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Baldor NextMove ES Installation Manual

Manual is about: motion controller

Summary of NextMove ES

  • Page 1

    Nextmove es motion controller motion control installation manual 01/10 servo systems co. • 115 main road • p.O. Box53 green pond road, suite #2 • rockaway, nj 07866ree: (800) 922-1103 fax: (973) 335-1661 • www.Servosystems.Com.

  • Page 2

    Contents i mn1928 contents 1 general information 1-1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2 introduction 2-1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2.1 nextmove es features 2-1 . . . . . . . . . . . . . . . . . . . . . . . . . . ....

  • Page 3

    Ii contents mn1928 5 backplanes 5-1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5.1 introduction 5-1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5.2 bpl010-501 non-isolated backplane 5-2 . . . . . . . . . . . . . . . . ....

  • Page 4

    Contents iii mn1928 6.4 configuring an axis 6-9 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.4.1 selecting the axis type 6-9 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.4.2 selecting a scale 6-10 . . . . . . . . . . . . . . . ....

  • Page 5

    Iv contents mn1928 8.1.4 digital inputs (non-isolated) 8-2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8.1.5 digital inputs (opto-isolated) 8-2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8.1.6 digital outputs - general purpose (non-iso...

  • Page 6

    Www.Baldormotion.Com general information 1-1 mn1928 lt0202a04 copyright baldor (c) 2010. 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...

  • Page 7: Safety Notice

    Www.Baldormotion.Com 1-2 general information mn1928 safety notice only qualified personnel should attempt to start-up, program 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 c...

  • Page 8: 2.1 Nextmove Es Features

    Www.Baldormotion.Com introduction 2-1 mn1928 2.1 nextmove es features nextmove es is a high performance multi-axis intelligent controller for servo and stepper motors. Nextmove es features the mint motion control language. Mint is a structured form of basic, custom designed for servo or stepper moti...

  • Page 9

    Www.Baldormotion.Com 2-2 introduction mn1928 included with nextmove es is the baldor motion toolkit cd. This contains a number of utilities and useful resources to get the most from you mint controller. These include: h mint workbench this is the user interface for communicating with the nextmove es...

  • Page 10

    Www.Baldormotion.Com introduction 2-3 mn1928 2.2 receiving and inspection when you receive your nextmove es, there are several things you should do immediately: 1. Check the condition of the packaging and report any damage immediately to the carrier that delivered your nextmove es. 2. Remove the nex...

  • Page 11

    Www.Baldormotion.Com 2-4 introduction mn1928 2.3 units and abbreviations the following units and abbreviations may appear in this manual: v volt (also vac and vdc) . . . . . . . . . . . . . . . W watt . . . . . . . . . . . . . . A ampere . . . . . . . . . . . . . . . Ω ohm . . . . . . . . . . . . . ...

  • Page 12: 3.1 Introduction

    Www.Baldormotion.Com basic installation 3-1 mn1928 3.1 introduction you should read all the sections in basic installation. It is important that the correct steps are followed when installing the nextmove es. This section describes the mechanical installation of the nextmove es. 3.1.1 location requi...

  • Page 13

    Www.Baldormotion.Com 3-2 basic installation mn1928 3.1.2 installing the nextmove es card before touching the card, be sure to discharge static electricity from your body and clothing by touching a grounded metal surface. Alternatively, wear an earth strap while handling the card. The nextmove es is ...

  • Page 14

    Www.Baldormotion.Com basic installation 3-3 mn1928 3.1.4 other requirements for installation h the nextmove es requires +5 v and ±12 v power supplies. The total power requirement (excluding any option cards) is +5 v at 1 a, +12 v at 50 ma and -12 v at 50 ma. If digital outputs are to be used, a supp...

  • Page 15

    Www.Baldormotion.Com 3-4 basic installation mn1928 servo systems co. • 115 main road • p.O. Box 97 • montville, nj, 07045-0097 • (973) 335-1007 • toll free: (800) 922-1103 fax: (973) 335-1661 • www.Servosystems.Com.

  • Page 16: 4.1 Introduction

    Www.Baldormotion.Com input / output 4-1 mn1928 4.1 introduction this section describes the input and output capabilities of the nextmove es. The following conventions will be used to refer to the inputs and outputs: i/o input / output . . . . . . . . . . . . . . Din digital input . . . . . . . . . ....

  • Page 17

    Www.Baldormotion.Com 4-2 input / output mn1928 4.2.1 96-pin connector pin assignment - nes002-501 & nes002-502 row pin c b a 1 +5 vdc +5 vdc +5 vdc 2 +5 vdc +5 vdc +5 vdc 3 dgnd dgnd dgnd 4 dout6 dout7 out com 5 dout3 dout4 dout5 6 dout0 dout1 dout2 7 encoder 1 chb+ encoder 0 cha+ encoder 0 chb+ 8 e...

  • Page 18

    Www.Baldormotion.Com input / output 4-3 mn1928 4.2.2 96-pin connector pin assignment - nes002-503 row pin c b a 1 +5 vdc +5 vdc +5 vdc 2 +5 vdc +5 vdc +5 vdc 3 dgnd dgnd dgnd 4 dout6 dout7 out com 5 dout3 dout4 dout5 6 dout0 dout1 dout2 7 encoder 1 chb+ encoder 0 cha+ encoder 0 chb+ 8 encoder 1 chz+...

