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Baldor NextMove ESB-2 Installation Manual

Manual is about: multi-axis intelligent motion controller for servo and stepper motors

Summary of NextMove ESB-2

  • Page 1

    Mn1957 nextmove esb-2 servo systems co. • 53 green pond road, suite #2 • rockaway, nj 07866 fax: (973) 335-1661 • www.Servosystems.Com.

  • Page 2

    Mn1957 contents i contents contents 1 general information 2 introduction 2.1 nextmove esb-2 features . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1 2.2 receiving and inspection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-3 2.2.1 identifying the catalog number...

  • Page 3

    Ii contents mn1957 5 operation 5.1 introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-1 5.1.1 connecting the nextmove esb-2 to the pc . . . . . . . . . . . . . . . . . . . . . . . . .5-1 5.1.2 installing mint machine center and mint workbench . . . . ...

  • Page 4

    Mn1957 contents iii 6.2.5 canopen. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-7 6.2.6 baldor can . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-9 7 specifications 7.1 introduction . . ...

  • Page 5

    Iv contents mn1957 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 6

    Mn1957 general information 1-1 general information 1 general information lt0271a03 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 ...

  • Page 7: Safety Notice

    1-2 general information mn1957 www.Baldormotion.Com 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 Esb-2 Features

    Mn1957 introduction 2-1 introduction 2 introduction 2.1 nextmove esb-2 features nextmove esb-2 is a high performance multi-axis intelligent controller for servo and stepper motors. Nextmove esb-2 features the mint motion control language. Mint is a structured form of basic, custom designed for stepp...

  • Page 9

    2-2 introduction mn1957 www.Baldormotion.Com included with nextmove esb-2 is the mint motion toolkit cd. This contains a number of utilities and useful resources to get the most from your mint controller. These include: mint workbench this is the user interface for communicating with the nextmove es...

  • Page 10: Nsb

    Mn1957 introduction 2-3 www.Baldormotion.Com 2.2 receiving and inspection when you receive your nextmove esb-2, there are several things you should do immediately: 1. Check the condition of the shipping container and report any damage immediately to the carrier that delivered your nextmove esb-2. 2....

  • Page 11

    2-4 introduction mn1957 www.Baldormotion.Com 2.3 units and abbreviations the following units and abbreviations are used in this manual: v. . . . . . . . . . . . . . . . Volt (also vac and vdc) w . . . . . . . . . . . . . . . Watt a. . . . . . . . . . . . . . . . Ampere Ω . . . . . . . . . . . . . . ...

  • Page 12: 3.1 Introduction

    Mn1957 basic installation 3-1 basic installation 3 basic installation 3.1 introduction you should read all the sections in basic installation to ensure safe installation. It is important that the correct steps are followed when installing the nextmove esb-2. This section describes the mechanical ins...

  • Page 13

    3-2 basic installation mn1957 www.Baldormotion.Com 3.1.2 mounting the nextmove esb-2 before touching the unit 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 unit. Ensure you have read and...

  • Page 14

    Mn1957 basic installation 3-3 www.Baldormotion.Com 3.1.3 other requirements for installation the components you will need to complete the basic installation are: the nextmove esb-2 requires +24 v power supply capable of supplying 2 a continuously. It is recommended that a separate fused 24 v supply ...

  • Page 15

    3-4 basic installation mn1957 www.Baldormotion.Com 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

    Mn1957 input / output 4-1 input / output 4 input / output 4.1 introduction this section describes the input and output capabilities of the nextmove esb-2. The following conventions will be used to refer to the inputs and outputs: i/o . . . . . . . . . . . . . . Input / output din . . . . . . . . . ....

  • Page 17: 4.1.1 Connector Locations

    4-2 input / output mn1957 www.Baldormotion.Com 4.1.1 connector locations 4 4 1 2 3 4 5 6 7 required mating connectors: sauro ctf10008 sauro ctf12008 sauro ctf02008 9-pin d-type plug (male) 9-pin d-type socket (female) rj45 plug usb type b plug tightening torque for terminal block connections is 0.25...

  • Page 18: 4.2 Analog I/o

    Mn1957 input / output 4-3 www.Baldormotion.Com 4.2 analog i/o the nextmove esb-2 provides: two 12-bit resolution analog inputs. Four 12-bit resolution analog outputs. 4.2.1 analog inputs the analog inputs are available on connector x12, pins 1 & 2 (ain0) and 4 & 5 (ain1). Differential inputs. Voltag...

