Baldor MN1928 JP1 This will connect an internal terminating resistor, CANopen and Baldor can

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The CAN channel is opto-isolated. A voltage in the range 12-24V must be applied to pin 5 of the CAN connector. An internal voltage regulator provides the 5V required for the isolated CAN circuit. Practical operation of the CAN channel is limited to 500Kbit/s owing to the propagation delay of the opto-isolators.

The CAN channel must be terminated by a 120Ω resistor connected between CAN+ and CAN- at both ends of the network and nowhere else. If the NextMove ES is at the end of the network then ensure that jumper JP1, located just below the status display, is in position.

JP1 This will connect an internal terminating resistor.

A very low error rate over CAN can only be achieved with a suitable wiring scheme, so the following points should be observed:

HThe connection arrangement is normally a multi-point drop. The CAN cables should have a characteristic impedance of 120Ω and a delay of 5ns/m. Other characteristics depend upon the length of the cabling:

Cable length

Maximum

Resistance

Conductor

 

 

theoretical

 

area

 

 

bit rate

 

 

0m ~ 300m (0ft ~ 984ft)

500Kbit/s

<60mΩ/m

0.34 ~ 0.60mm2

300m

~ 600m (984ft ~ 1968ft)

100Kbit/s

<40mΩ/m

0.50 ~ 0.60mm2

600m

~ 1000m (1968ft ~ 3280ft)

50Kbit/s

<26mΩ/m

0.75 ~ 0.80mm2

HThe 0V connection of all of the nodes on the network must be tied together through the CAN cabling. This ensures that the CAN signal levels transmitted by NextMove ES or CAN peripheral devices are within the common mode range of the receiver circuitry of other nodes on the network.

4.5.5.1CANopen and Baldor CAN

The NextMove ES can communicate with other MintMT controllers over a CANopen network. Baldor CAN is a proprietary CAN protocol, allowing the NextMove ES to communicate with a range of Baldor ioNode CAN peripherals.

CANopen is a networking system based on the serial bus CAN. It uses the international CAN standard ISO 11898 as the basis for communication. The Mint firmware implements a CANopen protocol, based on the ‘Communication Profile’ CiA DS-301, which supports both direct access to device parameters and time-critical process data communication. This provides support for a range of Baldor and third-party devices. The NextMove ES has the ability to act as the network manager node or as a slave on the CANopen network.

Baldor CAN is also a networking system based on the serial bus CAN. It uses the international CAN standard ISO 11898 as the basis for communication. Optional MintMT firmware can be downloaded to implement a proprietary Baldor protocol on CAN bus 2, based on CAL (the CAN Application Layer). This supports both direct access to device parameters and time-critical process data communication. Baldor CAN provides support for the full range of Baldor ioNode CAN peripherals.

The baud rate and node number of the NextMove ES can be set using the BUSBAUD and NODE keywords.

4-16 Input / Output

MN1928

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Contents NextMove ES Motion Controller Page Contents Backplanes Troubleshooting Appendices General Information Safety Notice PrecautionsNextMove ES features MN1928 IntroductionIntroduction MN1928 Installed Receiving and inspectionIdentifying the catalog number Phase Units and abbreviationsYou should read all the sections in Basic Installation IntroductionLocation requirements Installing the NextMove ES card Other requirements for installation96-pin edge connector 1 96-pin connector pin assignment 96-pin connector pin assignmentRow Pin Analog I/O Analog inputsAIN0 analog input wiring Analog outputs Analog output Demand0 shownDigital I/O Digital inputsGeneral purpose inputs Reset input !RSTIN Typical digital input wiringAuxiliary encoder inputs DIN17 STEP, DIN18 DIR, DIN19 Z Digital outputs DOUT0 DOUT7DOUT8 DOUT11 Digital outputs DOUT8-11 DOUT8 shownError output Error Out Other I/O Stepper control outputsEncoder inputs Pin Name Description 96-pin Connector 3 RS232 serial connectionLocation USB connection Pin Name DescriptionCan connection Typical can network connectionsJP1 This will connect an internal terminating resistor CANopen and Baldor canConnection summary minimum system wiring Drive amplifier axisConnector details for minimum system wiring shown in Figure Backplanes BPL010-501 non-isolated backplane Analog outputs demands DIN1 Mating connector Weidmüller Omnimate BL 3.5/5 Digital output DOUT11 C22 Stepper axes outputs DIR3+ Power inputs Encoder inputPin Name Description 96-pin 13 RS232 serial communication BPL010-502/503 backplane with opto-isolator card Pin Name Description NextMove ES 96-pin Connector Error relay connections Relay connectionsAnalog output, DEMAND0 shown Customer power supply ground DIN15 USR V+ 5.1 BPL010-502 Active high inputs Digital input circuit DIN16 with ‘active low’ inputsUSR COM 6.1 BPL010-502 PNP outputs Digital output circuit DOUT8-11 DOUT8 shown Stepper axes outputs Pin Name Description 96-pin Connector Power inputs 13 RS232 serial communication Input / Output MN1928 Starting the NextMove ES Connecting the NextMove ES to the PCInstalling WorkBench \startPower on checks Installing the USB driverPreliminary checks WorkBench Help fileStarting WorkBench MN1928 Operation Configuring an axis Selecting a scaleSetting the drive enable output If you are going to use the error output, drag Testing the drive enable output Stepper axis testing Testing the outputServo axis testing and tuning Testing the demand outputTORQUE.4=-5 An introduction to closed loop control Summary, the following rules can be used as a guide NextMove ES servo loop Servo axis tuning for current control Selecting servo loop gainsMN1928 Operation Underdamped response Underdamped responseOverdamped response Overdamped responseCritically damped response Critically damped ideal responseServo axis eliminating steady-state errors Servo axis tuning for velocity control Calculating KvelffKvelff Correct value of Kvelff Adjusting Kprop Correct value of Kprop Digital input/output configuration Digital input configurationDigital output configuration Saving setup information Loading saved information Problem diagnosis SupportMe featureNextMove ES indicators Status displaySurface mount LEDs D3, D4, D16 and D20 D3 yellowSymptom Check CommunicationMotor control WorkBench Troubleshooting MN1928 Input power Input voltage Digital inputs non-isolatedDigital inputs opto-isolated Maximum Minimum High LowDigital output error output non-isolated Digital outputs general purpose non-isolatedDigital outputs general purpose opto-isolated Error relay opto-isolated backplanes Can interfaceWeights and dimensions EnvironmentalSpecifications MN1928 Axis renumbering MN1928 Appendix A-1Appendix MN1928 Index Index MN1928 Underdamped response, 6-18 Units and abbreviations Index MN1928 Comments CommentComments MN1928 Page Baldor Electric Company Box Ft. Smith, AR
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MN1928 specifications

The Baldor MN1928 is a highly regarded motor designed for a variety of industrial applications, known for its durability and efficiency. This motor is part of Baldor’s extensive range of products, which are engineered to meet the demands of heavy-duty operations.

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In summary, the Baldor MN1928 stands out as a reliable choice for industrial applications, offering a combination of durability, efficiency, and advanced technology. Its robust construction, high-efficiency design, and safety features make it a preferred option for many enterprises seeking dependable motor solutions.
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