  • Page 19: 4.3 Analog I/o

    Www.Baldormotion.Com 4-4 input / output mn1928 4.3 analog i/o the nextmove es provides: h two 12-bit resolution analog inputs. H four 12-bit resolution analog outputs. 4.3.1 analog inputs the analog inputs are available on pins a28 & b28 (ain0) and a27 & c28 (ain1). H differential inputs. H voltage ...

  • Page 20

    Www.Baldormotion.Com input / output 4-5 mn1928 ain0 adc(0) ain0 adc(0) b28 a28 a30 ain0- differential connection single ended connection ain0+ ain0+ gnd b28 a28 a30 figure 2 - ain0 analog input wiring ain0 1 kΩ, 0.25 w potentiometer adc(0) 1.5 kΩ, 0.25 w 0 v +24 vdc b28 a28 a30 figure 3 - typical in...

  • Page 21

    Www.Baldormotion.Com 4-6 input / output mn1928 4.3.2 analog outputs the four analog outputs are available on a range of pins, as shown in section 4.2.1. H four independent analog outputs (model dependent). H output range: ±10 vdc (±0.1%). H resolution: 12-bit. H output current: 10 ma maximum. H upda...

  • Page 22

    Www.Baldormotion.Com input / output 4-7 mn1928 nextmove es demand0 agnd 2 flexdrive ii / drive amplifier ain0+ ain0- connect overall shield at one end only a32 shield drive amplifier ±10 vdc demand input - + c27 a30 1 ‘x1’ figure 6 - analog output - typical connection to a baldor flexdrive ii , flex...

  • Page 23: 4.4 Digital I/o

    Www.Baldormotion.Com 4-8 input / output mn1928 4.4 digital i/o the nextmove es provides: h 20 general purpose digital inputs. H 12 general purpose digital outputs. 4.4.1 digital inputs the digital inputs are available across a range of pins, as shown in section 4.2.1. All digital inputs have a commo...

  • Page 24

    Www.Baldormotion.Com input / output 4-9 mn1928 4.4.1.2 auxiliary encoder inputs - din17 (step), din18 (dir), din19 (z) din17-din19 may also be used as an auxiliary encoder input. Din17 accepts step (pulse) signals and din18 accepts direction signals, allowing an external source to provide the refere...

  • Page 25

    Www.Baldormotion.Com 4-10 input / output mn1928 dgnd din0 gnd mint inx(0) +5v nextmove es 74ahct14 usrv+ dout0 flexdrive ii / equipment output nec ps2562l-1 user supply gnd user supply 24 v ‘x1’ 6 18 c21 a3 figure 9 - digital input - typical connections from a baldor flexdrive ii , flex+drive ii or ...

  • Page 26

    Www.Baldormotion.Com input / output 4-11 mn1928 4.4.2 digital outputs the digital outputs are available across a range of pins, as shown in section 4.2.1. H 12 or 8 general purpose digital outputs (model dependent). H one error output, configurable as a general purpose digital output. H update frequ...

  • Page 27

    Www.Baldormotion.Com 4-12 input / output mn1928 4.4.2.2 dout8 - dout11 outputs dout8 - dout11 are driven by a uln2003 device. The outputs are designed to sink current from an external supply (typically 24 vdc), but have no overcurrent or short circuit protection. When an output is activated, it is g...

  • Page 28

    Www.Baldormotion.Com input / output 4-13 mn1928 4.4.3 error output - error out the error output is available on pin b11. This 100 ma output can be used to stop external equipment in the event of an error. The output level can be controlled using jumpers jp3, jp4 and jp5, which are situated at the to...

  • Page 29: 4.5 Other I/o

    Www.Baldormotion.Com 4-14 input / output mn1928 4.5 other i/o 4.5.1 stepper control outputs the stepper control outputs are available across a range of pins, as shown in section 4.2.1. There are four or six sets of stepper motor control outputs (model dependent), operating in the range 0 hz to 500 k...

  • Page 30

    Www.Baldormotion.Com input / output 4-15 mn1928 4.5.2 encoder inputs the encoder inputs are available on pins a7-a10, b7-b10 and c7-c10. See section 4.2.1. Two incremental encoders may be connected to nextmove es, each with complementary a, b and z channel inputs. Each input channel uses a max3095 d...

  • Page 31

    Www.Baldormotion.Com 4-16 input / output mn1928 a and b signal maximum cable length a and b signal frequency meters feet 1.3 mhz 2 6.56 500 khz 10 32.8 250 khz 20 65.6 100 khz 50 164.0 50 khz 100 328.1 20 khz 300 984.2 10 khz 700 2296.6 7 khz 1000 3280.8 table 3 - effect of cable length on maximum e...

  • Page 32

    Www.Baldormotion.Com input / output 4-17 mn1928 4.5.4 serial port location serial mating connector: 9-pin female d-type pin rs232 name rs485 / rs422 name 96-pin connector 1 shield (nc) a32 2 rxd rx- (input) a20 3 txd tx- (output) a21 4 (nc) (nc) a16* 5 dgnd 0 v dgnd a3 6 (nc) (nc) a17* 7 rts tx+ (ou...

  • Page 33

    Www.Baldormotion.Com 4-18 input / output mn1928 nextmove es (dce) 9--pin computer com port (dce / dte) serial rxd 2 txd 3 gnd 5 2 rxd 3 txd 5 gnd rts 7 cts 8 7 rts 8 cts com connect overall shield to connector backshell. Figure 15 - rs232 serial port connections the rs232 port is configured as a dce...