  • Page 19

    4-4 input / output mn1957 www.Baldormotion.Com figure 3: ain0 analog input wiring figure 4: typical input circuit to provide 0-10 v (approx.) input from a 24 v source ain0+ ain0+ 1 1 x12 x12 2 2 ain0 ain0 ( ) adc.0 ( ) adc.0 differential connection single ended connection 3 3 ain0- gnd +24vdc 1 x12 ...

  • Page 20: 4.2.2 Analog Outputs

    Mn1957 input / output 4-5 www.Baldormotion.Com 4.2.2 analog outputs the four analog outputs are available on connector x13, as shown in section 4.1.1. Four independent bipolar analog outputs. Output range: ±10 vdc (±0.1%). Resolution: 12-bit. Output current: 2.5 ma maximum per output. Update frequen...

  • Page 21

    4-6 input / output mn1957 www.Baldormotion.Com figure 7: analog output - typical connection to baldor flexdrive ii , flex+drive ii , mintdrive ii x13 x1 drive amplifier ±10 vdc demand input 1 1 2 2 3 nextmove esb-2 flexdrive / drive amplifier ii connect overall shield at one end only ain0+ ain0- shi...

  • Page 22: 4.3 Digital I/o

    Mn1957 input / output 4-7 www.Baldormotion.Com 4.3 digital i/o the nextmove esb-2 provides: 20 general purpose digital inputs. 12 general purpose digital outputs. 4.3.1 digital inputs digital inputs are available on connectors x8, x9 and x10, as shown in section 4.1.1. The digital inputs are arrange...

  • Page 23

    4-8 input / output mn1957 www.Baldormotion.Com 4.3.1.2 din4 - din11 digital inputs din4 to din11 have a common specification: opto-isolated digital inputs. Sampling frequency: 1 khz. Digital inputs din4 to din11 use cref1 as their common connection. Figure 9: general purpose digital input - din11 sh...

  • Page 24

    Mn1957 input / output 4-9 www.Baldormotion.Com 4.3.1.4 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

    4-10 input / output mn1957 www.Baldormotion.Com 4.3.1.5 typical digital input wiring figure 12: digital input - typical ‘active high’ input connection using a switch figure 13: digital input - typical ‘active low’ input connection using a switch note: the circuits shown in figures 12 and 13 are not ...

  • Page 26

    Mn1957 input / output 4-11 www.Baldormotion.Com figure 15: digital input - typical connections from a baldor flexdrive ii , flex+drive ii or mintdrive ii nextmove esb-2 flexdrive / equipment output ii din4 usrv+ dout0 user supply 24v user supply gnd x9 x1 8 18 6 9 cref1 nec ps2562l-1 tlp280 servo sy...

  • Page 27: 4.3.2 Digital Outputs

    4-12 input / output mn1957 www.Baldormotion.Com 4.3.2 digital outputs the digital outputs are available on connectors x4 and x11, as shown in section 4.1.1. A digital output can be configured in mint as a general purpose output, a drive enable output or a global error output. Outputs can be shared b...

  • Page 28: 4.4 Other I/o

    Mn1957 input / output 4-13 www.Baldormotion.Com 4.4 other i/o 4.4.1 stepper control outputs - models nsb202... / nsb204... The stepper control outputs are available on connectors x2 and x3, as shown in section 4.1.1. There are four sets of stepper motor control outputs, operating in the range 0 hz t...

  • Page 29

    4-14 input / output mn1957 www.Baldormotion.Com 4.4.2 stepper control outputs - models nsb203... / nsb205... The stepper control outputs are available on connectors x2 and x3, as shown in section 4.1.1. There are four sets of stepper motor control outputs, operating in the range 0 hz to 500 khz. Eac...

  • Page 30: 4.4.3 Encoder Inputs 0-4

    Mn1957 input / output 4-15 www.Baldormotion.Com 4.4.3 encoder inputs 0-4 five incremental encoders may be connected to nextmove esb-2, each with complementary a, b and z channel inputs. Each input channel uses a max3095 differential line receiver with pull up resistors and terminators. Encoders must...

  • Page 31

    4-16 input / output mn1957 www.Baldormotion.Com 4.4.3.1 encoder input frequency the maximum encoder input frequency is affected by the length of the encoder cables. The theoretical maximum frequency is 10 million quadrature counts per second. This is equivalent to a maximum frequency for the a and b...

