Manuals / Baldor / Household Appliance / Home Security System

Baldor MN1928 installation manual Operation, The NextMove ES servo loop

Models: MN1928

1 110

Download 110 pages 20.08 Kb

Page 73

Image 73

Figure 28 - The NextMove ES servo loop

MN1928

Operation 6-15

Page 73

Image 73

Baldor MN1928 installation manual Operation, The NextMove ES servo loop

Contents

NextMove ES Motion Controller Installation ManualMOTION CONTROL 8/03Page Contents 5 Backplanes Specifications 7 Troubleshootingiv Contents A AppendixAppendices MN1928MN1928 1 General InformationGeneral Information Precautions Safety Notice1-2General Information MN19282 Introduction 2.1 NextMove ES featuresMN1928 IntroductionMN1928 2-2Introduction2.2 Receiving and inspection Installed inMN1928 Introduction2-4Introduction 2.3 Units and abbreviationsMN1928 3.1 Introduction 3 Basic InstallationBasic Installation MN1928Minimum specification 3-2Basic InstallationRecommended specification MN19284.1 Introduction 4.2 96-pinedge connector4 Input / Output MN1928Table 1 - 96-pinconnector pin assignment 4.2.1 96-pinconnector pin assignment4-2Input / Output MN19284.3.1Analog inputs 4.3 Analog I/OMN1928 Input / Output4-4Input / Output Figure 2 - AIN0 analog input wiringMN1928 AIN0MN1928 4.3.2 Analog outputsInput / Output Figure 4 - Analog output - Demand0 shown4.4.1Digital inputs 4.4 Digital I/O4-6Input / Output MN19284.4.1.4 Typical digital input wiring 4.4.1.3Reset input - !RSTINMN1928 Input / Output4-8Input / Output 4.4.2 Digital outputsMN1928 4.4.2.1DOUT0 - DOUT7Input / Output MN19284.4.2.2DOUT8 - DOUT11 Figure 9 - Digital outputs DOUT8-11- DOUT8 shown4.4.3.2DRIVEENABLEOUTPUT keyword Table 2 - Error Out level configuration4.4.3.3GLOBALERROROUTPUT keyword 4-10Input / Output4.5.1 Stepper control outputs 4.5 Other I/OMN1928 Input / Output4-12Input / Output A and B signalMN1928 Baldor MicroFlex shownMN1928 connectorInput / Output LocationMN1928 4-14Input / OutputFigure 12 - RS232 serial port connections LocationInput / Output MN1928Location NameMN1928 4-16Input / OutputCable length MaximumFigure 14 - Example minimum system wiring 4.6 Connection summary - minimum system wiringEnable Host PCconnector signal4-18Input / Output MN19285 Backplanes 5.1 IntroductionMN1928 Input / Outputconnector 5.2 BPL010-501 non-isolatedbackplane5-2Input / Output MN1928MN1928 connectorInput / Output Locationconnector connector5-4Input / Output MN1928connector connectorMN1928 Input / Output5-6Input / Output connectorMN1928 LocationMN1928 connectorInput / Output Location5-8Input / Output connectorMN1928 LocationMN1928 connectorInput / Output LocationMN1928 5-10Input / OutputLocation NameInput / Output MN19285-12Input / Output connectorMN1928 LocationMN1928 5.3.1.1Error relay connectionsInput / Output Figure 18 - Relay connections5-14Input / Output connectorMN1928 LocationMN1928 connectorInput / Output Location5-16Input / Output connectorMN1928 LocationMN1928 connectorInput / Output LocationMN1928 5-18Input / Output5.3.5.1BPL010-502- Active high inputs 5.3.5.2BPL010-503- Active low inputsMN1928 connectorInput / Output LocationMN1928 5-20Input / Output5.3.6.1BPL010-502- PNP outputs 5.3.6.2BPL010-503- NPN outputsMN1928 connectorInput / Output Location5-22Input / Output connectorMN1928 LocationMN1928 connectorInput / Output Location5-24Input / Output connectorMN1928 LocationInput / Output MN1928Location NameMN1928 5-26Input / Output6 Operation 6.1 IntroductionMN1928 Operation6.1.5.1Installing the USB driver 6.1.5Power on checks6.1.4 Preliminary checks 6-2Operation6.2.1 Help file 6.2 WorkBenchMN1928 Operation6-4Operation 6.2.2Starting WorkBenchMN1928 Operation MN1928Click Scan to search for the NextMove ES 6.3.1 Selecting a scale 6.3 Configuring an axis6-6Operation MN1928MN1928 6.3.2Setting the drive enable outputOperation MN1928 6-8OperationMN1928 6.3.3Testing the drive enable outputOperation 6.4.1 Testing the output 6.4 Stepper axis - testing6-10Operation MN19286.5.1 Testing the demand output 6.5 Servo axis - testing and tuningMN1928 OperationMN1928 6-12OperationMN1928 6.5.2 An introduction to closed loop controlOperation MN1928 6-14OperationOperation MN1928Figure 28 - The NextMove ES servo loop 6.6.1 Selecting servo loop gains 6.6 Servo axis - tuning for current control6-16Operation MN1928Operation MN19287. Click Go 6-18Operation 6.6.2 Underdamped responseMN1928 Figure 29 - Underdamped responseMN1928 6.6.3 Overdamped responseOperation Figure 30 - Overdamped response6-20Operation 6.6.4 Critically damped responseMN1928 Figure 31 - Critically damped ideal responseMN1928 6.7 Servo axis - eliminating steady-stateerrorsOperation 6.8.1 Calculating KVELFF 6.8 Servo axis - tuning for velocity control6-22Operation MN1928Operation MN1928=10.24 MN1928 6-24OperationFigure 32 - Correct value of KVELFF MN1928 6.8.2 Adjusting KPROPOperation MN1928 6-26OperationFigure 33 - Correct value of KPROP 6.9.1 Digital input configuration 6.9 Digital input/output configurationMN1928 Operation6-28Operation 6.9.2 Digital output configurationMN1928 MN1928 6.10 Saving setup informationOperation 6-30Operation 6.10.1Loading saved informationMN1928 7.1 Introduction 7 TroubleshootingTroubleshooting MN19287-2Troubleshooting 7.2 NextMove ES indicators7.2.1 Status display MN19287.2.2 Surface mount LEDs D3, D4, D16 and D20 TroubleshootingMN1928 Symptom 7-4TroubleshootingSymptom MN1928Symptom TroubleshootingSymptom MN1928MN1928 7-6Troubleshooting8.1 Introduction 8 SpecificationsSpecifications Input powerMN1928 8-2SpecificationsUnit Value8.1.8 Digital output - error output non-isolated Signal 8-4SpecificationsMN1928 UnitOperating temperature range SpecificationsMaximum installation altitude WeightMN1928 8-6SpecificationsA Appendix A A.1 Axis renumberingMN1928 Appendix A-1MN1928 A-2AppendixMN1928 IndexIndex MN1928 IndexIndex MN1928MN1928 IndexMN1928 CommentsComment CommentsMN1928 CommentsThank you for taking the time to help us Page Mexico AustraliaEurope Singapore