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Baldor MN1928 Critically damped response, Operation, Critically damped ideal response

Models: MN1928

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6.6.4 Critically damped response

If the graph shows that the response reaches the demand quickly and only overshoots the demand by a small amount, this can be considered an ideal response for most systems. See Figure 48.

Demand position

Measured position

Figure 48 - Critically damped (ideal) response

6-20 Operation

MN1928

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Baldor MN1928 Critically damped response, Operation, Critically damped ideal response, Demand position Measured position

Contents

Installation Manual NextMove ES Motion ControllerMOTION CONTROL 01/05Page Basic Installation General InformationIntroduction Input / Output5 Backplanes 6 Operation7 Troubleshooting SpecificationsA Appendix iv ContentsAppendices MN19281 General Information MN1928General Information Baldor ASR AGSafety Notice Precautions1-2 General Information MN19282.1 NextMove ES features 2 IntroductionMN1928 IntroductionH WorkBench 2-2 IntroductionMN1928 Installed in 2.2 Receiving and inspection2.2.1 Identifying the catalog number MN1928MN1928 2.3 Units and abbreviations2-4 Introduction 3 Basic Installation 3.1 Introduction3.1.1 Location requirements Basic Installation3.1.2 Installing the NextMove ES card 3.1.3 Other requirements for installation3-2 Basic Installation Recommended specification4.2 96-pin edge connector 4.1 Introduction4 Input / Output MN19284.2.1 96-pin connector pin assignment Table 1 - 96-pin connector pin assignment4-2 Input / Output MN19284.3 Analog I/O 4.3.1 Analog inputsMN1928 Input / OutputFigure 2 - AIN0 analog input wiring 4-4 Input / OutputMN1928 AIN04.3.2 Analog outputs MN1928Input / Output Figure 4 - Analog output - Demand0 shown4-6 Input / Output MN19284.4 Digital I/O 4.4.1 Digital inputsMN1928 Input / Output4.4.1.3 Reset input - !RSTIN 4.4.1.4 Typical digital input wiring4-8 Input / Output MN1928MN1928 Input / OutputFlex+DriveII or MintDriveII FlexDriveII / equipment output4.4.2 Digital outputs 4-10 Input / OutputMN1928 4.4.2.1 DOUT0 - DOUT7MN1928 Input / Output4.4.2.2 DOUT8 - DOUT11 Figure 11 - Digital outputs DOUT8-11 - DOUT8 shown4.4.3 Error output - Error Out Figure 12 - Error Out level configuration4.4.3.2 DRIVEENABLEOUTPUT keyword 4.4.3.3 GLOBALERROROUTPUT keyword4.5 Other I/O 4.5.1 Stepper control outputsMN1928 Input / Output4.5.2 Encoder inputs 4-14 Input / OutputMN1928 e.g. Baldor MicroFlex, FlexDriveII, Flex+DriveII or MintDriveII4.5.3 USB port A and B signalMN1928 Input / Output4.5.5 Using RS232 4.5.4 Serial portconnector 4-16 Input / OutputMN1928 Input / OutputFigure 15 - RS232 serial port connections Serial4.5.6 Multidrop using RS485 / RS422 Figure 16 - 4-wire RS422 multi-drop connections4-18 Input / Output MN19284.5.7 Connecting serial Baldor HMI Operator Panels Figure 17 - RS232 cable wiringFigure 18 - RS485/422 cable wiring MN19284.6.1 CAN connector 4.6 CAN4-20 Input / Output MN19284.6.2 CAN wiring 4.6.2.1 Opto-isolation power requirementsMN1928 Input / Output4.6.3 CANopen 4-22 Input / OutputMN1928 Figure 19 - Typical CANopen network connections4.6.4 Baldor CAN MN1928Input / Output Figure 20 - Baldor CAN operator panel connectionsMN1928 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 rate4-24 Input / Output 4.7 Connection summary - minimum system wiring Figure 21 - Example minimum system wiringEnable Host PCsignal connectorTable 3 - Connector details for minimum system wiring shown in Figure 4-26 Input / Output5.1 Introduction 5 BackplanesMN1928 Backplanes5.2 BPL010-501 non-isolated backplane Figure 22 - Backplane BPL010-501 connector layout5-2 Backplanes MN19285.2.1 Analog inputs connectorMN1928 Backplanes5.2.2 Analog outputs demands connector5-4 Backplanes MN19285.2.3 Digital inputs 5.2.4 Digital inputsconnector connector5.2.5 Digital inputs 5.2.6 Digital outputsconnector connector5.2.7 Digital outputs connectorMN1928 Backplanes5.2.8 Stepper axes outputs connector5-8 Backplanes MN19285.2.9 Stepper axes outputs connectorMN1928 BackplanesFlex+DriveII or MintDriveII 5-10 BackplanesMN1928 5.2.10 Power inputs 5.2.11 Encoder inputconnector MN19285.2.12 Encoder input 5.2.13 Serial port5-12 Backplanes MN1928Backplanes 5.3 BPL010-502/503 backplane with opto-isolator cardMN1928 MN1928 Figure 27 - Backplane BPL010-502/503 connector layout5-14 Backplanes 5.3.1 Analog inputs connectorMN1928 Backplanes5.3.1.1 Error relay