  • Page 32

    Mn1957 input / output 4-17 www.Baldormotion.Com figure 21: encoder input 0 - typical connection from a drive amplifier (e.G. Baldor flexdrive ii , flex+drive ii or mintdrive ii ) microflex flexdrive encoder output ii flex+drive mintdrive ii ii nextmove esb-2 cha+ chb+ chz+ cha+ chb+ chz+ cha- chb- c...

  • Page 33: 4.4.4 Relay Connections

    4-18 input / output mn1957 www.Baldormotion.Com 4.4.4 relay connections the relay connections are available on connector x12, as shown in section 4.1.1. The relay outputs are isolated from any internal circuits in the nextmove esb-2. In normal operation, while there is no error, the relay is energiz...

  • Page 34: 4.4.6 Serial Port

    Mn1957 input / output 4-19 www.Baldormotion.Com 4.4.6 serial port nextmove esb-2 is available with either an rs232 or rs485 serial port (see section 2.2.1). The port is fully esd protected to iec 1000-4-2 (15 kv). When the nextmove esb-2 is connected to mint workbench, the tools, options menu item c...

  • Page 35

    4-20 input / output mn1957 www.Baldormotion.Com the rs232 port is configured as a dce (data communications equipment) unit so it is possible to operate the controller with any dce or dte (data terminal equipment). Full duplex transmission with hardware handshaking is supported. Only the txd, rxd and...

  • Page 36

    Mn1957 input / output 4-21 www.Baldormotion.Com 4.4.9 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 esb-2 serial connector uses a 9-pin male d-type connector. The nextmove esb-2 may be connected a...

  • Page 37: 4.5 Can

    4-22 input / output mn1957 www.Baldormotion.Com 4.5 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 38: 4.5.2 Can Wiring

    Mn1957 input / output 4-23 www.Baldormotion.Com 4.5.2 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: the two-wire data bus line may be routed parallel, twisted and/or shielded, depending on emc requirement...

  • Page 39: 4.5.3 Canopen

    4-24 input / output mn1957 www.Baldormotion.Com 4.5.3 canopen the nextmove esb-2 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...

  • Page 40

    Mn1957 input / output 4-25 www.Baldormotion.Com figure 27: typical canopen network: 24 v applied using modified cable figure 28: typical canopen network: 24 v applied using opt-cnv001 24v 0v twisted pairs twisted pairs 7 1 1 1 1 2 2 2 2 2 5 5 5 5 6 4 4 4 can+ power supply terminal block baldor hmi o...

  • Page 41: 4.5.4 Baldor Can

    4-26 input / output mn1957 www.Baldormotion.Com 4.5.4 baldor can the nextmove esb-2 must have the baldor can firmware loaded to use this protocol. Baldor can is a proprietary can protocol based on cal. It supports only the following range of baldor can specific i/o nodes and operator panels: inputno...

  • Page 42

    Mn1957 input / output 4-27 www.Baldormotion.Com note: all can related mint keywords are referenced to either canopen or baldor can using the ‘bus’ parameter. Although the nextmove esb-2 has a single physical can bus channel that may be used to carry either protocol, mint distinguishes between the pr...

  • Page 43

    4-28 input / output mn1957 www.Baldormotion.Com 4.6 connection summary - minimum system wiring as a guide, figure 30 shows an example of the typical minimum wiring required to allow the nextmove esb-2 and a single axis drive amplifier to work together. Details of the connector pins are shown in tabl...

  • Page 44

    Mn1957 input / output 4-29 www.Baldormotion.Com nextmove esb-2 connector pin name of signal function connection on amplifier (note: connections may be labeled differently) x1 1 0v control supply ground 2 +24 v control supply +24 v input x5 encoder0 encoder0 feedback input encoder output x12 9 rel no...

  • Page 45

    4-30 input / output mn1957 www.Baldormotion.Com 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 46: 5.1 Introduction

    Mn1957 operation 5-1 operation 5 operation 5.1 introduction before powering the nextmove esb-2 you will need to connect it to the pc using a serial or usb cable and install the supplied pc software mint workbench. This software includes a number of tools to allow you to configure, tune and program t...

