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Baldor installation manual NextMove BXII features, Introduction

Models: BXII

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2 Introduction 2

2 Introduction 2

2.1 NextMove BXII features

NextMove BXII is a high speed multi-axis intelligent motion controller, supporting up to four servo axes.

NextMove BXII features the Mint motion control language. Mint is a structured form of Basic, custom designed for motion control applications. It allows you to get started very quickly with simple motion control programs. In addition, Mint includes a wide range of powerful commands for complex applications.

Standard features of the NextMove BXII include:

HControl of up to four axes

HPoint to point moves, software cams and gearing

H16 general purpose digital inputs, software configurable as level or edge triggered

H4 fast position latch inputs

H8 digital outputs

H8 analog inputs with 12-bit resolution, configurable as single ended inputs or differential pairs

HCANopen protocol for peer-to-peer communications with Mint controllers and other third party devices

HProprietary CAN protocol for control of Baldor remote I/O devices

HProgrammable in Mint.

Included with NextMove BXII is the Baldor Motion Tookit CD. This contains a number of utilities and useful resources to get the most from your Mint controller. These include:

HMint WorkBench v5

This is the user interface for communicating with the NextMove BXII. Installing WorkBench v5 will also install firmware for NextMove BXII.

HPC Developer Libraries

These include ActiveX interfaces that allow PC applications to be written that communicate with the NextMove BXII.

HEmbedded Developer Libraries

Allows embedded C31 applications to be developed using the Texas Instruments TMS320C3x compiler.

This manual is intended to guide you through the installation of NextMove BXII.

The chapters should be read in sequence.

The Basic Installation section describes the mechanical installation of the NextMove BXII. The following sections require knowledge of the low level input/output requirements of the installation and an understanding of computer software installation. If you are not qualified in these areas you should seek assistance before proceeding.

MN1904

Introduction 2-1

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Baldor installation manual NextMove BXII features, Introduction

Contents

NextMove BXII Motion Controller Installation ManualMOTION CONTROL 9/02Page Contents 5 Operation 7 Specifications 6 TroubleshootingA Accessories AppendicesMN1904 iv Contents1 General Information MN1904General Information Precautions Safety Notice1-2General Information MN19042 Introduction 2.1 NextMove BXII featuresInstalled in 2.2 Receiving and inspection2.2.1Identifying the catalog number 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 wiring4.2 Connector locations - top panel 4.1 Introduction4 Input / Output 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 4.5.2 Analog outputs Demands 4-6Input / OutputMN1904 4.6 Digital I/O 4.6.1 Digital inputs 4-8Input / OutputMN1904 4.6.2 Digital inputs 4.6.3 Digital inputs Interrupts 4-10Input / OutputMN1904 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 4.7.3 Relay and user power 4-14Input / OutputMN1904 4.7.4 RS232 Pin NameDescription 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 slave4.7.7 CAN connectors 4-20Input / OutputMN1904 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 Operation5.1.5 Power on checks 5-2OperationMN1904 5.2.1 Help file 5.2 WorkBench5.2.2Starting WorkBench 5-4OperationMN1904 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 5.3.3Testing the drive enable output 5-8OperationMN1904 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 5-12OperationMN1904 OperationFigure 16 - The NextMove BXII servo loop 5.6.1 Selecting servo loop gains 5.6 Tuning an axis for current controlThe distance depends on the scale set in 5.6.2 Underdamped response 5-16OperationMN1904 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 5-22Operation MN1904Figure 20 - Correct value of KVELFF 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 configuration5.9.2 Digital output configuration 5-26OperationMN1904 1.In the Toolbox, click the Edit & Debug icon 5.10 Saving setup information5.11Loading saved information 5-28OperationMN1904 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 6.2.2 Motor control 6-4TroubleshootingMN1904 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 Accessories A A.1 IntroductionA.1.1 Baldor CAN nodes A.1.2 Encoder Splitter/Buffer board A-2AccessoriesMN1904 Index Page Page MN1904 IndexComment Commentscontinued CommentsComments MN1904Thank you for taking the time to help us Page Mexico AustraliaEurope Singapore