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MN1928 installation manual Specifications
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MN1928
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Troubleshooting
Specifications
Install
Dimension
Error Out level configuration
AIN0 analog input wiring
Problem diagnosis
Reset input - !RSTIN
Saving setup information
Error relay connections
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8-6
Specifications
MN1928
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Contents
Installation Manual
NextMove ES Motion Controller
MOTION CONTROL
01/05
Page
Basic Installation
General Information
Introduction
Input / Output
5 Backplanes
6 Operation
7 Troubleshooting
Specifications
A Appendix
iv Contents
Appendices
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1 General Information
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General Information
Baldor ASR AG
Safety Notice
Precautions
1-2 General Information
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2.1 NextMove ES features
2 Introduction
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Introduction
H WorkBench
2-2 Introduction
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Installed in
2.2 Receiving and inspection
2.2.1 Identifying the catalog number
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2.3 Units and abbreviations
2-4 Introduction
3 Basic Installation
3.1 Introduction
3.1.1 Location requirements
Basic Installation
3.1.2 Installing the NextMove ES card
3.1.3 Other requirements for installation
3-2 Basic Installation
Recommended specification
4.2 96-pin edge connector
4.1 Introduction
4 Input / Output
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4.2.1 96-pin connector pin assignment
Table 1 - 96-pin connector pin assignment
4-2 Input / Output
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4.3 Analog I/O
4.3.1 Analog inputs
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Input / Output
Figure 2 - AIN0 analog input wiring
4-4 Input / Output
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AIN0
4.3.2 Analog outputs
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Input / Output
Figure 4 - Analog output - Demand0 shown
4-6 Input / Output
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4.4 Digital I/O
4.4.1 Digital inputs
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Input / Output
4.4.1.3 Reset input - !RSTIN
4.4.1.4 Typical digital input wiring
4-8 Input / Output
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Input / Output
Flex+DriveII or MintDriveII
FlexDriveII / equipment output
4.4.2 Digital outputs
4-10 Input / Output
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4.4.2.1 DOUT0 - DOUT7
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Input / Output
4.4.2.2 DOUT8 - DOUT11
Figure 11 - Digital outputs DOUT8-11 - DOUT8 shown
4.4.3 Error output - Error Out
Figure 12 - Error Out level configuration
4.4.3.2 DRIVEENABLEOUTPUT keyword
4.4.3.3 GLOBALERROROUTPUT keyword
4.5 Other I/O
4.5.1 Stepper control outputs
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Input / Output
4.5.2 Encoder inputs
4-14 Input / Output
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e.g. Baldor MicroFlex, FlexDriveII, Flex+DriveII or MintDriveII
4.5.3 USB port
A and B signal
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Input / Output
4.5.5 Using RS232
4.5.4 Serial port
connector
4-16 Input / Output
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Input / Output
Figure 15 - RS232 serial port connections
Serial
4.5.6 Multidrop using RS485 / RS422
Figure 16 - 4-wire RS422 multi-drop connections
4-18 Input / Output
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4.5.7 Connecting serial Baldor HMI Operator Panels
Figure 17 - RS232 cable wiring
Figure 18 - RS485/422 cable wiring
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4.6.1 CAN connector
4.6 CAN
4-20 Input / Output
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4.6.2 CAN wiring
4.6.2.1 Opto-isolation power requirements
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Input / Output
4.6.3 CANopen
4-22 Input / Output
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Figure 19 - Typical CANopen network connections
4.6.4 Baldor CAN
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Input / Output
Figure 20 - Baldor CAN operator panel connections
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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 rate
4-24 Input / Output
4.7 Connection summary - minimum system wiring
Figure 21 - Example minimum system wiring
Enable
Host PC
signal
connector
Table 3 - Connector details for minimum system wiring shown in Figure
4-26 Input / Output
5.1 Introduction
5 Backplanes
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Backplanes
5.2 BPL010-501 non-isolated backplane
Figure 22 - Backplane BPL010-501 connector layout
5-2 Backplanes
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5.2.1 Analog inputs
connector
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Backplanes
5.2.2 Analog outputs demands
connector
5-4 Backplanes
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5.2.3 Digital inputs
5.2.4 Digital inputs
connector
connector
5.2.5 Digital inputs
5.2.6 Digital outputs
connector
connector
5.2.7 Digital outputs
connector
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Backplanes
5.2.8 Stepper axes outputs
connector
5-8 Backplanes
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5.2.9 Stepper axes outputs
connector
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Backplanes
Flex+DriveII or MintDriveII
5-10 Backplanes
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5.2.10 Power inputs
5.2.11 Encoder input
connector
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5.2.12 Encoder input
5.2.13 Serial port
5-12 Backplanes
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Backplanes
5.3 BPL010-502/503 backplane with opto-isolator card
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Figure 27 - Backplane BPL010-502/503 connector layout
5-14 Backplanes
5.3.1 Analog inputs
connector
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Backplanes
5.3.1.1 Error relay connections
5-16 Backplanes
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Figure 29 - Relay connections
5.3.2 Analog outputs demands
connector
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Backplanes
5.3.3 Digital inputs
connector
5-18 Backplanes
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5.3.4 Digital inputs
connector
