Manuals / Baldor / Household Appliance / Home Security System

Baldor MN1928 CAN interface, Environmental, Weights and dimensions, Specifications, Unit, Signal

Models: MN1928

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Page 115

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8.1.13 CAN interface

	Description	Unit		Value

	Signal			2-wire, isolated

	Channels			1

	Protocols		CANopen or Baldor CAN
			(selected by choice of firmware)

	Bit rates	Kbit/s
	CANopen		10, 20, 50, 100, 125, 250, 500, 1000
	Baldor CAN		10, 20, 50, 125, 250, 500, 1000

8.1.14 Environmental

	Description	Unit

	Operating temperature range		Min		Max
		°C
		°C	0		+40
		°F	+32		+104

	Maximum humidity		80% for temperatures up to 31°C (87°F)
		%	decreasingly linearly to 50% relative
		%	humidity at 40°C (104°F), non-condensing
			humidity at 40°C (104°F), non-condensing
			(according to DIN40 040 / IEC144)

	Maximum installation altitude	m		2000
	(above m.s.l.)	ft		6560
		ft		6560

	See also section 3.1.1.
8.1.15 Weights and dimensions

	Description			Value

	Weight		Approximately 140g (0.3lb)

	Nominal overall dimensions		160mm x 100mm
			(6.3in	x 3.937in)

MN1928

Specifications 8-5

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Image 115

Baldor MN1928 CAN interface, Environmental, Weights and dimensions, Specifications, Unit, Signal, Channels, Protocols

