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Baldor MN1928 installation manual Operation, Correct value of KPROP

Models: MN1928

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Demand position

Measured position

Figure 50 - Correct value of KPROP

The two traces will probably appear with a small offset from each other, which represents the following error. Adjust KPROP by small amounts until the two traces appear on top of each other (approximately), as shown in Figure 50.

Note: It may be useful to use the zoom function to magnify the end point of the move. In the graph area, click and drag a rectangle around the end point of the traces. To zoom out, right-click in the graph area and choose Undo Zoom.

6-26 Operation

MN1928

Page 98

Image 98

Baldor MN1928 installation manual Operation, Correct value of KPROP

Contents

MOTION CONTROL Installation ManualNextMove ES Motion Controller 01/05Page Introduction Basic InstallationGeneral Information Input / Output5 Backplanes 6 Operation7 Troubleshooting SpecificationsAppendices A Appendixiv Contents MN1928General Information 1 General InformationMN1928 Baldor ASR AG1-2 General Information Safety NoticePrecautions MN1928MN1928 2.1 NextMove ES features2 Introduction IntroductionH WorkBench 2-2 IntroductionMN1928 2.2.1 Identifying the catalog number Installed in2.2 Receiving and inspection MN1928MN1928 2.3 Units and abbreviations2-4 Introduction 3.1.1 Location requirements 3 Basic Installation3.1 Introduction Basic Installation3-2 Basic Installation 3.1.2 Installing the NextMove ES card3.1.3 Other requirements for installation Recommended specification4 Input / Output 4.2 96-pin edge connector4.1 Introduction MN19284-2 Input / Output 4.2.1 96-pin connector pin assignmentTable 1 - 96-pin connector pin assignment MN1928MN1928 4.3 Analog I/O4.3.1 Analog inputs Input / OutputMN1928 Figure 2 - AIN0 analog input wiring4-4 Input / Output AIN0Input / Output 4.3.2 Analog outputsMN1928 Figure 4 - Analog output - Demand0 shown4-6 Input / Output MN1928MN1928 4.4 Digital I/O4.4.1 Digital inputs Input / Output4-8 Input / Output 4.4.1.3 Reset input - !RSTIN4.4.1.4 Typical digital input wiring MN1928Flex+DriveII or MintDriveII MN1928Input / Output FlexDriveII / equipment outputMN1928 4.4.2 Digital outputs4-10 Input / Output 4.4.2.1 DOUT0 - DOUT74.4.2.2 DOUT8 - DOUT11 MN1928Input / Output Figure 11 - Digital outputs DOUT8-11 - DOUT8 shown4.4.3.2 DRIVEENABLEOUTPUT keyword 4.4.3 Error output - Error OutFigure 12 - Error Out level configuration 4.4.3.3 GLOBALERROROUTPUT keywordMN1928 4.5 Other I/O4.5.1 Stepper control outputs Input / OutputMN1928 4.5.2 Encoder inputs4-14 Input / Output e.g. Baldor MicroFlex, FlexDriveII, Flex+DriveII or MintDriveIIMN1928 4.5.3 USB portA and B signal Input / Outputconnector 4.5.5 Using RS2324.5.4 Serial port 4-16 Input / OutputFigure 15 - RS232 serial port connections MN1928Input / Output Serial4-18 Input / Output 4.5.6 Multidrop using RS485 / RS422Figure 16 - 4-wire RS422 multi-drop connections MN1928Figure 18 - RS485/422 cable wiring 4.5.7 Connecting serial Baldor HMI Operator PanelsFigure 17 - RS232 cable wiring MN19284-20 Input / Output 4.6.1 CAN connector4.6 CAN MN1928MN1928 4.6.2 CAN wiring4.6.2.1 Opto-isolation power requirements Input / OutputMN1928 4.6.3 CANopen4-22 Input / Output Figure 19 - Typical CANopen network connectionsInput / Output 4.6.4 Baldor CANMN1928 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 Enable 4.7 Connection summary - minimum system wiringFigure 21 - Example minimum system wiring Host PCTable 3 - Connector details for minimum system wiring shown in Figure signalconnector 4-26 Input / OutputMN1928 5.1 Introduction5 Backplanes Backplanes5-2 Backplanes 5.2 BPL010-501 non-isolated backplaneFigure 22 - Backplane BPL010-501 connector layout MN1928MN1928 5.2.1 Analog inputsconnector Backplanes5-4 Backplanes 5.2.2 Analog outputs demandsconnector MN1928connector 5.2.3 Digital inputs5.2.4 Digital inputs connectorconnector 5.2.5 Digital inputs5.2.6 Digital outputs connectorMN1928 5.2.7 Digital outputsconnector Backplanes5-8 Backplanes 5.2.8 Stepper axes outputsconnector MN1928MN1928 5.2.9 Stepper axes outputsconnector BackplanesFlex+DriveII or MintDriveII 5-10 BackplanesMN1928 connector 5.2.10 Power inputs5.2.11 Encoder input MN19285-12 Backplanes 5.2.12 Encoder input5.2.13 Serial port MN1928Backplanes 5.3 BPL010-502/503 backplane with opto-isolator