  • Page 34

    Www.Baldormotion.Com input / output 4-19 mn1928 4.5.6 multidrop using rs485 / rs422 multidrop systems allow one device to act as a ‘network master’, controlling and interacting with the other (slave) devices on the network. The network master can be a controller such as nextmove es, a host applicati...

  • Page 35

    Www.Baldormotion.Com 4-20 input / output mn1928 4.5.7 connecting serial baldor hmi operator panels serial baldor hmi operator panels use a 15-pin male d-type connector (marked plc port), but the nextmove es serial connector uses a 9-pin male d-type connector. The nextmove es may be connected with or...

  • Page 36: 4.6 Can

    Www.Baldormotion.Com input / output 4-21 mn1928 4.6 can the can bus is a serial based network originally developed for automotive applications, but now used for a wide range of industrial applications. It offers low-cost serial communications with very high reliability in an industrial environment; ...

  • Page 37

    Www.Baldormotion.Com 4-22 input / output mn1928 4.6.2 can wiring a very low error bit rate over can can only be achieved with a suitable wiring scheme, so the following points should be observed: h the two-wire data bus line may be routed parallel, twisted and/or shielded, depending on emc requireme...

  • Page 38

    Www.Baldormotion.Com input / output 4-23 mn1928 4.6.3 canopen the nextmove es must have the canopen firmware loaded to use this protocol. Baldor have implemented a canopen protocol in mint (based on the ‘communication profile’ cia ds-301) which supports both direct access to device parameters and ti...

  • Page 39

    Www.Baldormotion.Com 4-24 input / output mn1928 note: all can related mint keywords are referenced to either canopen or baldor can using the ‘bus’ parameter. Although the nextmove es has a single physical can bus channel that may be used to carry either protocol, mint distinguishes between the proto...

  • Page 40

    Www.Baldormotion.Com input / output 4-25 mn1928 jp3 can be used to connect an internal 120 Ω 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. Up to 63 baldor i/o nodes (including no more than 4 operator pane...

  • Page 41

    Www.Baldormotion.Com 4-26 input / output mn1928 4.7 connection summary - minimum system wiring as a guide, figure 21 shows an example of the typical minimum wiring required to allow the nextmove es and a single axis stepper amplifier to work together. The optional opto-isolating backplane card bpl01...

  • Page 42

    Www.Baldormotion.Com input / output 4-27 mn1928 backplane card connector pin name of signal function connection on amplifier (note: connections may be labeled differently) x6 9 usr gnd user power supply gnd enable signal ground x8 9 rel no switched relay contact enable signal input 10 rel com common...

  • Page 43

    Www.Baldormotion.Com 4-28 input / output mn1928 servo systems co. • 115 main road • p.O. Box 97 • montville, nj, 07045-0097 • (973) 335-1007 • toll free: (800) 922-1103 fax: (973) 335-1661 • www.Servosystems.Com.

  • Page 44: 5.1 Introduction

    Www.Baldormotion.Com backplanes 5-1 mn1928 5.1 introduction this section describes the optional backplane cards available for use with the nextmove es. These cards all provide standard wiring connections to the nextmove es, but there are a number of variants available: h baldor part number bpl010-50...

  • Page 45

    Www.Baldormotion.Com 5-2 backplanes mn1928 5.2 bpl010-501 non-isolated backplane this backplane provides direct connection to the nextmove es signals without isolation. The electrical specifications of all signals are therefore the same as described in section 4. In the following sections, the signa...

  • Page 46

    Www.Baldormotion.Com backplanes 5-3 mn1928 x2 x3 x4 x6 x7 x8 x9 x10 x11 x12 x13 x5 s h ield dg nd di n15 di n14 di n13 di n12 di n1 1 di n10 di n9 di n8 s h ield dg nd di n7 di n6 di n5 di n4 di n3 di n2 di n1 di n0 dg nd ou tc om do ut 7 do ut 6 do ut 5 do ut 4 do ut 3 do ut 2 do ut 1 do ut 0 s h i...

  • Page 47

    Www.Baldormotion.Com 5-4 backplanes mn1928 5.2.1 analog inputs location x8 mating connector: weidmüller omnimate bl 3.5/10 pin name description 96-pin connector 10 shield shield connection a32 9 dgnd digital ground a3 8 - (nc) c12 7 error error output b11 6 agnd analog ground a30 5 ain1- analog inpu...

  • Page 48

    Www.Baldormotion.Com backplanes 5-5 mn1928 5.2.2 analog outputs (demands) location x7 mating connector: weidmüller omnimate bl 3.5/12 pin name description 96-pin connector 12 shield shield connection a32 11 agnd analog ground a30 10 demand3 analog output aout3 b22 9 shield shield connection a32 8 ag...

  • Page 49

    Www.Baldormotion.Com 5-6 backplanes mn1928 5.2.3 digital inputs 0-7 location x12 mating connector: weidmüller omnimate bl 3.5/10 pin name description 96-pin connector 10 shield shield connection a32 9 dgnd digital ground a3 8 din7 digital input din7 a19 7 din6 digital input din6 c20 6 din5 digital i...

