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Baldor MN1928 installation manual Operation, The NextMove ES servo loop

Models: MN1928

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Figure 45 - The NextMove ES servo loop

MN1928

Operation 6-15

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Baldor MN1928 installation manual Operation, The NextMove ES servo loop

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 MN19282-2 Introduction MN1928H WorkBench MN1928 Installed in2.2 Receiving and inspection 2.2.1 Identifying the catalog number2.3 Units and abbreviations 2-4 IntroductionMN1928 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 / Outputchannel 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 / OutputMN1928 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 MN19285-10 Backplanes MN1928Flex+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 Backplanes5.3 BPL010-502/503 backplane with opto-isolator card MN1928Backplanes Figure 27 - Backplane BPL010-502/503 connector layout 5-14 BackplanesMN1928 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 BackplanesMN1928 BackplanesFlex+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 BackplanesMN1928 BackplanesFlex+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 MN1928MN1928 OperationClick Scan to search for the NextMove ES MN1928 6.3 Configuring an axis6.3.1 Selecting the axis type 6-6 Operation6.3.2 Selecting a scale MN1928Operation 6.3.3 Setting the drive enable output 6-8 OperationMN1928 6.3.4 Testing the drive enable output MN1928Operation 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=-56.5.2 An introduction to closed loop control MN1928Operation 6-14 Operation MN1928In summary, the following rules can be used as a guide MN1928 OperationFigure 45 - The NextMove ES servo loop MN1928 6.6 Servo axis - tuning for current control6.6.1 Selecting servo loop gains 6-16 OperationMN1928 OperationNote 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 MN19286.7 Servo axis - eliminating steady-state errors MN1928Operation 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 KVELFF6.8.2 Adjusting KPROP MN1928Operation 6-26 Operation MN1928Figure 50 - Correct value of KPROP Operation 6.9 Digital input/output configuration6.9.1 Digital input configuration MN19286.9.2 Digital output configuration 6-28 OperationMN1928 6.10 Saving setup information MN1928Operation 6.10.1 Loading saved information 6-30 OperationMN1928 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 Troubleshooting7.2.2 Surface mount LEDs D3, D4, D16 and D20 TroubleshootingMN1928 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 AppendixIndex MN1928Index MN1928 IndexIndex MN1928Index MN1928X6 screw terminal block non-isolated backplane, 5-6 opto-isolated backplanes Comments CommentsMN1928 CommentComments MN1928Thank you for taking the time to help us Page Singapore AustraliaMexico Europe