  • Page 47: 5.1.4 Preliminary Checks

    5-2 operation mn1957 www.Baldormotion.Com 5.1.4 preliminary checks before you apply power for the first time, it is very important to verify the following: disconnect the load from the motor until instructed to apply a load. Inspect all power connections for accuracy, workmanship and tightness. Veri...

  • Page 48: 5.2 Mint Machine Center

    Mn1957 operation 5-3 www.Baldormotion.Com 5.2 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 esb-2 connected to your pc...

  • Page 49: 5.2.1 Starting Mmc

    5-4 operation mn1957 www.Baldormotion.Com 5.2.1 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 50: 5.3 Mint Workbench

    Mn1957 operation 5-5 www.Baldormotion.Com 5.3 mint workbench mint workbench is a fully featured application for programming and controlling the nextmove esb-2. The main workbench window contains a menu system, the toolbox and other toolbars. Many functions can be accessed from the menu or by clickin...

  • Page 51: 5.3.1 Help File

    5-6 operation mn1957 www.Baldormotion.Com 5.3.1 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 52

    Mn1957 operation 5-7 www.Baldormotion.Com 5.3.2 starting mint workbench note: if you have already used mmc to install firmware and start an instance of mint workbench, go straight to section 5.4 to continue configuration. 1. On the windows start menu, select programs, mint machine center, mint workb...

  • Page 53

    5-8 operation mn1957 www.Baldormotion.Com 3. In the select controller dialog, go to the drop down box near the top and select the pc serial port to which the nextmove esb-2 is connected. (if you are unsure which pc serial port is connected to the nextmove esb-2, select scan all serial ports. During ...

  • Page 54: 5.4 Configuring An Axis

    Mn1957 operation 5-9 www.Baldormotion.Com 5.4 configuring an axis the nextmove esb-2 is capable of controlling 4 servo and 4 stepper axes. This section describes how to configure both types of axis. 5.4.1 selecting the axis type an axis can be configured as either a servo axis or a stepper axis. The...

  • Page 55: 5.4.2 Selecting A Scale

    5-10 operation mn1957 www.Baldormotion.Com 5.4.2 selecting a scale mint defines all positional and speed related motion keywords in terms of encoder quadrature counts (for servo motors). The number of quadrature counts is divided by the scalefactor allowing you to use units more suitable for your ap...

  • Page 56

    Mn1957 operation 5-11 www.Baldormotion.Com 5.4.3 setting the drive enable output the drive enable output allows nextmove esb-2 to disable the drive in the event of an error. Each axis can be configured with its own drive enable output, or can share an output with other axes. If an output is shared, ...

  • Page 57

    5-12 operation mn1957 www.Baldormotion.Com 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 58: 5.5 Stepper Axis - Testing

    Mn1957 operation 5-13 www.Baldormotion.Com 5.5 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. 5.5.1 testing the output this section tests the operation and direction of the output. It is recom...

  • Page 59

    5-14 operation mn1957 www.Baldormotion.Com 5.6 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. 5.6.1 testing the demand output this section test...

  • Page 60

    Mn1957 operation 5-15 www.Baldormotion.Com 5. To repeat the tests for negative (reverse) demands, type: torque(0)=-5 6. 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. ...

  • Page 61

    5-16 operation mn1957 www.Baldormotion.Com 5.6.2 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 5.7.1. When there is a requirement to move an axis, the nextmove esb-2 contr...

  • Page 62

    Mn1957 operation 5-17 www.Baldormotion.Com 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: kprop: increasing kprop will speed up the response and reduce the effect of disturban...

  • Page 63

    5-18 operation mn1957 www.Baldormotion.Com figure 34: the nextmove esb-2 servo loop k v e l ff v elocity feed forward p ro file g enerator kacce l acceleration feed forward k prop p ro p ortional g ain kin t integral g ain kde r iv derivative g ain dac l imi t max cli p dac out p ut + p ower am p s ...

  • Page 64

    Mn1957 operation 5-19 www.Baldormotion.Com 5.7 servo axis - tuning for current control 5.7.1 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 65

    5-20 operation mn1957 www.Baldormotion.Com 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 66: 5.7.2 Underdamped Response

    Mn1957 operation 5-21 www.Baldormotion.Com 5.7.2 underdamped response if the graph shows that the response is underdamped (it overshoots the demand, as shown in figure 35) then the value for kderiv should be increased to add extra damping to the move. If the overshoot is excessive or oscillation has...