  • Page 50

    Www.Baldormotion.Com backplanes 5-7 mn1928 5.2.5 digital inputs 16-19 location x6 mating connector: weidmüller omnimate bl 3.5/5 pin name description 96-pin connector 5 dgnd digital ground a3 4 din19 digital input din19 b26 3 din18 digital input din18 c25 2 din17 digital input din17 c24 1 din16 digi...

  • Page 51

    Www.Baldormotion.Com 5-8 backplanes mn1928 5.2.7 digital outputs 8-11 (nes002-501 / nes002-502 only) location x5 mating connector: weidmüller omnimate bl 3.5/5 pin name description 96-pin connector 5 dgnd digital ground a3 4 dout11 digital output dout11 c22 3 dout10 digital output dout10 c16 2 dout9...

  • Page 52

    Www.Baldormotion.Com backplanes 5-9 mn1928 5.2.8 stepper axes outputs 0-1 location x9 mating connector: weidmüller omnimate bl 3.5/12 pin name description 96-pin connector 12 shield shield connection a32 11 dir1+ direction output 1+ b15 10 dir1- direction output 1- 9 step1+ step (pulse) output 1+ b1...

  • Page 53

    Www.Baldormotion.Com 5-10 backplanes mn1928 5.2.9 stepper axes outputs 2-3 location x10 mating connector: weidmüller omnimate bl 3.5/12 pin name description 96-pin connector 12 shield shield connection a32 11 dir3+ direction output 3+ a23 10 dir3- direction output 3- 9 step3+ step (pulse) output 3+ ...

  • Page 54

    Www.Baldormotion.Com backplanes 5-11 mn1928 step2+ dgnd 1 ds26ls31 step2- 3 backplane microflex / drive amplifier dgnd step connect shields at one end only 6 shield ‘x3’ ‘x10’ 10 11 dir2+ ds26ls31 dir2- 5 twisted pairs dir 9 96 pin connector figure 25 - stepper output step2 - typical connection to a...

  • Page 55

    Www.Baldormotion.Com 5-12 backplanes mn1928 5.2.10 stepper axes outputs 4-5 (nes002-503 only) location x5 mating connector: weidmüller omnimate bl 3.5/5 pin name description 96-pin connector 5 dgnd digital ground a3 4 dout11 direction output 5 c22 3 dout10 step (pulse) output 5 c16 2 dout9 direction...

  • Page 56

    Www.Baldormotion.Com backplanes 5-13 mn1928 5.2.12 encoder input 0 location x3 encoder0 mating connector: 9-pin male d-type pin name description 96-pin connector 1 cha+ channel a signal b7 2 chb+ channel b signal a7 3 chz+ index channel signal b8 4 shield shield connection a32 5 dgnd digital ground ...

  • Page 57

    Www.Baldormotion.Com 5-14 backplanes mn1928 5.2.14 serial port location x4 serial mating connector: 9-pin female d-type pin rs232 name rs485/rs422 name 96-pin connector 1 shield (nc) a32 2 rxd rx- (input) a20 3 txd tx- (output) a21 4 (nc) (nc) a16* 5 dgnd digital ground a3 6 (nc) (nc) a17* 7 rts tx+...

  • Page 58

    Www.Baldormotion.Com backplanes 5-15 mn1928 5.3 bpl010-502/503 backplane with opto-isolator card these backplanes are provided with an additional plug in card which provides opto-isolation for many of the nextmove es signals. On bpl010-502, the general purpose digital outputs are pnp (current sourci...

  • Page 59

    Www.Baldormotion.Com 5-16 backplanes mn1928 s h ield us rg nd us rg nd us r v + us r v + !R s tin di n19 di n18 di n17 di n16 x2 x3 x4 x6 x7 x8 x9 x10 x11 x12 x13 x5 s h ield us rg nd di n15 di n14 di n13 di n12 di n1 1 di n10 di n9 di n8 s h ield us rg nd di n7 di n6 di n5 di n4 di n3 di n2 di n1 d...

  • Page 60

    Www.Baldormotion.Com backplanes 5-17 mn1928 5.3.1 analog inputs location x8 mating connector: weidmüller omnimate bl 3.5/10 pin name description nextmove es 96-pin connector 10 rel com common relay contact 9 rel no normally open relay contact 8 rel nc normally closed relay contact 7 rel com common r...

  • Page 61

    Www.Baldormotion.Com 5-18 backplanes mn1928 5.3.1.1 error relay connections the double-pole relay on the opto-isolator card is controlled directly by the error out signal (section 4.4.3), as shown in figure 29. Relay nextmove es rel com rel nc rel no 96 pin connector backplane 7 9 ‘x8’ 8 mint global...

  • Page 62

    Www.Baldormotion.Com backplanes 5-19 mn1928 5.3.2 analog outputs (demands) location x7 mating connector: weidmüller omnimate bl 3.5/12 pin name description nextmove es 96-pin connector 12 shield shield connection a32 11 agnd analog ground a30 10 demand3 analog output aout3 b22 9 shield shield connec...

  • Page 63

    Www.Baldormotion.Com 5-20 backplanes mn1928 5.3.3 digital inputs 0-7 location x12 mating connector: weidmüller omnimate bl 3.5/10 pin name description nextmove es 96-pin connector 10 shield shield connection a32 9 usr gnd customer power supply ground 8 din7 digital input din7 a19 7 din6 digital inpu...

