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Outboard Motor
Baldor
MN1903
4-6 Input/ Output MN1903
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4-6
Input/ Output
MN1903
NextMovePCI
-
+
AIN0+
AIN0-
AGND
MintMT
ADC.0
Breakout
module
3
1
2
X6
100
pin
cable
-
+
Figure1 - Analog input w iring, AIN0 shown
Fordifferential inputs
connectinputlines
toAIN+and A IN-.
LeaveAGND unconnected.
Forsingle ended input s, connect signal to AIN+.
Connectsignal ground to AIN- and AGN D.
Contents
Main
Page
Contents
3 Basic Installation 3-1....................................
4 Input / Output 4-1......................................
5 Operation 5-1..........................................
Contents iii
MN1903
6 Troubleshooting 6-1....................................
6.1 Introduction 6-1............................................
Appendices
A Accessories A-1........................................
A.1 Introduction A-1............................................
Page
GeneralInformation 1-1MN1903
1General Information 1
1-2 GeneralInformation MN1903
Safety Notice
Precautions
Introduction 2-1MN1903
2Introduction 2
2.1 NextMove PCI features
2-2 Introduction MN1903
Introduction 2-3MN1903
2.2 Receiving and inspection
2.2.1 Identifying the catalognumber
2-4 Introduction MN1903
2.3 Units and abbreviations
BasicInstallation 3-1MN1903
3Basic Installation 3
3.1 Introduction
3.1.1 Hardware requiremen ts
3.1.2 Tools and miscellaneoushardware
3.1.3 Other info rmation needed for installation
3-2 BasicInstallation MN1903
3.2 Location requirements
BasicInstallation 3-3MN1903
3.3 Installation
3.3.1 Installing the NextMovePCI card
3.3.2 NextMove PCI Expansion card and CAN Bracket board
This completes the basic installation.
Youshould read the following sections in sequence before using the NextMove PCI.
Page
Input/ Output 4-1MN1903
4.1 Outline
4.2 100-pin edge connector
4Input / Output 4
4-2 Input/ Output MN1903
4.2.1 100-pin connector pin assignment
Input/ Output 4-3MN1903
Page
Input/ Output 4-5MN1903
4.3.1 Analog inputs- X6
4-6 Input/ Output MN1903
Input/ Output 4-7MN1903
4.3.2 Analog outputs(Drive Demand/Command) - X7
4-8 Input/ Output MN1903
4.4 Digital I/O
Input/ Output 4-9MN1903
4-10 Input/ Output MN1903
4.4.1 Digitalinputs - X1
Input/ Output 4-11MN1903
4.4.2 Digital inputs- X2
4-12 Input/ Output MN1903
4.4.3 Digitalinputs - X3
Input/ Output 4-13MN1903
4.4.4 Digital outputs - X4
4-14 Input/ Output MN1903
4.4.5 Digital outputs - X5
Input/ Output 4-15MN1903
4.5 Other I/O
4.5.1 Encoder interfaces - X12, X13, X14, X15, X16
4-16 Input/ Output MN1903
4.5.2 Encoderinput frequency
Input/ Output 4-17MN1903
4.5.3 Power - X9
4-18 Input/ Output MN1903
4.5.4 Relayan d CAN power - X8
Input/ Output 4-19MN1903
4.5.5 Stepperdrive outputs - X10, X11
4-20 Input/ Output MN1903
4.6 CAN Connections
Input/ Output 4-21MN1903
4.6.1 CAN1 (CANopen) - X17
4-22 Input/ Output MN1903
4.6.2 CAN2(Bald or CAN) - X18
Input/ Output 4-23MN1903
4.7 Other I/O
4.7.1 Emulator connection
4.8 Reset states
4.8.1 Systemwatchdog
4-24 Input/ Output MN1903
4.9 Connection summary - minimum system wiring
HostPC Breakoutmodule Servoa mplifier (axis 0)
Input/ Output 4-25MN1903
This completes the input/output wiring.
