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Baldor NextMove BX Installation Manual

Summary of NextMove BX

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    Mn1258v4 08/2000 nextmove bx installation manual for mint v4 issue 4.0

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    Nextmove bx installation manual for mint™ v4 ii mn1258v4 08/2000

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    Copyright mn1258v4 08/2000 iii copyright baldor uk ltd © 2000. All rights reserved. This manual is copyrighted and all rights are reserved. This document or attached software may not, in whole or in part, be copied or reproduced in any form without the prior written consent of baldor uk. Baldor opti...

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    Nextmove bx installation manual for mint™ v4 iv mn1258v4 08/2000

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    Copyright mn1258v4 08/2000 v safety notice: only qualified personnel should attempt the start-up procedure or troubleshoot this equipment. This equipment may be connected to other machines that have rotating parts or parts that are controlled by this equipment. Improper use can cause serious or fata...

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    Nextmove bx installation manual for mint™ v4 vi mn1258v4 08/2000 warning: the stop input to this equipment should not be used as the single means of achieving a safety critical stop. Drive disable, motor disconnect, motor brake and other means should be used as appropriate. Only qualified personnel ...

  • Page 7: Manual Revision History

    Manual revision history mn1258v4 08/2000 vii manual revision history issue date bocl reference comments 1.0 may 1998 mn00278-000 first release of installation manual comprising: • nextmove bx overview • getting started guide • cterm for windows user guide • nextmove bx hardware guide 1.01 sept 1998 ...

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    Nextmove bx installation manual for mint™ v4 viii mn1258v4 08/2000

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    Manual revision history mn1258v4 08/2000 ix read me first ............................................................................. 1 1.1 key to symbols used in this manual.........................................................2 product overview ...................................................

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    Nextmove bx installation manual for mint™ v4 x mn1258v4 08/2000 3.11 eeprom ................................................................................................32 3.12 system watchdog ..................................................................................32 3.13 led status dis...

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    Contents mn1258v4 08/2000 xi 6.2 miscellaneous and mechanical specification ..........................................73 6.3 emc & ce marking ..................................................................................74 6.3.1 machinery directive 89/392/eec........................................

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    Nextmove bx installation manual for mint™ v4 xii mn1258v4 08/2000

  • Page 13: 1.  Read Me First

    Read me first mn1258v4 08/2000 1 1. Read me first 1 this chapter provides an overview of the manual and symbols used throughout this document..

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    Nextmove bx installation manual for mint™ v4 2 mn1258v4 08/2000 this manual is intended for use with nextmove bx running mint v4. If mint v3 is being used, then the nextmove bx installation manual mn1258 should be used in preference. The hardware details are common between these manuals but the soft...

  • Page 15: 2. Product Overview

    Hardware features mn1258v4 08/2000 3 2. Product overview 2 a brief overview of nextmove bx and the software tools available on the baldor motion toolkit..

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    Nextmove bx installation manual for mint™ v4 4 mn1258v4 08/2000 nextmove bx is an intelligent servo motion controller which supports up to four servo axes. It is supplied in an metal enclosure for the convenience of those customers who do not wish to install a rack system for a single card. For othe...

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    Hardware features mn1258v4 08/2000 5 nextmove bx features the mint tm v4 motion control language. Mint is a structured form of basic, custom designed for motion control applications, either stepper or servo. It allows users to quickly get up and running with simple motion control programs. In additi...

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    Nextmove bx installation manual for mint™ v4 6 mn1258v4 08/2000

  • Page 19: 3. Hardware Guide

    Hardware features mn1258v4 08/2000 7 3. Hardware guide 3 this chapter describes in detail the hardware interface to the nextmove bx controller..

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    Nextmove bx installation manual for mint™ v4 8 mn1258v4 08/2000 figure 3-1: nextmove bx top panel figure 3-2: nextmove bx hardware.

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    Hardware features mn1258v4 08/2000 9 3.1 operating environment the safe operation of this equipment depends upon its use in the appropriate environment: • at an altitude of ≤ 2000m (6560ft) above sea level • in an ambient temperature of 0°c to 40°c (32°f to 104°f) • in relative humidity levels of 80...

