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