Baldor iMN1921 installation manual Using a digital input as a Limit or Home input

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Using a digital input as a LIMIT or HOME input

An input can be configured as a Limit or Home input for any axis, using the LIMITFORWARDINPUT, LIMITREVERSEINPUT or HOMEINPUT keywords. Typically, limit and home inputs will be grounded by normally closed switches. When a limit or home switch is activated, the switch will become open-circuit. If two or more limit switches are to be used they can be connected in series. If it is necessary to determine which limit has been reached, a double pole switch can be used at one limit to trigger an additional general purpose digital input.

Using a digital input as a STOP input

An input can be configured as a Stop input for any axis, using the STOPINPUT keyword. Typically, a stop input will be grounded by a normally closed switch. When a stop switch is activated, the switch will become open-circuit. The action of a STOP input can be controlled using the STOPINPUTMODE keyword. Typically, it is used as a safety interlock to stop all axes.

Using a digital input as an ERROR input

An input can be configured as an Error input for any axis, using the ERRORINPUT keyword. This input can be used to stop the NextMove ST in the event of an error occurring elsewhere in the system. The action of an ERROR input can be controlled using the ERRORSWITCH and ERRORINPUTMODE keywords.

See the MintMT help file for details of each keyword.

4.5.1.1Auxiliary 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. The step frequency (20MHz maximum) determines the speed, and the direction input determines the direction of motion. Both the rising and falling edges of the AUXSTEP IN input cause an internal counter to be changed. If 5V is applied to the AUXDIR IN input (or it is left unconnected) the counter will increment. If the direction input is grounded the counter will be decremented.

Typically, one channel of an encoder signal (either A or B) would be used to provide the AUXSTEP IN signal, allowing the input to be used as an auxiliary (master) encoder input. The input can be used as a master position reference for cam, fly and follow move types. For this, the MASTERSOURCE keyword must be used to configure the pulse input as a master (auxiliary) encoder input. The master position reference can then be read using the AUXENCODER keyword.

Since a secondary encoder channel is not used, the AUXDIR IN input allows the direction of motion to be determined. The AUXZ IN input can be supplied from the encoder’s index signal, and may be read using the AUXENCODERZLATCH keyword.

See the MintMT help file for details of each keyword.

Note: The AUXSTEP IN and AUXDIR IN inputs use the same type of input circuitry as the other digital inputs (see Figure 12). However, due to the faster internal processing required for these signals, they are particularly sensitive to noise. For this reason, connections must use shielded twisted pair cable.

4-12 Input / Output

MN1921

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Contents NextMove ST Motion Controller Page Contents Operation General Information Safety Notice PrecautionsNextMove ST features MN1921 IntroductionReceiving and inspection Phase Units and abbreviationsIntroduction MN1921 Location requirements You should read all the sections in Basic InstallationIntroduction Package dimensions Mounting the NextMove STOther requirements for installation Basic Installation MN1921 Input / Output Connector locations Power connections Operation using combined drive and logic supplyOperation using separate drive and logic supplies Connecting separate drive and logic suppliesStepper axes 0-2 drive outputs Connecting a 4-wire motorStepper outputs Connecting a 6-wire motor Connecting a 8-wire motor Connecting a 8-wire motor, parallel windingsStepper axes 0-3 logic outputs Stepper output pin header J3, and output circuit shownAnalog I/O Analog inputsAnalog output Analog outputDigital I/O Digital inputsUsing a digital input as an Error input Using a digital input as a Limit or Home inputUsing a digital input as a Stop input Auxiliary Encoder inputs Auxstep IN, Auxdir IN, AuxzDigital outputs Digital output DOUT0 shownGlobalerroroutput keyword Error outputDriveenableoutput keyword Jumper settingsLocation Other I/ORS232 serial communication Pin Name Description2 50-pin edge connector RS232 serial port connectionsCan communication Typical can network connectionsJP1 This will connect an internal terminating resistor CANopen and Baldor canConnection summary minimum system wiring Host PCInput / Output MN1921 Starting the NextMove ST Connecting the NextMove ST to the PCInstalling WorkBench Preliminary checksPower on checks WorkBench Help fileStarting WorkBench MN1921 Operation Configuring an axis Selecting a scaleClick Apply Stepper axis testing Testing the outputDigital input/output configuration Digital input configurationDigital output configuration Saving setup information Loading saved information Problem diagnosis SupportMe featureNextMove ST indicators Status displaySurface mount LEDs D3, D4 and D16 Motor control Symptom CheckCommunication Input power Output power ValueEquivalent resolution ±10V input Common mode voltage rangeInput impedance 120 Input ADC resolution Bits Output current max Update interval ImmediateOutput current maximum, per axis Stepper axis 0-2 drive outputsUnit Value Maximum output frequency KHz 200 Output voltage Unit Value Output typeEnvironmental Unit Value SignalCan interface Channels Protocols CANopenIndex Index MN1921 Comments CommentComments MN1921 Page LT0184A00