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    Nextmove bx installation manual for mint™ v4 10 mn1258v4 08/2000 figure 3-3: board settings.

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    Hardware features mn1258v4 08/2000 11 3.3 power connection the unit requires 24v dc ±20% at approximately 700ma (max.) for the logic power supply unit. The unit also takes 12-24v dc ±20% at approximately 400ma (max.) for the isolated outputs and 12v to 24v dc or -12v to -24v dc ±20% at approximately...

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    Nextmove bx installation manual for mint™ v4 12 mn1258v4 08/2000 3.3.1 front panel power connection: j8 pin no signal function 1 psu in + power input 24v dc (18-30v) 2 psu in - power input 0v 3 chassis chassis ground for cable screen 4 +5v voltage output for analog circuitry @ 100ma 5 gnd ground 6 +...

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    Hardware features mn1258v4 08/2000 13 3.4 digital i/o there are a total of 16 general purpose digital inputs and 8 general purpose digital outputs. The digital inputs are software configurable for any one of the following functions: • forward limit (end of travel) input on axis of the axes. • revers...

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    Nextmove bx installation manual for mint™ v4 14 mn1258v4 08/2000 connector j1: pin no signal function 1 din 8 digital input bit 8 2 din 9 digital input bit 9 3 din 10 digital input bit 10 4 din 11 digital input bit 11 5 din 12 digital input bit 12 6 din 13 digital input bit 13 7 din 14 digital input...

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    Hardware features mn1258v4 08/2000 15 associated mint keywords are: #inx, inputactivelevel, in, inx, inputmode, inputnegtrigger, inputpostrigger, instate 3.4.2 fast interrupts: j6 pin no signal function 1 fast-int 0 fast interrupt 0 2 chassis chassis ground for cable screen 3 usr-com common referenc...

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    Nextmove bx installation manual for mint™ v4 16 mn1258v4 08/2000 3.4.3 digital outputs: j4 pin no signal function 1 out 0 digital output bit 0 2 out 1 digital output bit 1 3 out 2 digital output bit 2 4 out 3 digital output bit 3 5 out 4 digital output bit 4 6 out 5 digital output bit 5 7 out 6 digi...

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    Hardware features mn1258v4 08/2000 17 usr-v+ current sense output n out-5v out-5v 10k 10k control logic reset and error logic common oneof eight 1nf chasis usr-gnd main board front panel vcc 1k output reset fromcpu 1k output error 1k out-5v usr-gnd usr-gnd figure 3-7: digital output circuit if the d...

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    Nextmove bx installation manual for mint™ v4 18 mn1258v4 08/2000 number of outputs on simultaneously 0 50 100 150 200 250 300 350 0 10 20 30 40 50 60 70 80 90 100 % dtcl 8 7 6 5 4 3 2 figure 3-8: output current power to the output circuit is protected with a 750ma ptc style self re-setting fuse and ...

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    Hardware features mn1258v4 08/2000 19 3.5 analog i/o 3.5.1 analog inputs: j3 pin no signal function 1 ain 0 analog input 0 (differential input 0-) 2 ain 1 analog input 1 (differential input 0+) 3 ain 2 analog input 2 (differential input 1-) 4 ain 3 analog input 3 (differential input 1+) 5 ain 4 anal...

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    Nextmove bx installation manual for mint™ v4 20 mn1258v4 08/2000 nextmove bx uses a data acquisition chip (maxim max180). This device has: • 12 bit resolution with ½ lsb linearity • built in track and hold • a 2us sample window. The chip can operate with either bipolar or unipolar input voltages, th...

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    Hardware features mn1258v4 08/2000 21 the outputs are buffered by op-amps suitable for driving a load resistance of ≥10kΩ, and are brought out on the front panel. When connecting to a drive it is recommended that screened/shielded twisted pair cable is used, with the demand signal twisted with agnd....