  • Page 67: 5.7.3 Overdamped Response

    5-22 operation mn1957 www.Baldormotion.Com 5.7.3 overdamped response if the graph shows that the response is overdamped (it reaches the demand too slowly, as shown in figure 36) then the value for kderiv should be decreased to reduce the damping of the move. If the overdamping is excessive, it may b...

  • Page 68

    Mn1957 operation 5-23 www.Baldormotion.Com 5.7.4 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 37. Figure 37: critically damped (ideal)...

  • Page 69: 5.8.1 Calculating Kvelff

    5-24 operation mn1957 www.Baldormotion.Com 5.8 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 70

    Mn1957 operation 5-25 www.Baldormotion.Com 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 71

    5-26 operation mn1957 www.Baldormotion.Com 9. Using the check boxes below the graph, select the measured velocity and demand velocity traces. Figure 38: correct value of kvelff it may be necessary to make changes to the calculated value of kvelff. If the trace for measured velocity appears above the...

  • Page 72: 5.8.2 Adjusting Kprop

    Mn1957 operation 5-27 www.Baldormotion.Com 5.8.2 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 73

    5-28 operation mn1957 www.Baldormotion.Com figure 39: 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 figu...

  • Page 74

    Mn1957 operation 5-29 www.Baldormotion.Com 5.9 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 75

    5-30 operation mn1957 www.Baldormotion.Com 5.10 digital input/output configuration the digital i/o window can be used to setup other digital inputs and outputs. 5.10.1 digital input configuration the digital inputs tab allows you to define how each digital input will be triggered, and if it should b...

  • Page 76

    Mn1957 operation 5-31 www.Baldormotion.Com 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 esb-2. If required, multiple inputs can be configured before clicking apply. 5.10.2 digital outpu...

  • Page 77

    5-32 operation mn1957 www.Baldormotion.Com 5.11 saving setup information when power is removed from the nextmove esb-2 all data, including configuration and tuning parameters, is lost. You should therefore save this information in a file, which can be loaded when the unit is next used. 1. In the too...

  • Page 78

    Mn1957 operation 5-33 www.Baldormotion.Com 4. On the main menu, choose file, save file. Locate a folder, enter a filename and click save. 5.11.1 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. ...

  • Page 79

    5-34 operation mn1957 www.Baldormotion.Com 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 80: 6.1 Introduction

    Mn1957 troubleshooting 6-1 troubleshooting 6 troubleshooting 6.1 introduction this section explains common problems and their solutions. If you want to know the meaning of the led indicators, see section 6.2. 6.1.1 problem diagnosis if you have followed all the instructions in this manual in sequenc...

  • Page 81: 6.2.1 Status Display

    6-2 troubleshooting mn1957 www.Baldormotion.Com 6.2 nextmove esb-2 indicators 6.2.1 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 symb...

  • Page 82: 6.2.2 Communication

    Mn1957 troubleshooting 6-3 www.Baldormotion.Com when a node number between 1 and 15 is displayed, it is shown in hexadecimal format (1 - f). For node numbers greater than 15, three horizontal bars are displayed. User defined symbols can be made to appear using the keywords led and leddisplay. See th...

  • Page 83: 6.2.3 Motor Control

    6-4 troubleshooting mn1957 www.Baldormotion.Com 6.2.3 motor control if the problem is not listed below please contact baldor technical support. Cannot communicate with the controller after downloading firmware. After firmware download, always power cycle the controller (remove 24 v power and then re...

  • Page 84

    Mn1957 troubleshooting 6-5 www.Baldormotion.Com motor runs 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. (servo outputs only) check that the encoder feedback signal(s) are connected to the correc...

  • Page 85: 6.2.4 Mint Workbench

    6-6 troubleshooting mn1957 www.Baldormotion.Com 6.2.4 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 86: 6.2.5 Canopen

    Mn1957 troubleshooting 6-7 www.Baldormotion.Com 6.2.5 canopen symptom check the canopen bus is ‘passive’ this means that the internal can controller in the nextmove esb-2 is experiencing a number of tx and/or rx errors, greater than the passive threshold of 127. Check: 12-24 v is being applied to pi...

  • Page 87

    6-8 troubleshooting mn1957 www.Baldormotion.Com the manager node cannot scan/recognize a node on the network using the mint nodescan keyword. Assuming that the network is working correctly (see previous symptoms) and the bus is in an ‘operational’ state, check the following: only nodes that conform ...