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Backplanes
5.3.5 Digital inputs
connector
5-20 Backplanes
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Flex+DriveII or MintDriveII
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Backplanes
5-22 Backplanes
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5.3.5.2 BPL010-503 - Active low inputs
Figure 34 - Digital input circuit DIN16 with ‘active low’ inputs
connector
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Backplanes
Flex+DriveII or MintDriveII
5.3.6 Digital outputs
connector
5-24 Backplanes
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Backplanes
5.3.6.1 BPL010-502 - PNP outputs
5.3.6.2 BPL010-503 - NPN outputs
5.3.7 Digital outputs
connector
5-26 Backplanes
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5.3.8 Stepper axes outputs
connector
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Backplanes
5.3.9 Stepper axes outputs
connector
5-28 Backplanes
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Flex+DriveII or MintDriveII
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Backplanes
5.3.10 Power inputs
5.3.11 Encoder input
connector
5-30 Backplanes
5.3.12 Encoder input
5.3.13 Serial port
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Backplanes
5-32 Backplanes
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6.1.1 Connecting the NextMove ES to the PC
6.1.2 Installing WorkBench
6.1 Introduction
6 Operation
6.1.5 Power on checks
6.1.4 Preliminary checks
6.1.5.1 Installing the USB driver
6-2 Operation
6.2 WorkBench
6.2.1 Help file
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Operation
6.2.2 Starting WorkBench
6-4 Operation
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Click Close to continue
Click Scan to search for the NextMove ES
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Operation
6.3 Configuring an axis
6.3.1 Selecting the axis type
6-6 Operation
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Operation
6.3.2 Selecting a scale
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6.3.3 Setting the drive enable output
6-8 Operation
Operation
6.3.4 Testing the drive enable output
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6.4 Stepper axis - testing
6.4.1 Testing the output
6-10 Operation
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6.5 Servo axis - testing and tuning
6.5.1 Testing the demand output
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Operation
6-12 Operation
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TORQUE.4=-5
STOP.4
Operation
6.5.2 An introduction to closed loop control
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In summary, the following rules can be used as a guide
6-14 Operation
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Figure 45 - The NextMove ES servo loop
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Operation
6.6 Servo axis - tuning for current control
6.6.1 Selecting servo loop gains
6-16 Operation
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Note The distance depends on the scale set in section
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Operation
6.6.2 Underdamped response
6-18 Operation
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Figure 46 - Underdamped response
6.6.3 Overdamped response
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Operation
Figure 47 - Overdamped response
6.6.4 Critically damped response
6-20 Operation
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Figure 48 - Critically damped ideal response
Operation
6.7 Servo axis - eliminating steady-state errors
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6.8 Servo axis - tuning for velocity control
6.8.1 Calculating KVELFF
6-22 Operation
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Operation
6-24 Operation
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Figure 49 - Correct value of KVELFF
Demand velocity Measured velocity
Operation
6.8.2 Adjusting KPROP
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Figure 50 - Correct value of KPROP
6-26 Operation
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6.9 Digital input/output configuration
6.9.1 Digital input configuration
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Operation
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6.9.2 Digital output configuration
6-28 Operation
Operation
6.10 Saving setup information
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6.10.1 Loading saved information
6-30 Operation
7 Troubleshooting
7.1.1 Problem diagnosis
7.1.2 SupportMe feature
7.1 Introduction
7.2 NextMove ES indicators
7.2.1 Status display
7-2 Troubleshooting
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7.2.2 Surface mount LEDs D3, D4, D16 and D20
Troubleshooting
7.2.3 Communication
7.2.4 Motor control
7-4 Troubleshooting
Symptom
Troubleshooting
Symptom
Servo outputs only Check that the correct encoder feedback signal
Servo outputs only Check that the encoder feedback signals are
7.2.5 WorkBench
7.2.6 CANopen
7-6 Troubleshooting
Symptom
Troubleshooting
Symptom
experienced a fatal number of Tx and/or Rx errors, greater than the
If a connection attempt using CONNECT fails then it may be because
7.2.7 Baldor CAN
7-8 Troubleshooting
Symptom
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8 Specifications
Input power
Introduction
8.1.1
8.1.4 Digital inputs non-isolated
8.1.5 Digital inputs opto-isolated
8-2 Specifications
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8.1.8 Digital output - error output non-isolated
8.1.6 Digital outputs - general purpose non-isolated
8.1.7 Digital outputs - general purpose opto-isolated
Specifications
8.1.9 Error relay opto-isolated backplanes
8.1.10 Encoder inputs
8.1.11 Stepper control outputs
8.1.12 Serial RS232/RS485 port
8.1.15 Weights and dimensions
8.1.13 CAN interface
8.1.14 Environmental
Specifications
8-6 Specifications
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A.1 Feedback cables
A Appendix A
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Appendix A-1
A-2 Appendix
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Index
Index
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Index
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Index
X6 screw terminal block non-isolated backplane, 5-6 opto-isolated backplanes
Index
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Comments
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Comment
Comments
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Comments
MN1928
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