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    Nextmove bx installation manual for mint™ v4 22 mn1258v4 08/2000 the encoder must be wired to a 9 pin 'd' male plug, using good quality multi- core/conductor screened/shielded cable, according to the diagram shown in error! Reference source not found.. Although there is a screen/shield pin, the cabl...

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    Hardware features mn1258v4 08/2000 23 frequency max. Length 1.3mhz 2m (6½ ft approx.) 500khz 10m (33ft approx.) 250khz 20m (65½ ft approx.) 100khz 50m (164ft approx.) 50khz 100m (328ft approx.) 20khz 300m (984ft approx.) 10khz 700m (2296ft approx.) 7khz 1000m (3280ft approx.) the input receiver circ...

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    Nextmove bx installation manual for mint™ v4 24 mn1258v4 08/2000 3.7 relay: j5 the relay connections on the connector are shown as the shaded boxes. Pin no signal function 1 err-com relay common contact 2 err-nc relay normally closed contact 3 err-no relay normally open contact 4 err-com relay commo...

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    Hardware features mn1258v4 08/2000 25 the baud rate of both ports is user-configurable with the rs232 capable of 19,200 and the rs485 up to 9,600. Hardware handshaking (rts / cts) is permanently enabled. Both serial ports are brought out on the top of the unit on 9 pin 'd'-type connectors. 3.8.1 rs2...

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    Nextmove bx installation manual for mint™ v4 26 mn1258v4 08/2000 the following table shows the wiring required for a standard pc 25 pin or 9 pin connector: controller pin no. Signal name function wire to: 25 pin wire to: 9 pin 1 scrn cable screen/shield - - 2 rxd receive data 2 3 3 txd transmit data...

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    Hardware features mn1258v4 08/2000 27 figure 3-14: 9 pin connector pin no. Signal function type 1 scrn cable screen/shield input 2 rxd receive data input 3 txd transmit data output 4 not connected 5 gnd signal ground 6 not connected 7 !Txd transmit data complement output 8 !Rxd receive data compleme...

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    Nextmove bx installation manual for mint™ v4 28 mn1258v4 08/2000 hardware disable of the transmitter after the last byte is sent allows high speed half duplex transmission. Figure 3-15: multi-drop system the rxd and txd lines should be terminated with 120 Ω Ω Ω Ω resistors at the receiving end as sh...

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    Hardware features mn1258v4 08/2000 29 figure 3-16: rj45 connector pin numbers pin signal function 1 can1+ can channel 1 negative 2 can1- can channel 1 positive 3 n/c not used 4 gnd ground/earth reference for can signals 5 can-v+ can remote node power v+ 6 n/c not used 7 can2+ can channel 2 positive ...

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    Nextmove bx installation manual for mint™ v4 30 mn1258v4 08/2000 a very low error rate of can communication can only be achieved with a suitable wiring scheme. The following points should be observed: 1. Can must be connected via twisted pair cabling. The connection arrangement is normally a simple ...

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    Hardware features mn1258v4 08/2000 31 communications during reset can controller will have no effect on the can bus. If a reset occurs during the transmission of a message can errors are likely to occur. When the controller goes into a reset state all serial communications will be terminated immedia...

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    Nextmove bx installation manual for mint™ v4 32 mn1258v4 08/2000 3.10.2 charging the battery the charge state of the backup battery will not be known when the unit is first delivered. To fully recharge the battery using the built in trickle charge will take a maximum of approximately 80 hours. 3.11 ...

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    Hardware features mn1258v4 08/2000 33 when updating firmware on the controller, the following sequence will be seen. When update is complete, the boot sequence above should be seen. Display meaning r performing ram test. F erasing flash memory. L updating firmware. The following symbols are error co...

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    Nextmove bx installation manual for mint™ v4 34 mn1258v4 08/2000

  • Page 47: 4.  Operation and Setup

    Getting started mn1258v4 08/2000 35 4. Operation and setup 4 this chapter is step by step guide to setting up a nextmove bx servo control system. Basic familiarity with pc’s and the windows environment is assumed. Introduction to servo systems and tuning. Determining system gains and fine-tuning..