  • Page 88: 6.2.6 Baldor Can

    Mn1957 troubleshooting 6-9 www.Baldormotion.Com 6.2.6 baldor can symptom check the baldor can bus is ‘passive’ this means that the internal can controller in the nextmove esb-2 is experiencing a number of tx and/or rx errors, greater than the passive threshold of 127. Check: 12-24 v is being applied...

  • Page 89

    6-10 troubleshooting mn1957 www.Baldormotion.Com 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 90: 7.1 Introduction

    Mn1957 specifications 7-1 specifications 7 specifications 7.1 introduction this section provides technical specifications of the nextmove esb-2. 7.1.1 input power 7.1.2 analog inputs 7.1.3 analog outputs description value input power nominal input voltage power consumption 24 vdc (±20%) 50 w (2 a @2...

  • Page 91: 7.1.4 Digital Inputs

    7-2 specifications mn1957 www.Baldormotion.Com 7.1.4 digital inputs 7.1.5 digital outputs - general purpose 7.1.6 relay output description unit value type opto-isolated usr v+ supply voltage nominal minimum maximum vdc 24 12 30 input voltage active inactive vdc > 12v input current maximum per input,...

  • Page 92: 7.1.8 Encoder Inputs

    Mn1957 specifications 7-3 www.Baldormotion.Com 7.1.7 stepper control outputs models nsb202... / nsb204... Models nsb203... / nsb205... 7.1.8 encoder inputs 7.1.9 serial rs232/rs485 port description unit value output type rs422 (differential) step (pulse) and direction maximum output frequency khz 50...

  • Page 93: 7.1.10 Can Interface

    7-4 specifications mn1957 www.Baldormotion.Com 7.1.10 can interface 7.1.11 environmental see also section 3.1.1. 7.1.12 weights and dimensions 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/...

  • Page 94

    Mn1957 specifications 7-5 www.Baldormotion.Com 7.1.13 declaration of conformity manufacturer address the electromagnetic compatibility directive 2004/108/ec : baldor uk ltd. : mint motion centre, 6 bristol distribution park, hawkley drive, bristol, bs32 0bf, united kingdom. Hereby declare that the p...

  • Page 95

    7-6 specifications mn1957 www.Baldormotion.Com 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 96: A.1 Introduction

    Mn1957 accessories a-1 accessories a accessories a.1 introduction a variety of accessories are available to expand the capabilities of the nextmove esb-2. A.1.1 feedback cables the baldor cables listed in table 3 connect the ‘encoder out’ signal from a drive amplifier (for example microflex, flexdri...

  • Page 97: A.1.2 Baldor Can Nodes

    A-2 accessories mn1957 www.Baldormotion.Com a.1.2 baldor can nodes digital i/o can be expanded easily on nextmove esb-2 using the baldor can (can2) connection. This provides a high speed serial bus interface to a range of i/o devices, including: inputnode 8 : 8 opto-isolated digital inputs. Relaynod...

  • Page 98: A.1.3 Hmi Panels

    Mn1957 accessories a-3 www.Baldormotion.Com a.1.3 hmi panels a range of programmable hmi (human machine interface) panels are available with serial or canopen communication. Some have color and/or touchscreen capabilities, and all may be programmed using the dedicated hmi designer software. A.1.4 ba...

  • Page 99

    A-4 accessories mn1957 www.Baldormotion.Com a.1.5 mint nc (cad to motion software) the mint nc software provides machine builders with an extremely rapid and flexible solution for creating contouring and profiling machinery and automation. Mint nc provides a pc-based environment that will import inf...

  • Page 100: B.1 Introduction

    Mn1957 mint keyword summary b-1 mint keyword summary b mint keyword summary b.1 introduction the following table summarizes the mint keywords supported by the nextmove esb-2. Note that due to continuous developments of the nextmove esb-2 and the mint language, this list is subject to significant cha...

  • Page 101

    B-2 mint keyword summary mn1957 www.Baldormotion.Com auxencodermode to make miscellaneous changes to the auxiliary encoders. Auxencoderprescale to scale down the auxiliary encoder input. Auxencoderscale to set or read the scale factor for the auxiliary encoder input. Auxencodervel to read the veloci...

