Baldor MN1903 installation manual Reset states, Emulator connection, System watchdog

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4.7 Other I/O

4.7.1 Emulator connection

An 11-pin footprint on the rear of the card marked ‘ICE’ provides access to the processor for boundary scan emulation. To connect the Texas Instruments emulator pod, a two row 12-pin 0.1in pitch surface mount pin header with pin 8 missing must be fitted. The connections are those specified by Texas Instruments. See the ‘MintMT Embedded Programming Guide’ for details on emulator based system debugging.

4.8 Reset states

During power up, NextMove PCI is held in a safe non-operational state known as hardware reset. It will also go into hardware reset if the 5V supply drops below approximately 4.75V, to prevent uncontrolled operation due to the electronics losing power. When NextMove PCI is in hardware reset for any reason, most of the controlled interfaces fall into known states. It is also possible for NextMove PCI to be in a state known as software reset. This is a safe operational state where only the bootloader firmware present on NextMove PCI is running. Hardware and software reset states should not be confused with the Mint keyword RESET which is used to clear axis errors.

Communications

At power up the CAN controllers will be held in reset and will have no effect on the CAN buses. If a reset occurs during the transmission of a message CAN errors are likely to occur. Dual Port RAM (DPR) will contain no information at power up but will be accessible by the PC. A reset during operation will cause the DPR to stay in its current state.

Digital Outputs

All of the digital outputs are inactive on power up regardless of their polarity. They will return to the inactive state whenever a reset occurs.

Analog Outputs

All analog outputs are set to 0V by hardware during power-up and will return to 0V on a reset.

Stepper/Encoder ASICs

The stepper/encoder ASICs will not generate stepper pulses or register any encoder input during reset. If the unit goes into reset all position data will be lost.

4.8.1 System watchdog

The system watchdog provides hardware protection in the event of a firmware or embedded ‘C’ program malfunction. If the system watchdog is not updated, the controller is put into the software reset state. It may be disabled during embedded code development and debugging.

MN1903

Input / Output 4-23

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Contents NextMove PCI Motion Controller Page Contents Operation Appendices Iv Contents MN1903 General Information Precautions Safety NoticeMN1903 Introduction NextMove PCI featuresIntroduction MN1903 Catalog number PCI001 InstalledReceiving and inspection Identifying the catalog numberUnits and abbreviations PhaseTools and miscellaneous hardware Other information needed for installationIntroduction Hardware requirementsLocation requirements NextMove PCI Expansion card and can Bracket board InstallationThis completes the basic installation Installing the NextMove PCI cardBasic Installation MN1903 Outline 100-pin edge connectorPin Signal 1 100-pin connector pin assignment100-pin connector pin assignment Analog I/O Analog inputs LocationPin Name MintMT keyword / description Analog input wiring, AIN0 shown Pin Name Description Analog outputs Drive Demand/CommandInput Common Breakout module connector Digital I/ODigital input arrangement Stepperio Pin Name MintMT keyword Common Description Digital inputsINX.4 Digital input circuit fast interrupts Digital outputs OUTX.0 Encoder interfaces X12, X13, X14, X15 Other I/OEncoder input frequency Power Relay connections Relay and can powerPin X10 Name X11 Name Description Stepper drive outputs X10Cable length Maximum bit Resistance Conductor Rate Area Can Connections1 CAN1 CANopen 2 CAN2 Baldor can Baldor proprietary can interface using a RJ45 connectorReset states Emulator connectionSystem watchdog Example minimum system wiring Connection summary minimum system wiringBreakout Pin Name Function This completes the input/output wiringModule Signal Connector Connector details for minimum system wiring shown in FigureInput / Output MN1903 Drivers\nmPCI\win9x Installing the driver software Windows 95, 98 and MEInstalling the driver software Windows Installing the driver software Windows NT\start Installing WorkBenchStarting WorkBench MN1903 Operation Operation MN1903 Help file WorkBenchConfiguring an axis Choosing an axis 1, 2, 3 and 4 axis cardsChoosing an axis 8 axis card Selecting a scale Setting the drive enable output Testing the drive enable output Testing the drive command output Servo axis testing and tuningAn introduction to closed loop control Summary, the following rules can be used as a guide NextMove PCI servo loop Selecting servo loop gains Servo axis tuning for current controlMN1903 Operation Underdamped response Underdamped responseOverdamped response Overdamped responseCritically damped ideal response Critically damped responseServo axis eliminating steady-state errors Calculating Kvelff Servo axis tuning for velocity controlKvelff Correct value of Kvelff Adjusting Kprop Correct value of Kprop JOG.0=2 Stepper axis testingDigital input configuration Digital input/output configurationDigital output configuration Saving setup information 10.1Loading saved information Operation MN1903 SupportMet feature Problem diagnosisStatus and can LEDs NextMove PCI indicatorsSymptom Check CommunicationMotor control Output polarity Mechanical specifications Digital inputs X1 Encoder interfaces X12 Relay outputStepper outputs X10 10CANopen interface11Baldor can interface NextMove PCI Expansion card NextMove PCI Expansion cardExpansion Expansion card Axis numbering when using expansion cardsMain Expansion cards With no One 4-axis One 8-axis Two 4-axisExpansion card status LEDs CBL021-503 NextMove PCI Breakout moduleCatalog number Description PCI003-501 CBL021-501Catalog Description Number OPT025-508 Digital output modulesNextMove PC system adapter SparesBaldor can nodes OPT029-501 NextMove PCI can Bracket boardEncoder Splitter/Buffer board Catalog Description Number OPT008-501Accessories MN1903