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    Nextmove bx installation manual 36 mn1258v4 08/2000 4.1 communicating with nextmove bx in order to communicate with nextmove bx, a rs232 or rs485 connection must be made to an at style personal computer. The baldor motion toolkit cd supports the following operating systems only: windows 95, windows ...

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    Getting started mn1258v4 08/2000 37 select the nextmove link and then select the ‘nextmove bx’ option. This opens the page that allows the various nextmove bx related applications to be installed. Figure 4-2: baldor motion toolkit – nextmove bx page the mint workbench is the ide and user interface f...

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    Nextmove bx installation manual 38 mn1258v4 08/2000 3. Motor/actuator – translates electrical power from the servo amplifier into rotary or linear movement. The motor is fitted with a position sensor that feeds the output position back to the controller. The controller works by sampling the position...

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    Getting started mn1258v4 08/2000 39 s s s in p u ts 0- 7 inp u ts 8- 1 5 ou tp u ts 0- 7 an al o g in p u ts ax is 0 ax is 1 de m a n d s in te r r u p ts re la y & ca n ax is 2 ax is 3 ma st er po w e r s s s ne xtm o ve servo drive encoder output from drive or motor demand/command demand/command -...

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    Nextmove bx installation manual 40 mn1258v4 08/2000 4.3.2 starting with the mint configuration tool start the mint configuration tool by clicking the icon of the same name which can be found in the ‘mint v4’ program group. Figure 4-4: mint configuration tool start up page select ‘next’ and proceed t...

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    Getting started mn1258v4 08/2000 41 clicking ‘next’ will bring up the ‘axes selection’ page. From here, you can decide which axes you wish to configure in the mint configuration tool. This example assumes a 4 axis nextmove bx. We will configure 1 axis. Figure 4-6: mct axis configuration from the lis...

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    Nextmove bx installation manual 42 mn1258v4 08/2000 mint defines all positional and speed related motion keywords in terms of encoder quadrature counts for servo motors or steps for stepper motors. The scale factor allows the system to be scaled to your own units to suit your application. The diagra...

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    Getting started mn1258v4 08/2000 43 figure 4-10: mct drive enable test the next test checks that the command and direction signals to the drive. A positive command signal should result in a positive encoder change and a negative command signal should result in a negative encoder change. Figure 4-11:...

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    Nextmove bx installation manual 44 mn1258v4 08/2000 if the motor does not move, check the following: • the amplifier is enabled. • there is a voltage output from the command+ output. 4.4.1 tuning a servo drive at the lowest level of control software, instantaneous axis position demands produced by t...

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    Getting started mn1258v4 08/2000 45 time velocity acceleration/deceleration rate accel 0 axis speed during move speed units of measure set by scale ideal trapezoidal velocity profile time velocity 0 typical actual velocity profile overshoot following error (positional lag) underdamped good ideal fig...

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    Nextmove bx installation manual 46 mn1258v4 08/2000 derivative gain: this acts on the rate of change of following error. This term will speed up the response of an axis to the initial change in demand and reduce overshoot. As this term acts on the rate of change of following error when the axis is s...

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    Getting started mn1258v4 08/2000 47 figure 4-13: servo loop block diagram the controller has six terms incorporating proportional, derivative, velocity feedback/feed forward, integral and acceleration feed forward gains. The equation of the loop closure algorithm is as follows: command = kp.E + kd. ...

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    Nextmove bx installation manual 48 mn1258v4 08/2000 daclimitmax determines the maximum value of the demand output as a percentage of the full scale demand. Therefore if daclimitmax = 50, the maximum demand output will be ±5v. Tuning terms can be controlled in mint using the following keywords: keywo...

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    Getting started mn1258v4 08/2000 49 figure 4-15: mct tuning terms are entered in the ‘gain parameters’ area figure 4-16: mct tuning move the 'rules of thumb' presented in the following sections for setting system gains, while adequate to get the system moving, will not provide the optimum response w...

