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Baldor MN1928 installation manual NextMove ES features, Introduction

Models: MN1928

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2 Introduction 2

2.1 NextMove ES features

NextMove ES is a high performance multi-axis intelligent controller for servo and stepper motors.

NextMove ES features the MintMT motion control language. MintMT is a structured form of Basic, custom designed for servo or stepper motion control applications. It allows you to get started very quickly with simple motion control programs. In addition, MintMT includes a wide range of powerful commands for complex applications.

Standard features include:

HControl of 4 stepper and 2 servo axes.

HPoint to point moves, software cams and gearing.

H20 general purpose digital inputs, software configurable as level or edge triggered.

H12 general purpose digital outputs and 1 error output.

H2 differential analog inputs with 12-bit resolution.

H2 single-ended analog outputs with 12-bit resolution.

HUSB serial port.

HRS232 or RS485 serial port (model dependent).

HCANopen or proprietary Baldor CAN protocol for communication with MintMT controllers and other third party devices.

HProgrammable in MintMT.

MN1928

Introduction 2-1

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Baldor MN1928 installation manual NextMove ES features, Introduction

Contents

NextMove ES Motion Controller Installation ManualMOTION CONTROL 01/05Page General Information Basic InstallationIntroduction Input / Output6 Operation 5 BackplanesSpecifications 7 Troubleshootingiv Contents A AppendixAppendices MN1928MN1928 1 General InformationGeneral Information Baldor ASR AGPrecautions Safety Notice1-2 General Information MN19282 Introduction 2.1 NextMove ES featuresMN1928 Introduction2-2 Introduction MN1928H WorkBench 2.2 Receiving and inspection Installed in2.2.1 Identifying the catalog number MN19282.3 Units and abbreviations 2-4 IntroductionMN1928 3.1 Introduction 3 Basic Installation3.1.1 Location requirements Basic Installation3.1.3 Other requirements for installation 3.1.2 Installing the NextMove ES card3-2 Basic Installation Recommended specification4.1 Introduction 4.2 96-pin edge connector4 Input / Output MN1928Table 1 - 96-pin connector pin assignment 4.2.1 96-pin connector pin assignment4-2 Input / Output MN19284.3.1 Analog inputs 4.3 Analog I/OMN1928 Input / Output4-4 Input / Output Figure 2 - AIN0 analog input wiringMN1928 AIN0MN1928 4.3.2 Analog outputsInput / Output Figure 4 - Analog output - Demand0 shownMN1928 4-6 Input / Output4.4.1 Digital inputs 4.4 Digital I/OMN1928 Input / Output4.4.1.4 Typical digital input wiring 4.4.1.3 Reset input - !RSTIN4-8 Input / Output MN1928Input / Output MN1928Flex+DriveII or MintDriveII FlexDriveII / equipment output4-10 Input / Output 4.4.2 Digital outputsMN1928 4.4.2.1 DOUT0 - DOUT7Input / Output MN19284.4.2.2 DOUT8 - DOUT11 Figure 11 - Digital outputs DOUT8-11 - DOUT8 shownFigure 12 - Error Out level configuration 4.4.3 Error output - Error Out4.4.3.2 DRIVEENABLEOUTPUT keyword 4.4.3.3 GLOBALERROROUTPUT keyword4.5.1 Stepper control outputs 4.5 Other I/OMN1928 Input / Output4-14 Input / Output 4.5.2 Encoder inputsMN1928 e.g. Baldor MicroFlex, FlexDriveII, Flex+DriveII or MintDriveIIA and B signal 4.5.3 USB portMN1928 Input / Output4.5.4 Serial port 4.5.5 Using RS232connector 4-16 Input / OutputInput / Output MN1928Figure 15 - RS232 serial port connections SerialFigure 16 - 4-wire RS422 multi-drop connections 4.5.6 Multidrop using RS485 / RS4224-18 Input / Output MN1928Figure 17 - RS232 cable wiring 4.5.7 Connecting serial Baldor HMI Operator PanelsFigure 18 - RS485/422 cable wiring MN19284.6 CAN 4.6.1 CAN connector4-20 Input / Output MN19284.6.2.1 Opto-isolation power requirements 4.6.2 CAN wiringMN1928 Input / Output4-22 Input / Output 4.6.3 CANopenMN1928 Figure 19 - Typical CANopen network connectionsMN1928 4.6.4 Baldor CANInput / Output Figure 20 - Baldor CAN operator panel connectionschannel 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 Figure 21 - Example minimum system wiring 4.7 Connection summary - minimum system wiringEnable Host PCconnector signalTable 3 - Connector details for minimum system wiring shown in Figure 4-26 Input / Output5 Backplanes 5.1 IntroductionMN1928 BackplanesFigure 22 - Backplane BPL010-501 connector layout 5.2 BPL010-501 non-isolated backplane5-2 Backplanes MN1928connector 5.2.1 Analog inputsMN1928 Backplanesconnector 5.2.2 Analog outputs demands5-4 Backplanes MN19285.2.4 Digital inputs 5.2.3 Digital inputsconnector connector5.2.6 Digital outputs 5.2.5 Digital inputsconnector connectorconnector 5.2.7 Digital outputsMN1928 Backplanesconnector 5.2.8 Stepper axes outputs5-8 Backplanes MN1928connector 5.2.9 Stepper axes