Contents

01/05 Installation ManualNextMove ES Motion Controller MOTION CONTROLPage Input / Output Basic InstallationGeneral Information Introduction6 Operation 5 BackplanesSpecifications 7 TroubleshootingMN1928 A Appendixiv Contents AppendicesBaldor ASR AG 1 General InformationMN1928 General InformationMN1928 Safety NoticePrecautions 1-2 General InformationIntroduction 2.1 NextMove ES features2 Introduction MN1928MN1928 2-2 IntroductionH WorkBench MN1928 Installed in2.2 Receiving and inspection 2.2.1 Identifying the catalog number2-4 Introduction 2.3 Units and abbreviationsMN1928 Basic Installation 3 Basic Installation3.1 Introduction 3.1.1 Location requirementsRecommended specification 3.1.2 Installing the NextMove ES card3.1.3 Other requirements for installation 3-2 Basic InstallationMN1928 4.2 96-pin edge connector4.1 Introduction 4 Input / OutputMN1928 4.2.1 96-pin connector pin assignmentTable 1 - 96-pin connector pin assignment 4-2 Input / OutputInput / Output 4.3 Analog I/O4.3.1 Analog inputs MN1928AIN0 Figure 2 - AIN0 analog input wiring4-4 Input / Output MN1928Figure 4 - Analog output - Demand0 shown 4.3.2 Analog outputsMN1928 Input / OutputMN1928 4-6 Input / OutputInput / Output 4.4 Digital I/O4.4.1 Digital inputs MN1928MN1928 4.4.1.3 Reset input - !RSTIN4.4.1.4 Typical digital input wiring 4-8 Input / OutputFlexDriveII / equipment output MN1928Input / Output Flex+DriveII or MintDriveII4.4.2.1 DOUT0 - DOUT7 4.4.2 Digital outputs4-10 Input / Output MN1928Figure 11 - Digital outputs DOUT8-11 - DOUT8 shown MN1928Input / Output 4.4.2.2 DOUT8 - DOUT114.4.3.3 GLOBALERROROUTPUT keyword 4.4.3 Error output - Error OutFigure 12 - Error Out level configuration 4.4.3.2 DRIVEENABLEOUTPUT keywordInput / Output 4.5 Other I/O4.5.1 Stepper control outputs MN1928e.g. Baldor MicroFlex, FlexDriveII, Flex+DriveII or MintDriveII 4.5.2 Encoder inputs4-14 Input / Output MN1928Input / Output 4.5.3 USB portA and B signal MN19284-16 Input / Output 4.5.5 Using RS2324.5.4 Serial port connectorSerial MN1928Input / Output Figure 15 - RS232 serial port connectionsMN1928 4.5.6 Multidrop using RS485 / RS422Figure 16 - 4-wire RS422 multi-drop connections 4-18 Input / OutputMN1928 4.5.7 Connecting serial Baldor HMI Operator PanelsFigure 17 - RS232 cable wiring Figure 18 - RS485/422 cable wiringMN1928 4.6.1 CAN connector4.6 CAN 4-20 Input / OutputInput / Output 4.6.2 CAN wiring4.6.2.1 Opto-isolation power requirements MN1928Figure 19 - Typical CANopen network connections 4.6.3 CANopen4-22 Input / Output MN1928Figure 20 - Baldor CAN operator panel connections 4.6.4 Baldor CANMN1928 Input / Output4-24 Input / Output channel to operate on pins 1 and 2 of the RJ45 connectors. On the Baldor CAN node, jumper JP3 can be used to connect an internal 120Ω terminating resistor, provided the node is at the end of the network. Jumpers JP4 and JP5 can be used to configure the node ID and baud rateMN1928 Host PC 4.7 Connection summary - minimum system wiringFigure 21 - Example minimum system wiring Enable4-26 Input / Output signalconnector Table 3 - Connector details for minimum system wiring shown in FigureBackplanes 5.1 Introduction5 Backplanes MN1928MN1928 5.2 BPL010-501 non-isolated backplaneFigure 22 - Backplane BPL010-501 connector layout 5-2 BackplanesBackplanes 5.2.1 Analog inputsconnector MN1928MN1928 5.2.2 Analog outputs demandsconnector 5-4 Backplanesconnector 5.2.3 Digital inputs5.2.4 Digital inputs connectorconnector 5.2.5 Digital inputs5.2.6 Digital outputs connectorBackplanes 5.2.7 Digital outputsconnector MN1928MN1928 5.2.8 Stepper axes outputsconnector 5-8 BackplanesBackplanes 5.2.9 Stepper axes outputsconnector MN1928MN1928 5-10 BackplanesFlex+DriveII or MintDriveII MN1928 5.2.10 Power inputs5.2.11 Encoder input connectorMN1928 5.2.12 Encoder input5.2.13 Serial port 5-12 BackplanesMN1928 5.3 BPL010-502/503 backplane with opto-isolator cardBackplanes 5-14 Backplanes Figure 27 - Backplane BPL010-502/503 connector layoutMN1928 Backplanes 5.3.1 Analog inputsconnector MN1928Figure 29 - Relay connections 5.3.1.1 Error relay connections5-16 Backplanes MN1928Backplanes 5.3.2 Analog outputs demandsconnector MN1928MN1928 5.3.3 Digital inputsconnector 5-18 BackplanesBackplanes 5.3.4 Digital inputsconnector MN1928MN1928 5.3.5 Digital inputsconnector 5-20 BackplanesBackplanes MN1928Flex+DriveII or MintDriveII Figure 34 - Digital input circuit DIN16 with ‘active low’ inputs 5-22 BackplanesMN1928 