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Baldor installation manual MN1904, Operation, The NextMove BXII servo loop

Models: BXII

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Figure 16 - The NextMove BXII servo loop

Figure 16 - The NextMove BXII servo loop

MN1904

Operation 5-13

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Baldor installation manual MN1904, Operation, The NextMove BXII servo loop

Contents

NextMove BXII Motion Controller Installation ManualMOTION CONTROL 9/02Page Contents 5 Operation 7 Specifications 6 TroubleshootingA Accessories AppendicesMN1904 iv ContentsGeneral Information 1 General InformationMN1904 Precautions Safety Notice1-2General Information MN19042 Introduction 2.1 NextMove BXII features2.2.1Identifying the catalog number Installed in2.2 Receiving and inspection 2.3 Units and abbreviations MN1904 2-4Introduction3.1.1 Power sources 3 Basic Installation3.1 Introduction 3.1.2 PC Hardware requirements3.1.3 Tools and miscellaneous hardware 3.1.4 Other information needed for installation3-2Basic Installation MN1904See also page 3.2.1 Mounting the NextMove BXII This completes the basic installationAll dimensions shown as mm inches Allow additional depth to accommodate wiring4 Input / Output 4.2 Connector locations - top panel4.1 Introduction 4.3 Connector locations - front panel 4.4.1 Power 4.4 Power connections4.5.1Analog inputs 4.5 Analog I/OAIN0 Pin AIN1 Pin MN1904 4.5.2 Analog outputs Demands4-6Input / Output 4.6 Digital I/O MN1904 4.6.1 Digital inputs4-8Input / Output 4.6.2 Digital inputs MN1904 4.6.3 Digital inputs Interrupts4-10Input / Output Location 4.6.4 Digital outputsName Mint keyword / description4.7.1 Encoder interfaces - X9, X10, X11 4.7 Other I/O4.7.2 Encoder input frequency MN1904 4.7.3 Relay and user power4-14Input / Output Description 4.7.4 RS232Pin Name RXD TXD RS232NextMove BXII GND DTE RTS CTSBaldor HMI 4.7.5 Connecting Baldor HMI Operator PanelsNextMove BXII PLC PORT4-18Input / Output 4.7.6 RS422 / RS485MN1904 4 NCNetwork master Figure 12 - 4-wireRS485 multi-dropconnectionsNetwork slave Network slaveMN1904 4.7.7 CAN connectors4-20Input / Output 4.7.9 Baldor CAN 4.7.8 CANopen4.8.1 System watchdog 4.8 Reset statesError out 4.9 Connection summary - minimum system wiringEnable Host PCsignal connectorTable 2 - Minimum system wiring connections 4-24Input / Output5.1.2 Installing the software 5.1.1 Connecting the NextMove BXII to the PC5.1 Introduction 5 OperationMN1904 5.1.5 Power on checks5-2Operation 5.2.1 Help file 5.2 WorkBenchMN1904 5.2.2Starting WorkBench5-4Operation Click Scan to search for the NextMove BXII 5.3.1 Selecting a scale 5.3 Configuring an axis5.3.2Setting the drive enable output MN1904 5.3.3Testing the drive enable output5-8Operation 5.4.1 Testing the drive command output 5.4 Testing and tuningMN1904 5-10Operation6.To remove the demand and stop the test, type STOP.05.5 An introduction to closed loop control MN1904 5-12OperationFigure 16 - The NextMove BXII servo loop MN1904Operation 5.6.1 Selecting servo loop gains 5.6 Tuning an axis for current controlThe distance depends on the scale set in MN1904 5.6.2 Underdamped response5-16Operation Figure 18 - Overdamped response 5.6.3 Overdamped response5-18Operation 5.6.4 Critically damped responseMN1904 Demand position Measured position5.7 Eliminating steady-stateerrors 5.8.1 Calculating KVELFF 5.8 Tuning an axis for velocity control=10.24 Figure 20 - Correct value of KVELFF 5-22OperationMN1904 2. Click Go 5.8.2 Adjusting KPROPMN1904 5-24OperationFigure 21 - Correct value of KPROP Demand position Measured position5.9.1 Digital input configuration 5.9 Digital input/output configurationMN1904 5.9.2 Digital output configuration5-26Operation 1.In the Toolbox, click the Edit & Debug icon 5.10 Saving setup informationMN1904 5.11Loading saved information5-28Operation 6.1.1 Problem diagnosis 6 Troubleshooting6.1.2 SupportMet feature 6.1 Introduction6.2.1 Status display 6.2 NextMove BXII indicatorsOffset move. The axis is performing an offset move MN1904 6.2.2 Motor control6-4Troubleshooting 6.2.3 Communication MN1904 6-6TroubleshootingInput power 7 SpecificationsIntroduction 7.1.17.1.4 7.1.3 Analog outputs DemandsDigital inputs 7.1.57.1.8 Encoder interfaces 7.1.7 Relay output7.1.9 CAN interfaces Update interval7.1.10Environmental 7.1.11Weights and dimensions7-4Specifications MN1904A.1.1 Baldor CAN nodes A Accessories AA.1 Introduction MN1904 A.1.2 Encoder Splitter/Buffer boardA-2Accessories Index Page Page MN1904 IndexComment Commentscontinued CommentsThank you for taking the time to help us CommentsMN1904 Page Mexico AustraliaEurope Singapore