outputsMN1928 Backplanes5-10 Backplanes MN1928Flex+DriveII or MintDriveII 5.2.11 Encoder input 5.2.10 Power inputsconnector MN19285.2.13 Serial port 5.2.12 Encoder input5-12 Backplanes MN19285.3 BPL010-502/503 backplane with opto-isolator card MN1928Backplanes Figure 27 - Backplane BPL010-502/503 connector layout 5-14 BackplanesMN1928 connector 5.3.1 Analog inputsMN1928 Backplanes5-16 Backplanes 5.3.1.1 Error relay connectionsMN1928 Figure 29 - Relay connectionsconnector 5.3.2 Analog outputs demandsMN1928 Backplanesconnector 5.3.3 Digital inputs5-18 Backplanes MN1928connector 5.3.4 Digital inputsMN1928 Backplanesconnector 5.3.5 Digital inputs5-20 Backplanes MN1928MN1928 BackplanesFlex+DriveII or MintDriveII MN1928 5-22 Backplanes5.3.5.2 BPL010-503 - Active low inputs Figure 34 - Digital input circuit DIN16 with ‘active low’ inputsMN1928 connectorBackplanes Flex+DriveII or MintDriveIIconnector 5.3.6 Digital outputs5-24 Backplanes MN1928Backplanes MN19285.3.6.1 BPL010-502 - PNP outputs 5.3.6.2 BPL010-503 - NPN outputsconnector 5.3.7 Digital outputs5-26 Backplanes MN1928connector 5.3.8 Stepper axes outputsMN1928 Backplanesconnector 5.3.9 Stepper axes outputs5-28 Backplanes MN1928MN1928 BackplanesFlex+DriveII or MintDriveII 5.3.11 Encoder input 5.3.10 Power inputsconnector 5-30 Backplanes5.3.13 Serial port 5.3.12 Encoder inputMN1928 BackplanesMN1928 5-32 Backplanes6.1.2 Installing WorkBench 6.1.1 Connecting the NextMove ES to the PC6.1 Introduction 6 Operation6.1.4 Preliminary checks 6.1.5 Power on checks6.1.5.1 Installing the USB driver 6-2 Operation6.2.1 Help file 6.2 WorkBenchMN1928 Operation6-4 Operation 6.2.2 Starting WorkBenchMN1928 Click Close to continueMN1928 OperationClick Scan to search for the NextMove ES 6.3.1 Selecting the axis type 6.3 Configuring an axis6-6 Operation MN19286.3.2 Selecting a scale MN1928Operation 6.3.3 Setting the drive enable output 6-8 OperationMN1928 6.3.4 Testing the drive enable output MN1928Operation 6.4.1 Testing the output 6.4 Stepper axis - testing6-10 Operation MN19286.5.1 Testing the demand output 6.5 Servo axis - testing and tuningMN1928 OperationMN1928 6-12 OperationTORQUE.4=-5 STOP.46.5.2 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 6.6.1 Selecting servo loop gains 6.6 Servo axis - tuning for current control6-16 Operation MN1928MN1928 OperationNote The distance depends on the scale set in section 6-18 Operation 6.6.2 Underdamped responseMN1928 Figure 46 - Underdamped responseMN1928 6.6.3 Overdamped responseOperation Figure 47 - Overdamped response6-20 Operation 6.6.4 Critically damped responseMN1928 Figure 48 - Critically damped ideal response6.7 Servo axis - eliminating steady-state errors MN1928Operation 6.8.1 Calculating KVELFF 6.8 Servo axis - tuning for velocity control6-22 Operation MN1928Operation MN1928MN1928 6-24 OperationFigure 49 - Correct value of KVELFF Demand velocity Measured velocity6.8.2 Adjusting KPROP MN1928Operation 6-26 Operation MN1928Figure 50 - Correct value of KPROP 6.9.1 Digital input configuration 6.9 Digital input/output configurationMN1928 Operation6.9.2 Digital output configuration 6-28 OperationMN1928 6.10 Saving setup information MN1928Operation 6.10.1 Loading saved information 6-30 OperationMN1928 7.1.1 Problem diagnosis 7 Troubleshooting7.1.2 SupportMe feature 7.1 Introduction7.2.1 Status display 7.2 NextMove ES indicators7-2 Troubleshooting MN19287.2.2 Surface mount LEDs D3, D4, D16 and D20 TroubleshootingMN1928 7.2.4 Motor control 7.2.3 Communication7-4 Troubleshooting SymptomSymptom TroubleshootingServo outputs only Check that the correct encoder feedback signal Servo outputs only Check that the encoder feedback signals are7.2.6 CANopen 7.2.5 WorkBench7-6 Troubleshooting SymptomSymptom Troubleshootingexperienced a fatal number of Tx and/or Rx errors, greater than the If a connection attempt using CONNECT fails then it may be because7-8 Troubleshooting 7.2.7 Baldor CANSymptom MN1928Input power 8 SpecificationsIntroduction 8.1.18.1.5 Digital inputs opto-isolated 8.1.4 Digital inputs non-isolated8-2 Specifications MN19288.1.6 Digital outputs - general purpose non-isolated 8.1.8 Digital output - error output non-isolated8.1.7 Digital outputs - general purpose opto-isolated Specifications8.1.10 Encoder inputs 8.1.9 Error relay opto-isolated backplanes8.1.11 Stepper control outputs 8.1.12 Serial RS232/RS485 port8.1.13 CAN interface 8.1.15 Weights and dimensions8.1.14 Environmental SpecificationsMN1928 8-6 SpecificationsA Appendix A A.1 Feedback cablesMN1928 Appendix A-1MN1928 A-2 AppendixIndex MN1928Index MN1928 IndexIndex MN1928Index MN1928X6 screw terminal block non-isolated backplane, 5-6 opto-isolated backplanes MN1928 CommentsComment CommentsComments MN1928Thank you for taking the time to help us Page Mexico AustraliaEurope Singapore