  • Page 64

    Www.Baldormotion.Com backplanes 5-21 mn1928 5.3.4 digital inputs 8-15 location x13 mating connector: weidmüller omnimate bl 3.5/10 pin name description nextmove es 96-pin connector 10 shield shield connection a32 9 usr gnd customer power supply ground 8 din15 digital input din15 b18 7 din14 digital ...

  • Page 65

    Www.Baldormotion.Com 5-22 backplanes mn1928 5.3.5 digital inputs 16-19 location x6 mating connector: weidmüller omnimate bl 3.5/10 pin name description nextmove es 96-pin connector 10 shield shield connection a32 9 usr gnd customer power supply ground 8 usr gnd customer power supply ground 7 usr v+ ...

  • Page 66

    Www.Baldormotion.Com backplanes 5-23 mn1928 status+ status- microflex / equipment output nec ps2562l-1 backplane & opto-isolator card 96 pin connector 2k2 tlp521-4 din16 user supply 24 v user supply gnd usr gnd ‘x3’ ‘x6’ 3 2 1 8 figure 32 - digital input - typical connections from a baldor microflex...

  • Page 67

    Www.Baldormotion.Com 5-24 backplanes mn1928 5.3.5.2 bpl010-503 - active low inputs the user power supply connection usr v+ is common to all inputs. To activate an input it must be grounded to the 0 v side of the user power supply (usr gnd). The internal pull-up resistor on the nextmove es allows the...

  • Page 68

    Www.Baldormotion.Com backplanes 5-25 mn1928 usrv+ dout0 flexdrive ii / equipment output nec ps2562l-1 backplane & opto-isolator card 96 pin connector 2k2 tlp521-4 usr v+ din16 user supply 24 v user supply gnd ‘x1’ ‘x6’ 6 18 6 1 figure 36 - digital input - typical connections from a baldor flexdrive ...

  • Page 69

    Www.Baldormotion.Com 5-26 backplanes mn1928 5.3.6 digital outputs 0-7 location x11 mating connector: weidmüller omnimate bl 3.5/10 pin name description nextmove es 96-pin connector 10 usr com common supply connection* a3 9 out com common* a4 8 dout7 digital output dout7 b4 7 dout6 digital output dou...

  • Page 70

    Www.Baldormotion.Com backplanes 5-27 mn1928 5.3.6.1 bpl010-502 - pnp outputs an external supply (typically 24 vdc) is used to power the udn2982 output devices, as shown in figure 37. When an output is activated, current is sourced from the user supply through the udn2982, which can source up to 75 m...

  • Page 71

    Www.Baldormotion.Com 5-28 backplanes mn1928 5.3.7 digital outputs 8-11 (nes002-501 / nes002-502 only) location x5 mating connector: weidmüller omnimate bl 3.5/5 pin name description nextmove es 96-pin connector 5 dgnd digital ground a3 4 dout11 digital output dout11 c22 3 dout10 digital output dout1...

  • Page 72

    Www.Baldormotion.Com backplanes 5-29 mn1928 5.3.8 stepper axes outputs 0-1 location x9 mating connector: weidmüller omnimate bl 3.5/12 pin name description nextmove es 96-pin connector 12 shield shield connection a32 11 dir1+ direction output 1+ b15 10 dir1- direction output 1- 9 step1+ step (pulse)...

  • Page 73

    Www.Baldormotion.Com 5-30 backplanes mn1928 5.3.9 stepper axes outputs 2-3 location x10 mating connector: weidmüller omnimate bl 3.5/12 pin name description nextmove es 96-pin connector 12 shield shield connection a32 11 dir3+ direction output 3+ a23 10 dir3- direction output 3- 9 step3+ step (pulse...

  • Page 74

    Www.Baldormotion.Com backplanes 5-31 mn1928 step2+ dgnd 1 ds26ls31 step2- 3 backplane microflex / drive amplifier dgnd step connect shields at one end only 6 shield ‘x3’ ‘x10’ 10 11 dir2+ ds26ls31 dir2- 5 twisted pairs dir 9 96 pin connector figure 42 - stepper output step2 - typical connection to a...

  • Page 75

    Www.Baldormotion.Com 5-32 backplanes mn1928 5.3.10 stepper axes outputs 4-5 (nes002-503 only) location x5 mating connector: weidmüller omnimate bl 3.5/5 pin name description nextmove es 96-pin connector 5 dgnd digital ground a3 4 dout11 direction output 5 c22 3 dout10 step (pulse) output 5 c16 2 dou...

  • Page 76

    Www.Baldormotion.Com backplanes 5-33 mn1928 5.3.11 power inputs location x1 mating connector: weidmüller omnimate bl 3.5/5 pin name description nextmove es 96-pin connector 5 dgnd digital ground a3 4 dgnd digital ground a3 3 +5v +5 v input a1 2 -12v -12 v input a31 1 +12v +12 v input a29 see section...

  • Page 77

    Www.Baldormotion.Com 5-34 backplanes mn1928 5.3.13 encoder input 1 location x2 encoder1 mating connector: 9-pin male d-type pin name description nextmove es 96-pin connector 1 cha+ channel a signal a8 2 chb+ channel b signal c7 3 chz+ index channel signal c8 4 shield shield connection a32 5 gnd digi...

  • Page 78: 6.1 Introduction

    Www.Baldormotion.Com operation 6-1 mn1928 6.1 introduction the software provided includes a number of applications and utilities to allow you to configure, tune and program the nextmove es. The baldor motion toolkit cd containing the software can be found separately within the packaging. 6.1.1 conne...