connections 5-16 BackplanesMN1928 Figure 29 - Relay connections5.3.2 Analog outputs demands connectorMN1928 Backplanes5.3.3 Digital inputs connector5-18 Backplanes MN19285.3.4 Digital inputs connectorMN1928 Backplanes5.3.5 Digital inputs connector5-20 Backplanes MN1928Flex+DriveII or MintDriveII MN1928Backplanes 5-22 Backplanes MN19285.3.5.2 BPL010-503 - Active low inputs Figure 34 - Digital input circuit DIN16 with ‘active low’ inputsconnector MN1928Backplanes Flex+DriveII or MintDriveII5.3.6 Digital outputs connector5-24 Backplanes MN1928MN1928 Backplanes5.3.6.1 BPL010-502 - PNP outputs 5.3.6.2 BPL010-503 - NPN outputs5.3.7 Digital outputs connector5-26 Backplanes MN19285.3.8 Stepper axes outputs connectorMN1928 Backplanes5.3.9 Stepper axes outputs connector5-28 Backplanes MN1928Flex+DriveII or MintDriveII MN1928Backplanes 5.3.10 Power inputs 5.3.11 Encoder inputconnector 5-30 Backplanes5.3.12 Encoder input 5.3.13 Serial portMN1928 Backplanes5-32 Backplanes MN19286.1.1 Connecting the NextMove ES to the PC 6.1.2 Installing WorkBench6.1 Introduction 6 Operation6.1.5 Power on checks 6.1.4 Preliminary checks6.1.5.1 Installing the USB driver 6-2 Operation6.2 WorkBench 6.2.1 Help fileMN1928 Operation6.2.2 Starting WorkBench 6-4 OperationMN1928 Click Close to continueClick Scan to search for the NextMove ES MN1928Operation 6.3 Configuring an axis 6.3.1 Selecting the axis type6-6 Operation MN1928Operation 6.3.2 Selecting a scaleMN1928 MN1928 6.3.3 Setting the drive enable output6-8 Operation Operation 6.3.4 Testing the drive enable outputMN1928 6.4 Stepper axis - testing 6.4.1 Testing the output6-10 Operation MN19286.5 Servo axis - testing and tuning 6.5.1 Testing the demand outputMN1928 Operation6-12 Operation MN1928TORQUE.4=-5 STOP.4Operation 6.5.2 An introduction to closed loop controlMN1928 In summary, the following rules can be used as a guide 6-14 OperationMN1928 Figure 45 - The NextMove ES servo loop MN1928Operation 6.6 Servo axis - tuning for current control 6.6.1 Selecting servo loop gains6-16 Operation MN1928Note The distance depends on the scale set in section MN1928Operation 6.6.2 Underdamped response 6-18 OperationMN1928 Figure 46 - Underdamped response6.6.3 Overdamped response MN1928Operation Figure 47 - Overdamped response6.6.4 Critically damped response 6-20 OperationMN1928 Figure 48 - Critically damped ideal responseOperation 6.7 Servo axis - eliminating steady-state errorsMN1928 6.8 Servo axis - tuning for velocity control 6.8.1 Calculating KVELFF6-22 Operation MN1928MN1928 Operation6-24 Operation MN1928Figure 49 - Correct value of KVELFF Demand velocity Measured velocityOperation 6.8.2 Adjusting KPROPMN1928 Figure 50 - Correct value of KPROP 6-26 OperationMN1928 6.9 Digital input/output configuration 6.9.1 Digital input configurationMN1928 OperationMN1928 6.9.2 Digital output configuration6-28 Operation Operation 6.10 Saving setup informationMN1928 MN1928 6.10.1 Loading saved information6-30 Operation 7 Troubleshooting 7.1.1 Problem diagnosis7.1.2 SupportMe feature 7.1 Introduction7.2 NextMove ES indicators 7.2.1 Status display7-2 Troubleshooting MN1928MN1928 7.2.2 Surface mount LEDs D3, D4, D16 and D20Troubleshooting 7.2.3 Communication 7.2.4 Motor control7-4 Troubleshooting SymptomTroubleshooting SymptomServo outputs only Check that the correct encoder feedback signal Servo outputs only Check that the encoder feedback signals are7.2.5 WorkBench 7.2.6 CANopen7-6 Troubleshooting SymptomTroubleshooting Symptomexperienced a fatal number of Tx and/or Rx errors, greater than the If a connection attempt using CONNECT fails then it may be because7.2.7 Baldor CAN 7-8 TroubleshootingSymptom MN19288 Specifications Input powerIntroduction 8.1.18.1.4 Digital inputs non-isolated 8.1.5 Digital inputs opto-isolated8-2 Specifications MN19288.1.8 Digital output - error output non-isolated 8.1.6 Digital outputs - general purpose non-isolated8.1.7 Digital outputs - general purpose opto-isolated Specifications8.1.9 Error relay opto-isolated backplanes 8.1.10 Encoder inputs8.1.11 Stepper control outputs 8.1.12 Serial RS232/RS485 port8.1.15 Weights and dimensions 8.1.13 CAN interface8.1.14 Environmental Specifications8-6 Specifications MN1928A.1 Feedback cables A Appendix AMN1928 Appendix A-1A-2 Appendix MN1928Index IndexMN1928 Index MN1928MN1928 IndexX6 screw terminal block non-isolated backplane, 5-6 opto-isolated backplanes IndexMN1928 Comments MN1928Comment CommentsThank you for taking the time to help us CommentsMN1928 Page Australia MexicoEurope Singapore