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