  • Page 79

    Www.Baldormotion.Com 6-2 operation mn1928 6.1.4 preliminary checks before you apply power for the first time, it is very important to verify the following: h disconnect the load from the motor until instructed to apply a load. H inspect all power connections for accuracy, workmanship and tightness. ...

  • Page 80: 6.2 Mint Machine Center

    Www.Baldormotion.Com operation 6-3 mn1928 6.2 mint machine center the mint machine center (mmc) is used to view the network of connected controllers in a system. Individual controllers and drives are configured using mint workbench. Note: if you have only a single nextmove es connected to your pc, t...

  • Page 81

    Www.Baldormotion.Com 6-4 operation mn1928 6.2.1 starting mmc 1. On the windows start menu, select programs, mint machine center, mint machine center. 2. In the controller pane, ensure that host is selected. In the information pane, click scan. 3. When the search is complete, click once on ‘nextmove ...

  • Page 82: 6.3 Mint Workbench

    Www.Baldormotion.Com operation 6-5 mn1928 6.3 mint workbench mint workbench is a fully featured application for commissioning the nextmove es. The main mint workbench window contains a menu system, the toolbox and other toolbars. Many functions can be accessed from the menu or by clicking a button -...

  • Page 83

    Www.Baldormotion.Com 6-6 operation mn1928 6.3.1 help file mint workbench includes a comprehensive help file that contains information about every mint keyword, how to use mint workbench and background information on motion control topics. The help file can be displayed at any time by pressing f1. On...

  • Page 84

    Www.Baldormotion.Com operation 6-7 mn1928 6.3.2 starting mint workbench note: if you have already used mmc to install firmware and start an instance of mint workbench, go straight to section 6.4 to continue configuration. 1. On the windows start menu, select programs, mint machine center, mint workb...

  • Page 85

    Www.Baldormotion.Com 6-8 operation mn1928 3. In the select controller dialog, go to the drop down box near the top and select do not scan serial ports. Click scan to search for the nextmove es. When the search is complete, click ‘nextmove es’ in the list to select it, then click select. Note: if the...

  • Page 86: 6.4 Configuring An Axis

    Www.Baldormotion.Com operation 6-9 mn1928 6.4 configuring an axis the nextmove es is capable of controlling 4 stepper and 2 servo axes. This section describes how to configure both types of axis. 6.4.1 selecting the axis type an axis can be configured as either a servo axis or a stepper axis. The fa...

  • Page 87

    Www.Baldormotion.Com 6-10 operation mn1928 6.4.2 selecting a scale mint defines all positional and speed related motion keywords in terms of encoder quadrature counts (for servo motors) or steps for stepper motors. The number of quadrature counts (or steps) is divided by the scalefactor allowing you...

  • Page 88

    Www.Baldormotion.Com operation 6-11 mn1928 6.4.3 setting the drive enable output a drive enable output allows nextmove es to enable the external drive amplifier to allow motion, or disable it in the event of an error. Each axis can be configured with its own drive enable output, or can share an outp...

  • Page 89

    Www.Baldormotion.Com 6-12 operation mn1928 if you are going to use a digital output, drag the bright blue out icon to the grey drive enable op axis icon on the right of the screen. To configure multiple axes with the same drive enable output, repeat this step for the other axes. 5. Click apply at th...

  • Page 90

    Www.Baldormotion.Com operation 6-13 mn1928 6.5 servo axis - testing and tuning this section describes the method for testing and tuning a servo axis. The drive amplifier must already have been tuned for basic current or velocity control of the motor. 6.5.1 testing the demand output this section test...

  • Page 91

    Www.Baldormotion.Com 6-14 operation mn1928 5. To repeat the tests for negative (reverse) demands, type: torque(4)=-5 this should cause a demand of -5% of maximum output (-0.5 v) to be produced at the demand0 output. Correspondingly, the spy window’s velocity display should show a negative value. 6. ...

  • Page 92

    Www.Baldormotion.Com operation 6-15 mn1928 6.5.2 an introduction to closed loop control this section describes the basic principles of closed loop control. If you are familiar with closed loop control go straight to section 6.6.1. When there is a requirement to move an axis, the nextmove es control ...

  • Page 93

    Www.Baldormotion.Com 6-16 operation mn1928 the remaining gain terms are velocity feed forward (kvelff) and acceleration feed forward (kaccel) described below. In summary, the following rules can be used as a guide: h kprop: increasing kprop will speed up the response and reduce the effect of disturb...

  • Page 94

    Www.Baldormotion.Com operation 6-17 mn1928 figure 48 - the nextmove es servo loop servo systems co. • 115 main road • p.O. Box 97 • montville, nj, 07045-0097 • (973) 335-1007 • toll free: (800) 922-1103 fax: (973) 335-1661 • www.Servosystems.Com.

  • Page 95

    Www.Baldormotion.Com 6-18 operation mn1928 6.6 servo axis - tuning for current control 6.6.1 selecting servo loop gains all servo loop parameters default to zero, meaning that the demand output will be zero at power up. Most drive amplifiers can be set to current (torque) control mode or velocity co...

  • Page 96

    Www.Baldormotion.Com operation 6-19 mn1928 3. Click in the kprop box and enter a value that is approximately one quarter of the value of kderiv. If the motor begins to vibrate, decrease the value of kprop or increase the value of kderiv until the vibration stops. Small changes may be all that is nec...