Youshould read the following sections in sequence before using the NextMove PCI.
Page
Operation 5-1MN1903
5Operation 5
5.1 Introduction
5.1.1 Installingthe driver software - Windows 95, 98 and ME
5-2 Operation MN1903
5.1.2 Installingthe driver software - Windows NT
5.1.3 Installingthe driver software - Windows 2000
Operation 5-3MN1903
5.1.4 InstallingWorkBench v5
Page
Page
Page
Operation 5-7MN1903
5.2 WorkBench v5
5.2.1 Help file
5-8 Operation MN1903
5.3 Configuring an axis
5.3.1 Choosing an axis - 1, 2, 3 and 4 axis cards
5.3.2 Choosing an axis - 8 axis card
Operation 5-9MN1903
5.3.3 Selecting a scale
5-10 Operation MN1903
5.3.4 Setting the drive enable outpu t
Operation 5-11MN1903
5.3.5 Testing the drive enableoutput
5-12 Operation MN1903
5.4 Servo axis - testing and tuning
5.4.1 Testingthe drive command output
Operation 5-13MN1903
5.4.2 Anintroduction to closedloop control
5-14 Operation MN1903
Page
5-16 Operation MN1903
5.5 Servo axis - tuning forcurrent control
5.5.1 Selecting servo loop gains
Operation 5-17MN1903
5-18 Operation MN1903
5.5.2 Underdampedresponse
Operation 5-19MN1903
5.5.3 Overdampedresponse
Page
Operation 5-21MN1903
5.6 Servo axis - eliminating steady-state errors
5-22 Operation MN1903
5.7 Servo axis - tuning for velocity control
5.7.1 Calculatin g KVELFF
Operation 5-23MN1903
5-24 Operation MN1903
Operation 5-25MN1903
5.7.2 AdjustingKPROP
Page
Operation 5-27MN1903
5.8 Stepper axis - testing
5.8.1 Testingthe drive command output
5-28 Operation MN1903
5.9 Digital input/output configuration
5.9.1 Digital input configuration
Page
5-30 Operation MN1903
5.10 Saving setup information
Operation 5-31MN1903
5.10.1Loading saved informatio n
Page
Troubleshooting 6-1MN1903
6Troubleshooting 6
6.1 Introduction
6.1.1 Problemdiagnosis
6.1.2 SupportMetfeature
6-2 Troubleshooting MN1903
6.2 NextMove PCI indicators
6.2.1 Status and CAN LEDs
Troubleshooting 6-3MN1903
6.2.2 Communication
6.2.3 Motor control
6-4 Troubleshooting MN1903
Specifications 7-1MN1903
7Specifications 7
7.1 Introduction
7.1.1 Mechanical speci fications
7.1.2 Analog inputs (X6)
7-2 Specifications MN1903
7.1.3 Analog outputs(Drive Demand/Command - X7)
7.1.4 Digitalinputs (X1 & X2)
7.1.5 Digitalinputs (X3)
Specifications 7-3MN1903
7.1.6 Digital outputs (X4)
7.1.7 Relay output (X8)
7.1.8 Encoder interfaces (X12 - X16)
Page
Accessories A-1MN1903
AAccessories A
A.1 Introduction
A.1.1 NextMove PCI Expan sion card
A-2 Accessories MN1903
A.1.2 Axis numbering w hen using expansion card(s)
Accessories A-3MN1903
A.1.3 Expansion card status LEDs
A-4 Accessories MN1903
A.1.4 NextMove PCI Breakoutmodule
Accessories A-5MN1903
A.1.5 Digital output modules
A.1.6 NextMove PC system adap ter
A.1.7 Spares
A-6 Accessories MN1903
A.1.8 Baldor CAN nodes
Accessories A-7MN1903
A.1.9 NextMove PCI CAN Bracket b oard
A.1.10Encoder Splitter/Buffer board