  • Page 102

    Mn1957 mint keyword summary b-3 www.Baldormotion.Com camindex returns the currently executing cam segment number. Camphase allows a cam profile to be shifted forwards or backwards over a fixed number of cam segments. Camphasestatus to get the state of the camphase for a specific axis. Camsegment to ...

  • Page 103

    B-4 mint keyword summary mn1957 www.Baldormotion.Com comparepos to write to the position compare registers. Config to set the configuration of an axis for different control types. Connect to enable a connection between two remote nodes to be made or broken. Connectstatus returns the status of the co...

  • Page 104

    Mn1957 mint keyword summary b-5 www.Baldormotion.Com encoderzlatch to get and reset the state of an axis' encoder z latch. Errordecel to set the deceleration rate on the axis for powered stops, in the event of an error or stop input. Errorinput to set or return the digital input to be used as the er...

  • Page 105

    B-6 mint keyword summary mn1957 www.Baldormotion.Com feedratemode to control the use of slew speed, acceleration, deceleration and feedrate override. Feedrateoverride overrides the current speed or feedrate being used. Feedrateparameter to set the parameters for the current speed or feedrate being u...

  • Page 106

    Mn1957 mint keyword summary b-7 www.Baldormotion.Com homephase to find the phase of the homing sequence currently in progress. Homepos to read the axis position at the completion of the homing sequence. Homespeed to set the speed for the initial seek phase of the homing sequence. Homestatus to set o...

  • Page 107

    B-8 mint keyword summary mn1957 www.Baldormotion.Com inputmode to set or return the sum of a bit pattern describing which of the user digital inputs should be edge or level triggered. Inputnegtrigger to set or return the user inputs that become active on negative edges. Inputpostrigger to set or ret...

  • Page 108

    Mn1957 mint keyword summary b-9 www.Baldormotion.Com limitreverseinput to set the user digital input configured to be the reverse end of travel limit switch input for the specified axis. Looptime to set the servo loop update interval in microseconds. Masterchannel to set or read the channel of the i...

  • Page 109

    B-10 mint keyword summary mn1957 www.Baldormotion.Com nvramdefault clears the contents of non-volatile ram (nvram). Offset to perform a positional offset move. Offsetmode define the mode of operation on the offset keyword. Out to set or read the state of all the outputs on an output bank. Outputacti...

  • Page 110

    Mn1957 mint keyword summary b-11 www.Baldormotion.Com remoteemergency- message returns the error code from the last emergency message received from a particular canopen node. Remoteerror reads the canopen error register information reported within the last emergency message received from a specific ...

  • Page 111

    B-12 mint keyword summary mn1957 www.Baldormotion.Com resetall to perform a reset on all axes. Scalefactor to scale axis encoder counts, or steps, into user defined units. Serialbaud to set the baud rate of the rs232 / rs485/422 port. Softlimitforward to set the forward software limit position on a ...

  • Page 112

    Mn1957 mint keyword summary b-13 www.Baldormotion.Com terminaladdress to set or read the node id for a can node associated with a terminal. Terminaldevice to set or read the device type associated with a given terminal. Terminalmode to set or read handshaking modes for a terminal. Terminalport to se...

  • Page 113

    B-14 mint keyword summary mn1957 www.Baldormotion.Com 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 114

    Mn1957 index index index a abbreviations, 2-4 accessories, a-1 baldor can nodes, a-2 feedback cables, a-1, b-1 hmi (human machine interface) panels, a-3 mint nc cad to motion software, a-4 analog i/o, 4-3 analog inputs, 4-3 analog outputs, 4-5 analog inputs, 4-3 analog outputs, 4-5 auxiliary encoder...

  • Page 115

    Index mn1957 h hardware requirements, 3-3 help file, 5-6 hmi (human machine interface) panels, a-3 i indicators, 6-2 status display, 6-2 input / output, 4-1 analog inputs, 7-1 analog outputs, 4-5, 7-1 can connection, 4-22 connection summary, 4-28 connector locations, 4-2 digital inputs, 4-7, 7-2 dig...

  • Page 116

    Mn1957 index digital inputs, 7-2 digital outputs, 7-2 encoder inputs, 7-3 power, 7-1 relay, 7-2 serial port, 7-3 stepper outputs, 7-3 status display, 6-2 stepper axis control outputs, 4-13, 4-14 t testing servo axis, 5-14 troubleshooting, 6-1 baldor can, 6-9 canopen, 6-7 communication, 6-3 help file...