  • Page 97

    Www.Baldormotion.Com 6-20 operation mn1928 6.6.2 underdamped response if the graph shows that the response is underdamped (it overshoots the demand, as shown in figure 49) then the value for kderiv should be increased to add extra damping to the move. If the overshoot is excessive or oscillation has...

  • Page 98

    Www.Baldormotion.Com operation 6-21 mn1928 6.6.3 overdamped response if the graph shows that the response is overdamped (it reaches the demand too slowly, as shown in figure 50) then the value for kderiv should be decreased to reduce the damping of the move. If the overdamping is excessive, it may b...

  • Page 99

    Www.Baldormotion.Com 6-22 operation mn1928 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 51. Measured position demand position fi...

  • Page 100

    Www.Baldormotion.Com operation 6-23 mn1928 6.7 servo axis - eliminating steady-state errors in systems where precise positioning accuracy is required, it is often necessary to position within one encoder count. Proportional gain, kprop, is not normally able to achieve this because a very small follo...

  • Page 101

    Www.Baldormotion.Com 6-24 operation mn1928 6.8 servo axis - tuning for velocity control drive amplifiers designed for velocity control incorporate their own velocity feedback term to provide system damping. For this reason, kderiv (and kvel) can often be set to zero. Correct setting of the velocity ...

  • Page 102

    Www.Baldormotion.Com operation 6-25 mn1928 the analog demand output is controlled by a 12-bit dac, which can create output voltages in the range -10 v to +10 v. This means a maximum output of +10 v corresponds to a dac value of 2048. The value of kvelff is calculated by dividing 2048 by the number o...

  • Page 103

    Www.Baldormotion.Com 6-26 operation mn1928 9. Using the check boxes below the graph, select the measured velocity and demand velocity traces. Measured velocity demand velocity figure 52 - correct value of kvelff it may be necessary to make changes to the calculated value of kvelff. If the trace for ...

  • Page 104

    Www.Baldormotion.Com operation 6-27 mn1928 6.8.2 adjusting kprop the kprop term can be used to reduce following error. Its value will usually be much smaller than the value used for an equivalent current controlled system. A fractional value, for example 0.1, will probably be a good starting figure ...

  • Page 105

    Www.Baldormotion.Com 6-28 operation mn1928 measured position demand position figure 53 - 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 othe...

  • Page 106

    Www.Baldormotion.Com operation 6-29 mn1928 6.9 stepper axis - testing this section describes the method for testing a stepper axis. The stepper control is an open loop system so no tuning is necessary. 6.9.1 testing the output this section tests the operation and direction of the output. It is recom...

  • Page 107

    Www.Baldormotion.Com 6-30 operation mn1928 6.10 digital input/output configuration the digital i/o window can be used to setup other digital inputs and outputs. 6.10.1 digital input configuration the digital inputs tab allows you to define how each digital input will be triggered, and if it should b...

  • Page 108

    Www.Baldormotion.Com operation 6-31 mn1928 4. Now drag the in1 icon onto the fwd limit icon . This will setup in1 as the forward limit input of axis 0. 5. Click apply to send the changes to the nextmove es. Note: if required, multiple inputs can be configured before clicking apply. 6.10.2 digital ou...

  • Page 109

    Www.Baldormotion.Com 6-32 operation mn1928 6.11 saving setup information when power is removed from the nextmove es all data, including configuration and tuning parameters, is lost. You should therefore save this information in a file, which can be loaded when the card is next used. 1. In the toolbo...

  • Page 110

    Www.Baldormotion.Com operation 6-33 mn1928 4. On the main menu, choose file, save file. Locate a folder, enter a filename and click save. 6.11.1 loading saved information 1. In the toolbox, click the edit & debug icon. 2. On the main menu, choose file, open file... Locate the file and click open. A ...

  • Page 111

    Www.Baldormotion.Com 6-34 operation mn1928 servo systems co. • 115 main road • p.O. Box 97 • montville, nj, 07045-0097 • (973) 335-1007 • toll free: (800) 922-1103 fax: (973) 335-1661 • www.Servosystems.Com.

  • Page 112: 7.1 Introduction

    Www.Baldormotion.Com troubleshooting 7-1 mn1928 7.1 introduction this section explains common problems and their solutions. If you want to know the meaning of the led indicators, see section 7.2. 7.1.1 problem diagnosis if you have followed all the instructions in this manual in sequence, you should...

  • Page 113

    Www.Baldormotion.Com 7-2 troubleshooting mn1928 7.2 nextmove es indicators 7.2.1 status display the status led normally displays the unit’s node number. To display information about a specific axis, use the led keyword (see the mint help file). When a specific axis is selected, the following symbols...

  • Page 114

    Www.Baldormotion.Com troubleshooting 7-3 mn1928 offset move. The axis is performing an offset move. Positional move. The axis is performing a linear move. See the movea and mover keywords. Stop. A stop command has been issued or the stop input is active. Axis disabled. The axis/drive must be enabled...

  • Page 115

    Www.Baldormotion.Com 7-4 troubleshooting mn1928 7.2.3 communication if the problem is not listed below please contact baldor technical support. Symptom check cannot detect nextmove es check that the nextmove es is powered. For serial connections, check that the serial cable is wired correctly and pr...