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    Nextmove bx installation manual 50 mn1258v4 08/2000 figure 4-17: mint workbench tuning after initial tuning has been completed, click ‘next’ to proceed to the ‘jog and direction test’ page. This allows a final check of system operation by jogging axis in either direction at selectable speeds, accele...

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    Getting started mn1258v4 08/2000 51 figure 4-18: mct jog test 4.4.3 system gains for current control by empirical method after having confirmed that the encoder and motor are correctly wired, start applying some velocity feedback, kvel . Start with a value of 1 and increase it until you feel some re...

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    Nextmove bx installation manual 52 mn1258v4 08/2000 figure 4-19: mct step move plot if the motor starts to vibrate, increase the velocity feedback gain (damping), kvel , or decrease the proportional gain, kprop . Increase proportional gain, kprop , until the motor shaft becomes stiff. Finally, set t...

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    Getting started mn1258v4 08/2000 53 4.4.4 system gains for velocity control velocity controlled drives incorporate the velocity feedback term in the amplifier which provides system damping and therefore it is usually sufficient to have kvel = kderiv = 0 on the controller. Usually, the value of the p...

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    Nextmove bx installation manual 54 mn1258v4 08/2000 now the number of quadrature counts per loop closure time can be calculated by using the expression: speed in rev per sec * encoder line count * 4 number of loop closures per second the factor of 4 is included since the controller counts every edge...

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    Getting started mn1258v4 08/2000 55 typical values are: kintlimit = 5 kint = 0.1 where kintlimit limits the integral term to 5% of the full dac output range. Kint is usually a factor of 10 less than proportional gain, kprop . With nextmove pci, the integrator can be set to operate in various modes: ...

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    Nextmove bx installation manual 56 mn1258v4 08/2000 for the host pc to communicate with nextmove bx the controller must be running either mint or an embedded application. The controller can only run one application at a time (either mint or an embedded application). For further details on programmin...

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    Getting started mn1258v4 08/2000 57 4.7 mint mint is a structured form of basic which has been custom designed for motion control applications. The mint language has been written to allow users to get started quickly with simple motion programs and also provides a wide range of more powerful command...

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    Nextmove bx installation manual 58 mn1258v4 08/2000 engineering units can be applied to an axis. In a linear table for example, there may be 1000 encoder counts per mm. The keyword scale (or sf for short) can be used to set the new scale factor of the axis: scale = 1000 this enables positions to be ...

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    Getting started mn1258v4 08/2000 59 the configuration editor will syntax highlight all mint keywords as they are typed. The correct syntax for the firmware being used can be uploaded from the controller by selecting the ‘load syntax’ option from the ‘edit’ menu. Figure 4-23: download button in order...

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    Nextmove bx installation manual 60 mn1258v4 08/2000 figure 4-24: mct digital input setup digital outputs each of the digital output channels may be configured to be active high or low. Digital outputs may also be assigned for use as drive enable channels or as a global error output signal. Figure 4-...

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    Getting started mn1258v4 08/2000 61 analog inputs each analog input channel can be configured to read a number of voltage ranges and as single ended or differential inputs. Figure 4-26: mct analog input setup axis params this page allows basic axis parameters to be setup such as speed and accelerati...

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    Nextmove bx installation manual 62 mn1258v4 08/2000 axis errors this page allows the error modes to be set for each error type. When an error occurs, the action specified will occur. Figure 4-28: mct axis errors miscellaneous this page allows the auxiliary encoder parameters to be set and the state ...

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    Getting started mn1258v4 08/2000 63 create config this page allows you to select whether to generate a mint configuration file or c source code suitable for use in an embedded application. Figure 4-30: mct create configuration file 4.7.2 the program file the mint workbench has a built in editor whic...

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    Nextmove bx installation manual 64 mn1258v4 08/2000 figure 4-31: mint workbench - program editor as with the configuration file, in order to execute the program file, it must be downloaded to the controller. Once the program has been downloaded to the controller it can be executed by either typing r...