5.3.5.2 BPL010-503 - Active low inputsFlex+DriveII or MintDriveII connectorMN1928 BackplanesMN1928 5.3.6 Digital outputsconnector 5-24 Backplanes5.3.6.2 BPL010-503 - NPN outputs MN1928Backplanes 5.3.6.1 BPL010-502 - PNP outputsMN1928 5.3.7 Digital outputsconnector 5-26 BackplanesBackplanes 5.3.8 Stepper axes outputsconnector MN1928MN1928 5.3.9 Stepper axes outputsconnector 5-28 BackplanesBackplanes MN1928Flex+DriveII or MintDriveII 5-30 Backplanes 5.3.10 Power inputs5.3.11 Encoder input connectorBackplanes 5.3.12 Encoder input5.3.13 Serial port MN1928MN1928 5-32 Backplanes6 Operation 6.1.1 Connecting the NextMove ES to the PC6.1.2 Installing WorkBench 6.1 Introduction6-2 Operation 6.1.5 Power on checks6.1.4 Preliminary checks 6.1.5.1 Installing the USB driverOperation 6.2 WorkBench6.2.1 Help file MN1928Click Close to continue 6.2.2 Starting WorkBench6-4 Operation MN1928Operation MN1928Click Scan to search for the NextMove ES MN1928 6.3 Configuring an axis6.3.1 Selecting the axis type 6-6 OperationMN1928 6.3.2 Selecting a scaleOperation 6-8 Operation 6.3.3 Setting the drive enable outputMN1928 MN1928 6.3.4 Testing the drive enable outputOperation MN1928 6.4 Stepper axis - testing6.4.1 Testing the output 6-10 OperationOperation 6.5 Servo axis - testing and tuning6.5.1 Testing the demand output MN1928STOP.4 6-12 OperationMN1928 TORQUE.4=-5MN1928 6.5.2 An introduction to closed loop controlOperation MN1928 6-14 OperationIn summary, the following rules can be used as a guide Operation MN1928Figure 45 - The NextMove ES servo loop MN1928 6.6 Servo axis - tuning for current control6.6.1 Selecting servo loop gains 6-16 OperationOperation MN1928Note The distance depends on the scale set in section Figure 46 - Underdamped response 6.6.2 Underdamped response6-18 Operation MN1928Figure 47 - Overdamped response 6.6.3 Overdamped responseMN1928 OperationFigure 48 - Critically damped ideal response 6.6.4 Critically damped response6-20 Operation MN1928MN1928 6.7 Servo axis - eliminating steady-state errorsOperation MN1928 6.8 Servo axis - tuning for velocity control6.8.1 Calculating KVELFF 6-22 OperationOperation MN1928Demand velocity Measured velocity 6-24 OperationMN1928 Figure 49 - Correct value of KVELFFMN1928 6.8.2 Adjusting KPROPOperation MN1928 6-26 OperationFigure 50 - Correct value of KPROP Operation 6.9 Digital input/output configuration6.9.1 Digital input configuration MN19286-28 Operation 6.9.2 Digital output configurationMN1928 MN1928 6.10 Saving setup informationOperation 6-30 Operation 6.10.1 Loading saved informationMN1928 7.1 Introduction 7 Troubleshooting7.1.1 Problem diagnosis 7.1.2 SupportMe featureMN1928 7.2 NextMove ES indicators7.2.1 Status display 7-2 TroubleshootingTroubleshooting 7.2.2 Surface mount LEDs D3, D4, D16 and D20MN1928 Symptom 7.2.3 Communication7.2.4 Motor control 7-4 TroubleshootingServo outputs only Check that the encoder feedback signals are TroubleshootingSymptom Servo outputs only Check that the correct encoder feedback signalSymptom 7.2.5 WorkBench7.2.6 CANopen 7-6 TroubleshootingIf a connection attempt using CONNECT fails then it may be because TroubleshootingSymptom experienced a fatal number of Tx and/or Rx errors, greater than theMN1928 7.2.7 Baldor CAN7-8 Troubleshooting Symptom8.1.1 8 SpecificationsInput power IntroductionMN1928 8.1.4 Digital inputs non-isolated8.1.5 Digital inputs opto-isolated 8-2 SpecificationsSpecifications 8.1.8 Digital output - error output non-isolated8.1.6 Digital outputs - general purpose non-isolated 8.1.7 Digital outputs - general purpose opto-isolated8.1.12 Serial RS232/RS485 port 8.1.9 Error relay opto-isolated backplanes8.1.10 Encoder inputs 8.1.11 Stepper control outputsSpecifications 8.1.15 Weights and dimensions8.1.13 CAN interface 8.1.14 EnvironmentalMN1928 8-6 SpecificationsAppendix A-1 A.1 Feedback cablesA Appendix A MN1928MN1928 A-2 AppendixMN1928 IndexIndex MN1928 IndexIndex MN1928MN1928 IndexX6 screw terminal block non-isolated backplane, 5-6 opto-isolated backplanes Comments CommentsMN1928 CommentMN1928 CommentsThank you for taking the time to help us Page Singapore AustraliaMexico Europe

8.1.13 CAN interface

Channels

Protocols

Kbit/s

CANopen

Baldor CAN

8.1.14 Environmental

Operating temperature range

+104

Maximum humidity

Maximum installation altitude

(above m.s.l.)

See also section 3.1.1.

8.1.15 Weights and dimensions

Weight

Nominal overall dimensions

160mm x 100mm

x 3.937in)