  • Page 116

    Www.Baldormotion.Com troubleshooting 7-5 mn1928 symptom check motor runs uncontrollably when controller is switched on. Verify that the backplane (if used) and drive are correctly grounded to a common ground point. (servo outputs only) check that the correct encoder feedback signal is connected to t...

  • Page 117

    Www.Baldormotion.Com 7-6 troubleshooting mn1928 7.2.5 mint workbench symptom check the spy window does not update the system refresh has been disabled. Go to the tools, options menu item, select the system tab and then choose a system refresh rate (500 ms is recommended). Firmware download fails con...

  • Page 118

    Www.Baldormotion.Com troubleshooting 7-7 mn1928 symptom check the canopen bus is ‘off’ this means that the internal can controller in the nextmove es has experienced a fatal number of tx and/or rx errors, greater than the off threshold of 255. At this point the node will have switched itself to a st...

  • Page 119

    Www.Baldormotion.Com 7-8 troubleshooting mn1928 7.2.7 baldor can symptom check the baldor can bus is ‘passive’ this means that the internal can controller in the nextmove es is experiencing a number of tx and/or rx errors, greater than the passive threshold of 127. Check: h 12-24 v is being applied ...

  • Page 120: 8.1 Introduction

    Www.Baldormotion.Com specifications 8-1 mn1928 8.1 introduction this section provides technical specifications of the nextmove es card. Separate specifications for the optional opto-isolating backplanes are shown where necessary. 8.1.1 input power description value input power +5 v (±2.5%), 1 a +12 ...

  • Page 121

    Www.Baldormotion.Com 8-2 specifications mn1928 8.1.4 digital inputs (non-isolated) this specification is for the nextmove es card when used separately or in conjunction with the optional non-isolating backplane bpl010-501: description unit value type +5 v inputs, non-isolated input voltage maximum m...

  • Page 122

    Www.Baldormotion.Com specifications 8-3 mn1928 8.1.6 digital outputs - general purpose (non-isolated) this specification is for the nextmove es card when used separately or in conjunction with the optional non-isolating backplane bpl010-501: description unit value load supply voltage (maximum) v 50 ...

  • Page 123

    Www.Baldormotion.Com 8-4 specifications mn1928 8.1.9 error relay (opto-isolated backplanes) this specification is for the optional opto-isolating backplanes bpl010-502 or bpl010-503, when used in conjunction with the nextmove es card. See sections 4.4.3 and 5.3.1.1. All models unit all models contac...

  • Page 124

    Www.Baldormotion.Com specifications 8-5 mn1928 8.1.13 can interface description unit value signal 2-wire, isolated channels 1 protocols canopen or baldor can (selected by choice of firmware) bit rates canopen baldor can kbit/s 10, 20, 50, 100, 125, 250, 500, 1000 10, 20, 50, 125, 250, 500, 1000 8.1....

  • Page 125

    Www.Baldormotion.Com 8-6 specifications mn1928 servo systems co. • 115 main road • p.O. Box 97 • montville, nj, 07045-0097 • (973) 335-1007 • toll free: (800) 922-1103 fax: (973) 335-1661 • www.Servosystems.Com.

  • Page 126: A.1 Feedback Cables

    Www.Baldormotion.Com appendix a-1 mn1928 a.1 feedback cables the baldor cables listed in table 5 connect the ‘encoder out’ signal from a drive amplifier (for example microflex, flexdrive ii , flex+drive ii or mintdrive ii ) to the ‘encoder in’ connector on the nextmove es backplane. One cable is req...

  • Page 127

    Www.Baldormotion.Com a-2 appendix mn1928 servo systems co. • 115 main road • p.O. Box 97 • montville, nj, 07045-0097 • (973) 335-1007 • toll free: (800) 922-1103 fax: (973) 335-1661 • www.Servosystems.Com.

  • Page 128

    Index mn1928 a abbreviations, 2-4 analog i/o, 4-4 analog inputs, 4-4 analog outputs, 4-6 auxiliary encoder inputs, 4-9 b backplanes see also non-isolated backplane; opto-iso- lated backplanes bpl010-501 non-isolated, 5-2 bpl010-502/503 opto-isolated, 5-15 catalog numbers, 5-1 introduction, 5-1 basic...

  • Page 129

    Index mn1928 f features, 2-1 feedback, 4-15, 5-13, 5-33, 8-4 cables, a-1 h hardware requirements, 3-3 help file, 6-6 i indicators, 7-2 status display, 7-2 surface mount leds, 7-3 input / output, 4-1 96-pin edge connector, 4-1 analog inputs, 4-4, 8-1 analog outputs, 4-6, 8-1 can connection, 4-21 conn...

  • Page 130

    Index mn1928 x12 screw terminal block, 5-20 x13 screw terminal block, 5-21 active-high inputs, 5-22 active-low inputs, 5-24 npn outputs, 5-27 pnp outputs, 5-27 relay connections, 5-18 overdamped response, 6-21 p power sources, 3-3, 8-1 precautions, 1-2 r receiving and inspection, 2-3 relay driveenab...

  • Page 131

    Index mn1928 x2 encoder1 d-type connector non-isolated backplane, 5-13 opto-isolated backplanes, 5-34 x3 encoder0 d-type connector non-isolated backplane, 5-13 opto-isolated backplanes, 5-33 x4 serial connector non-isolated backplane, 5-14 opto-isolated backplanes, 5-34 x5 screw terminal block non-i...