Baldor MN1928 installation manual Nodescan keyword

Page 109

 

 

www.supportme.net

 

 

 

 

Symptom

Check

 

 

 

 

The CANopen bus is

This means that the internal CAN controller in the NextMove ES has

 

‘off’

experienced a fatal number of Tx and/or Rx errors, greater than the

 

 

off threshold of 255.

 

 

At this point the node will have switched itself to a state whereby it

 

 

cannot influence the bus.

 

 

Check:

 

 

H 12-24V is being applied to pin 5 of the RJ45 CAN

 

 

connector, to power the opto-isolators.

 

 

H There is at least one other CANopen node in the

 

 

network.

 

 

H The network is terminated only at the ends, not at

 

 

intermediate nodes.

 

 

H All nodes on the network are running at the same

 

 

baud rate.

 

 

H All nodes have been assigned a unique node ID.

 

 

H The integrity of the CAN cables.

 

 

To recover from the ‘off’ state the bus must be reset. This can be

 

 

done using the MintMT BUSRESET keyword, or by resetting the

 

 

NextMove ES.

 

 

 

 

The Manager node

Assuming that the network is working correctly (see previous

 

cannot

symptoms) and the bus is in an ‘Operational’ state, check the

 

scan/recognize a

following:

 

node on the network

 

 

using the MintMT

H Only nodes that conform to DS401, DS403 and other

 

NODESCAN keyword.

Baldor CANopen nodes are supported by the MintMT

 

 

NODESCAN keyword.

 

 

H Check that the node in question has been assigned a

 

 

unique node ID.

 

 

H The node must support the node guarding process.

 

 

NextMove ES does not support the Heartbeat

 

 

process.

 

 

H Try power-cycling the node in question.

 

 

If the node in question does not conform to DS401 or DS403 and is

 

 

not a Baldor CANopen node, communication is still possible using a

 

 

set of general purpose MintMT keywords. See the MintMT help file

 

 

for further details.

 

 

 

 

The node has been

For communication to be allowed, a connection must be made to a

 

successfully

node after it has been scanned.

 

scanned /

 

 

recognized by the

H Baldor controller nodes are automatically connected

 

Manager node, but

to after being scanned.

 

communication is still

H Nodes that conform to DS401, DS403 must have the

 

not possible.

connections made manually using the MintMT

 

 

CONNECT keyword.

 

 

If a connection attempt using CONNECT fails then it may be because

 

 

the node being connected to does not support an object which

 

 

needs to be accessed in order to setup the connection.

 

 

 

MN1928

Troubleshooting 7-7

Image 109
Contents NextMove ES Motion Controller Page Contents Backplanes Troubleshooting Appendices General Information Precautions Safety NoticeMN1928 Introduction NextMove ES featuresIntroduction MN1928 Receiving and inspection InstalledIdentifying the catalog number DateUnits and abbreviations PhaseIntroduction You should read all the sections in Basic InstallationLocation requirements Other requirements for installation Installing the NextMove ES card96-pin edge connector 96-pin connector pin assignment 1 96-pin connector pin assignmentRow Pin Analog inputs Analog I/OAIN0 analog input wiring Analog output Demand0 shown Analog outputsNextMove ES ‘X1’ FlexDrive II / drive amplifier Digital inputs Digital I/OGeneral purpose inputs Typical digital input wiring Reset input !RSTINAuxiliary encoder inputs DIN17 STEP, DIN18 DIR, DIN19 Z USRV+ DOUT0 DOUT7 Digital outputsDigital outputs DOUT8-11 DOUT8 shown DOUT8 DOUT11Driveenableoutput keyword Error output Error OutGlobalerroroutput keyword Relay keywordStepper control outputs Other I/OEncoder inputs USB port Pin RS232 name RS485 / RS422 name 96-pin Connector Using RS232Serial port RS232 serial port connections Wire RS422 multi-drop connections Multidrop using RS485 / RS422RS232 cable wiring Connecting serial Baldor HMI Operator PanelsCan Can connectorOpto-isolation power requirements Can wiringMaximum Baud Rate Bus LengthTypical CANopen network connections CANopenBaldor can operator panel connections Baldor canInput / Output MN1928 Drive amplifier axis Connection summary minimum system wiringConnector details for minimum system wiring shown in Figure Backplanes X10 BPL010-501 non-isolated backplanePin Name Description 96-pin Connector Analog outputs demands DIN1 Mating connector Weidmüller Omnimate BL 3.5/5 DOUT11 Stepper axes outputs DIR3+ Stepper output typical connection to a Baldor MicroFlex Encoder input Power inputsPin Name Description 96-pin Pin RS232 name RS485/RS422 name 96-pin BPL010-502/503 backplane with opto-isolator card Backplane BPL010-502/503 connector layout Pin Name Description NextMove ES 96-pin Connector Relay connections Error relay connectionsAnalog output, DEMAND0 shown Customer power supply ground DIN15 Digital input circuit DIN16 with ‘active high’ inputs 5.1 BPL010-502 Active high inputsDIN16 Digital input circuit DIN16 with ‘active low’ inputs 5.2 BPL010-503 Active low inputsUSRV+ USR V+ USR COM 6.2 BPL010-503 NPN outputs 6.1 BPL010-502 PNP outputsDigital output circuit DOUT8-11 DOUT8 shown Stepper axes outputs Pin Name Description 96-pin Connector Stepper output typical connection to a Baldor MicroFlex Power inputs Serial port Backplanes MN1928 Installing WorkBench Connecting the NextMove ES to the PCStarting the NextMove ES \startInstalling the USB driver Power on checksPreliminary checks Help file WorkBenchStarting WorkBench MN1928 Operation Selecting the axis type Configuring an axisSelecting a scale Setting the drive enable output Testing the drive enable output Testing the output Stepper axis testingTesting the demand output Servo axis testing and tuningTORQUE.4=-5 An introduction to closed loop control Summary, the following rules can be used as a guide NextMove ES servo loop Selecting servo loop gains Servo axis tuning for current controlMN1928 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 Digital input configuration Digital input/output configurationDigital output configuration Saving setup information Loading saved information SupportMe feature Problem diagnosisStatus display NextMove ES indicatorsD3 yellow Surface mount LEDs D3, D4, D16 and D20Communication Symptom CheckMotor control Motor runs WorkBench Nodescan keyword Baldor can Input power Digital inputs opto-isolated Digital inputs non-isolatedUnit Value Type Input voltageDigital outputs general purpose non-isolated Digital output error output non-isolatedDigital outputs general purpose opto-isolated Serial RS232/RS485 port Error relay opto-isolated backplanesCan interface Weights and dimensionsEnvironmental Specifications MN1928 Baldor catalog number Length Feedback cablesDrive amplifier to NextMove ES feedback cables Appendix MN1928 Index Index MN1928 USB Index MN1928 Comment CommentsComments MN1928 Page LT0202A02
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MN1928 specifications

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