cardMN1928 MN1928 Figure 27 - Backplane BPL010-502/503 connector layout5-14 Backplanes MN1928 5.3.1 Analog inputsconnector BackplanesMN1928 5.3.1.1 Error relay connections5-16 Backplanes Figure 29 - Relay connectionsMN1928 5.3.2 Analog outputs demandsconnector Backplanes5-18 Backplanes 5.3.3 Digital inputsconnector MN1928MN1928 5.3.4 Digital inputsconnector Backplanes5-20 Backplanes 5.3.5 Digital inputsconnector MN1928Flex+DriveII or MintDriveII MN1928Backplanes 5.3.5.2 BPL010-503 - Active low inputs 5-22 BackplanesMN1928 Figure 34 - Digital input circuit DIN16 with ‘active low’ inputsBackplanes connectorMN1928 Flex+DriveII or MintDriveII5-24 Backplanes 5.3.6 Digital outputsconnector MN19285.3.6.1 BPL010-502 - PNP outputs MN1928Backplanes 5.3.6.2 BPL010-503 - NPN outputs5-26 Backplanes 5.3.7 Digital outputsconnector MN1928MN1928 5.3.8 Stepper axes outputsconnector Backplanes5-28 Backplanes 5.3.9 Stepper axes outputsconnector MN1928Flex+DriveII or MintDriveII MN1928Backplanes connector 5.3.10 Power inputs5.3.11 Encoder input 5-30 BackplanesMN1928 5.3.12 Encoder input5.3.13 Serial port Backplanes5-32 Backplanes MN19286.1 Introduction 6.1.1 Connecting the NextMove ES to the PC6.1.2 Installing WorkBench 6 Operation6.1.5.1 Installing the USB driver 6.1.5 Power on checks6.1.4 Preliminary checks 6-2 OperationMN1928 6.2 WorkBench6.2.1 Help file OperationMN1928 6.2.2 Starting WorkBench6-4 Operation Click Close to continueClick Scan to search for the NextMove ES MN1928Operation 6-6 Operation 6.3 Configuring an axis6.3.1 Selecting the axis type 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 6-10 Operation 6.4 Stepper axis - testing6.4.1 Testing the output MN1928MN1928 6.5 Servo axis - testing and tuning6.5.1 Testing the demand output OperationTORQUE.4=-5 6-12 OperationMN1928 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 6-16 Operation 6.6 Servo axis - tuning for current control6.6.1 Selecting servo loop gains MN1928Note The distance depends on the scale set in section MN1928Operation MN1928 6.6.2 Underdamped response6-18 Operation Figure 46 - Underdamped responseOperation 6.6.3 Overdamped responseMN1928 Figure 47 - Overdamped responseMN1928 6.6.4 Critically damped response6-20 Operation Figure 48 - Critically damped ideal responseOperation 6.7 Servo axis - eliminating steady-state errorsMN1928 6-22 Operation 6.8 Servo axis - tuning for velocity control6.8.1 Calculating KVELFF MN1928MN1928 OperationFigure 49 - Correct value of KVELFF 6-24 OperationMN1928 Demand velocity Measured velocityOperation 6.8.2 Adjusting KPROPMN1928 Figure 50 - Correct value of KPROP 6-26 OperationMN1928 MN1928 6.9 Digital input/output configuration6.9.1 Digital input configuration OperationMN1928 6.9.2 Digital output configuration6-28 Operation Operation 6.10 Saving setup informationMN1928 MN1928 6.10.1 Loading saved information6-30 Operation 7.1.2 SupportMe feature 7 Troubleshooting7.1.1 Problem diagnosis 7.1 Introduction7-2 Troubleshooting 7.2 NextMove ES indicators7.2.1 Status display MN1928MN1928 7.2.2 Surface mount LEDs D3, D4, D16 and D20Troubleshooting 7-4 Troubleshooting 7.2.3 Communication7.2.4 Motor control SymptomServo outputs only Check that the correct encoder feedback signal TroubleshootingSymptom Servo outputs only Check that the encoder feedback signals are7-6 Troubleshooting 7.2.5 WorkBench7.2.6 CANopen Symptomexperienced a fatal number of Tx and/or Rx errors, greater than the TroubleshootingSymptom If a connection attempt using CONNECT fails then it may be becauseSymptom 7.2.7 Baldor CAN7-8 Troubleshooting MN1928Introduction 8 SpecificationsInput power 8.1.18-2 Specifications 8.1.4 Digital inputs non-isolated8.1.5 Digital inputs opto-isolated MN19288.1.7 Digital outputs - general purpose opto-isolated 8.1.8 Digital output - error output non-isolated8.1.6 Digital outputs - general purpose non-isolated Specifications8.1.11 Stepper control outputs 8.1.9 Error relay opto-isolated backplanes8.1.10 Encoder inputs 8.1.12 Serial RS232/RS485 port8.1.14 Environmental 8.1.15 Weights and dimensions8.1.13 CAN interface Specifications8-6 Specifications MN1928MN1928 A.1 Feedback cablesA Appendix A Appendix A-1A-2 Appendix MN1928Index IndexMN1928 Index MN1928MN1928 IndexX6 screw terminal block non-isolated backplane, 5-6 opto-isolated backplanes IndexMN1928 Comment CommentsMN1928 CommentsThank you for taking the time to help us CommentsMN1928 Page Europe AustraliaMexico Singapore