If the problem is not lis ted below pleas e c ontact B aldor tec hnical s upport. Symptom Check Cannot detec t N extMov e ES Chec k that the Nex tMove E S is powered. For s erial c onnect ions, c hec k that the ser ial cable is wir ed cor rec tly and properly connec ted. Chec k that no other app ...
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Baldor MN1928 - page 93
T roubl eshooti ng 7-5 MN1928 Sympto m Check Motor runs uncont rollably when c ontroller is s witc hed on and ser vo loop gains are applied or when a mov e is set in progres s. Motor then st ops after a shor t time. (Ser vo outputs only ) Chec k that the enc oder feedbac k signal( s) are connec ted to t he corr ect encoder input (s) . Chec k t he d ...
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Baldor MN1928 - page 94
7-6 T r oubleshoot ing MN1928 ...
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Baldor MN1928 - page 95
S pecif icati ons 8-1 MN1928 8.1 Intr oduction This s ec tion prov ides t echnic al s pecific ations of the Nex tMov e ES c ard. Separate spec ific ations for the optional opto -isolating bac k planes ar e show n where nec es sar y . 8.1 .1 Input power De scri pti on Va l u e Input power +5V , 1A +12V , 50mA -12V , 50mA 8.1 .2 Ana log input s De sc ...
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Baldor MN1928 - page 96
8-2 S pecifi cations MN1928 8.1 .4 Digit al inputs ( non-isola ted) This spec ific ation is f or the Nex tMov e ES c ard when us ed s eparately or in c onjunct ion with the optional non -isolating bac kplane B PL010 -501: De scri pti on Unit Va l u e Ty p e +5V inputs , non-is olated Input volta ge Maximum Minimum High Low VDC 5.5 0 >3.5V <1. ...
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Baldor MN1928 - page 97
S pecif icati ons 8-3 MN1928 8.1 .6 Digit al output s - gener al purpose (non- isola ted) This spec ific ation is f or the Nex tMov e ES c ard when us ed s eparately or in c onjunct ion with the optional non -isolating bac kplane B PL010 -501: De scri pti on Unit Va l u e Load supply volt age (max imum) V 50 Output curr ent Max. s ink per output, o ...
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Baldor MN1928 - page 98
8-4 S pecifi cations MN1928 8.1. 9 Error rel ay (o pt o-i so lated b ackpl anes) This s pec ific ation is f or the optional opto -isolating bac k planes BP L010-502 or B PL010 -503, when us ed in conjunc tion w ith the Nex tMov e ES c ard. S ee sec tions 4.4.3 and 5.3.1.1. All models Unit All models Contact rating (r esist ive) 2A @ 28VDC or 0.5A @ ...
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Baldor MN1928 - page 99
S pecif icati ons 8-5 MN1928 8.1. 13 En viro nmen tal De scri pti on Unit Oper ating t emperat ure r ange Min Max °C °F 0 +32 +40 +104 Maximum hum idity % 80% for temper atures up to 31°C (87°F ) decr easingly linear ly to 50% relative humidity at 40°C (104°F), non -condens ing (ac cor ding to DIN 40 040 / IEC 144) Maximum ins ta llation alti ...
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Baldor MN1928 - page 100
8-6 S pecifi cations MN1928 ...
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Baldor MN1928 - page 101
Appendix A- 1 MN1928 A.1 Axi s r enum ber ing The fac tory pres et axis numbering as s igns ax es 0 - 3 as stepper axes and axes 4 and 5 as ser vo ax es . How ever, it is pos sible to alt er the ax is number ing sc heme. For example, y ou might wis h ax es 0 and 1 to r efer to the s erv o ax es, and ax es 2 to 5 to refer to the s tepper axes . Ther ...
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Baldor MN1928 - page 102
A-2 Appendi x MN1928 4. Now ty pe: CONFIG.4=_cfSTEPPER where 4 is the ax is to be configured. Pres s E nter to enter t he v alue. This immediately c onfigures ax is 4 to be a stepper axis . 5. T o configur e axis 0 as a s erv o axis , type: CONFIG.0=_cfSERVO Other axes c an be ass igned as required, s ubject to the limitations desc ribed abov e. It ...
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Baldor MN1928 - page 103
Index MN1928 A Abbrev iations , 2-4 Analog I/O , 4 -3 analog inputs, 4-3 analog outputs , 4 -5 Aux iliary enc oder inputs , 4 -7 B Bac kplanes BPL010 -501 non-isolat ed, 5-2 BPL010 -502/503 opto -isolated, 5 -1 1 cat alog numbers, 5-1 introduc tion, 5 -1 Bas ic Ins tallation, 3 -1 locat ion requirements , 3 -1 Ne xtM ove ES ca rd , 3-2 C Calculatin ...
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Baldor MN1928 - page 104
Index MN 1928 encoder input s, 4 -12, 8-4 error out put, 4-10 ser ial port, 4 -13 stepper cont rol outputs , 4-1 1, 8 -4 USB por t, 4 -14 Installation, 3 -1 Introduc tion to c los ed loop contr ol, 6-13 Isolat ed back planes , 5-1 1 L LED indic ators stat us dis play , 7-2 sur face mount, 7-3 Loading sav ed informat ion, 6 -30 N Non -isolated bac k ...
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Baldor MN1928 - page 105
Index MN1928 power , 8-1 rela y , 8 -4 stepper outputs , 8-4 weights and dimens ions, 8 -5 S tat us dis play , 7-2 S tepper axis , 6 -10 contr ol outputs , 4 -1 1 test ing the output, 6 -10 T Te s t i n g ser vo axis, 6- 1 1 stepper axis , 6 -10 Troubleshooting, 7 -1 communic ation, 7 -4 help file, 6 -3 motor c ontrol, 7 -4 problem diagnos is, 7-1 ...
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Baldor MN1928 - page 106
Index MN 1928 ...
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Baldor MN1928 - page 107
Comments MN1928 If y ou have any s uggestions for impr ovement s to t his manual, pleas e let us know. Write your comment s in the s pac e prov ided below , remove t his page fr om 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 MN1928 - page 108
Comment s MN1928 Thank you for taking the time to help us. ...
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Baldor MN1928 - page 109
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Baldor MN1928 - page 110
P r i n t e di nU K E Baldor UK Ltd 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 Fax: +52 4 ...
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