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    Getting started mn1258v4 08/2000 65 4.8 motion nextmove bx supports a wide range of motion: type of motion description associated mint keywords constant torque constant torque output. Torque constant velocity constant velocity with imposed acceleration and deceleration ramps. Jog homing datum to a k...

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    Nextmove bx installation manual 66 mn1258v4 08/2000

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    Options and accessories mn1258v4 08/2000 67 5. Options and accessories 5 this chapter describes the option and accessories for nextmove bx..

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    Nextmove bx installation manual 68 mn1258v4 08/2000 5.1 nextmove bx nextmove bx is supplied with a software license to control 2,3 or 4 axes. This license cannot be upgraded in the field. Item order code description card type no. Of axes nextmove bx 2 nmx004-501 nextmove bx 3 nmx004-502 nextmove bx ...

  • Page 81

    Options and accessories mn1258v4 08/2000 69 digital i/o can be expanded easily on nextmove bx using the baldor can bus interface. This provides a high speed secure serial bus interface to a range of i/o devices as described: • inputnode 8: 8 opto isolated digital inputs. • outputnode 8: 8 opto isola...

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    Nextmove bx installation manual 70 mn1258v4 08/2000

  • Page 83

    Options and accessories mn1258v4 08/2000 71 6. Specifications and product data 6 this chapter provides a product summary and describes the basis for ce marking and describes how to avoid common emc problems when using nextmove bx..

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    Nextmove bx installation manual 72 mn1258v4 08/2000 6.1 machine control i/o user digital inputs: • 16 input lines. • pnp or npn opto-isolated relative to common. • 12 to 24v ±20% on, 3v max off. • software programmable as limit, home, stop or error inputs for any axis. User digital outputs: • 8 digi...

  • Page 85

    Options and accessories mn1258v4 08/2000 73 6.2 miscellaneous and mechanical specification power input • +24v dc (±20%) @ 700ma. • user power: +12v to 24v ±20% at 850ma. Internal battery • 3.6v 3 cell nickel metal hydride (nimh) with 280mah capacity & 5 year life. • non-volatile ram contents retaine...

  • Page 86

    Nextmove bx installation manual 74 mn1258v4 08/2000 6.3 emc & ce ce ce ce marking 6.3.1 machinery directive 89/392/eec this relates to the safety of machinery. Any machine having a moving part has to comply with the essential requirements of this directive. This also applies to some mechanical sub-s...

  • Page 87

    Troubleshooting guide mn1258v4 08/2000 75 6.4 emc performance of nextmove bx it should be noted that the equipment is suitable for light or heavy industrial use. The text from the full report is appended. Test standard comments generic emissions, light industrial radiated emissions en 55081-1:1992 c...

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    Nextmove bx installation manual 76 mn1258v4 08/2000

  • Page 89: 7. Troubleshooting Guide

    Troubleshooting guide mn1258v4 08/2000 77 7. Troubleshooting guide 7 this chapter covers common problems found when using the nextmove bx controller..

  • Page 90

    Nextmove bx installation manual 78 mn1258v4 08/2000 7.1 trouble shooting guide symptom check cannot detect nextmove bx in the mint workbench of the mint configuration tool. • the nextmove bx must be running a version of mint v4 to be detected. If upgrading from mint v3 firmware then the select ‘cont...

  • Page 91

    Troubleshooting guide mn1258v4 08/2000 79 motor runs off uncontrollably when controller is switched on and servo loop gains are applied or when a move is set in progress. Motor then stops after a short time. • check that encoder 0 and demand 0 are connected to the same axes of motion; repeat for axi...

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    Nextmove bx installation manual 80 mn1258v4 08/2000

  • Page 93: 8. Bibliography

    Bibliography mn1258v4 08/2000 81 8. Bibliography 8 bibliography [1] mint v4 programming guide (mn1262) [2] mint v4 advanced programming guide (mn1270) [3] mint v4 pc programming guide (mn1278) [4] mint v4 embedded programming guide (mn1279) [5] mint v4 function reference guide (mn1280) [6] mint v4 c...

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    Nextmove bx installation manual 82 mn1258v4 08/2000