MOTION CONTROL
NextMove BXII
Motion Controller
Installation Manual
9/02
MN1904
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Contents
1
2
General Information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-1
Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1
2.1 NextMove BXII features . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1
2.2 Receiving and inspection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-2
2.2.1 Identifying the catalog number . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2-2
2.3 Units and abbreviations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-3
3
4
Basic Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-1
3.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-1
3.1.1 Power sources . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.1.2 PC Hardware requirements . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.1.3 Tools and miscellaneous hardware . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.1.4 Other information needed for installation . . . . . . . . . . . . . . . . . . . . . . . . . . .
3-1
3-1
3-2
3-2
3.2 Mechanical installation and location requirements . . . . . . . . . . . 3-3
II
3.2.1 Mounting the NextMove BX . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3-4
Input / Output . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-1
4.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-1
4.2 Connector locations - top panel . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-1
4.3 Connector locations - front panel . . . . . . . . . . . . . . . . . . . . . . . . . . 4-2
4.4 Power connections . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-3
4.4.1 Power - X8 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4-3
4.5 Analog I/O . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-4
4.5.1 Analog inputs - X3 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.5.2 Analog outputs (Demands) - X7 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4-4
4-6
4.6 Digital I/O . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-7
4.6.1 Digital inputs - X1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.6.2 Digital inputs - X2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4-8
4-9
4.6.3 Digital inputs (Interrupts) - X6 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-10
4.6.4 Digital outputs - X4 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-11
4.7 Other I/O . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-12
4.7.1 Encoder interfaces - X9, X10, X11, X12, X13 . . . . . . . . . . . . . . . . . . . . . . . 4-12
4.7.2 Encoder input frequency . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-13
4.7.3 Relay and user power - X5 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-14
4.7.4 RS232 - X15 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-15
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4.7.5 Connecting Baldor HMI Operator Panels . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-17
4.7.6 RS422 / RS485 - X14 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-18
4.7.7 CAN connectors - X16 & X17 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-20
4.7.8 CANopen . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-21
4.7.9 Baldor CAN . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-21
4.8 Reset states . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-22
4.8.1 System watchdog . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-22
4.9 Connection summary - minimum system wiring . . . . . . . . . . . . . 4-23
5
Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-1
5.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-1
II
5.1.1 Connecting the NextMove BX to the PC . . . . . . . . . . . . . . . . . . . . . . . . . .
5.1.2 Installing the software . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5-1
5-1
5-1
5-1
5-2
II
5.1.3 Starting the NextMove BX . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.1.4 Preliminary checks . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.1.5 Power on checks . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.2 WorkBench v5 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-3
5.2.1 Help file . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.2.2 Starting WorkBench v5 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5-3
5-4
5.3 Configuring an axis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-6
5.3.1 Selecting a scale . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.3.2 Setting the drive enable output . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.3.3 Testing the drive enable output . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5-6
5-7
5-8
5.4 Testing and tuning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-9
5.4.1 Testing the drive command output . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5-9
5.5 An introduction to closed loop control . . . . . . . . . . . . . . . . . . . . . . 5-11
5.6 Tuning an axis for current control . . . . . . . . . . . . . . . . . . . . . . . . . 5-14
5.6.1 Selecting servo loop gains . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-14
5.6.2 Underdamped response . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-16
5.6.3 Overdamped response . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-17
5.6.4 Critically damped response . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-18
5.7 Eliminating steady-state errors . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-19
5.8 Tuning an axis for velocity control . . . . . . . . . . . . . . . . . . . . . . . . . 5-20
5.8.1 Calculating KVELFF . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-20
5.8.2 Adjusting KPROP . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-23
5.9 Digital input/output configuration . . . . . . . . . . . . . . . . . . . . . . . . . . 5-25
5.9.1 Digital input configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-25
5.9.2 Digital output configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-26
5.10 Saving setup information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-27
5.11 Loading saved information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-28
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6
7
Troubleshooting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-1
6.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-1
6.1.1 Problem diagnosis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.1.2 SupportMet feature . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6-1
6-1
6.2 NextMove BXII indicators . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-2
6.2.1 Status display . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.2.2 Motor control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.2.3 Communication . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.2.4 Axis LED is red or Status LED shows a flashing symbol . . . . . . . . . . . . . .
6-2
6-4
6-5
6-5
Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-1
7.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-1
7.1.1 Input power . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
7.1.2 Analog inputs (X3) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
7.1.3 Analog outputs (Demands - X7) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
7.1.4 Digital inputs (X1 & X2) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
7.1.5 Digital inputs (Interrupts) (X6) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
7.1.6 Digital outputs (X4) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
7.1.7 Relay output (X5) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
7.1.8 Encoder interfaces (X9 - X13) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
7.1.9 CAN interfaces (X16 & X17) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
7.1.10 Environmental . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
7.1.11 Weights and dimensions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
7-1
7-1
7-2
7-2
7-2
7-3
7-3
7-3
7-3
7-4
7-4
Appendices
A Accessories . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-1
A.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-1
A.1.1 Baldor CAN nodes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
A.1.2 Encoder Splitter/Buffer board . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
A-1
A-2
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MN1904
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1 General Information
1
LT0158A01 Copyright Baldor (c) 2002. 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.
BALDOR makes no representations or warranties with respect to the contents hereof and specifically dis-
claims any implied warranties of fitness for any particular purpose. The information in this document is
subject to change without notice. BALDOR assumes no responsibility for any errors that may appear in
this document.
Mintt is a registered trademark of Baldor.
Windows 95, Windows 98, Windows ME, Windows NT, Windows 2000 and Windows XP are registered
trademarks of the Microsoft Corporation.
UL and cUL are registered trademarks of Underwriters Laboratories.
Limited Warranty:
For a period of two (2) years from the date of original purchase, BALDOR will repair or replace without
charge controls and accessories which our examination proves to be defective in material or workman-
ship. This warranty is valid if the unit has not been tampered with by unauthorized persons, misused,
abused, or improperly installed and has been used in accordance with the instructions and/or ratings sup-
plied. This warranty is in lieu of any other warranty or guarantee expressed or implied. BALDOR shall
not be held responsible for any expense (including installation and removal), inconvenience, or conse-
quential damage, including injury to any person or property caused by items of our manufacture or sale.
(Some countries and U.S. states do not allow exclusion or limitation of incidental or consequential dam-
ages, so the above exclusion may not apply.) In any event, BALDOR’s total liability, under all circum-
stances, shall not exceed the full purchase price of the control. Claims for purchase price refunds, repairs,
or replacements must be referred to BALDOR with all pertinent data as to the defect, the date purchased,
the task performed by the control, and the problem encountered. No liability is assumed for expendable
items such as fuses. Goods may be returned only with written notification including a BALDOR Return
Authorization Number and any return shipments must be prepaid.
Baldor UK Ltd
Baldor ASR GmbH
Mint Motion Centre
6 Bristol Distribution Park
Hawkley Drive
Telephone:
Fax:
+49 (0) 89 90508-0
+49 (0) 89 90508-492
Bristol, BS32 0BF
Baldor ASR AG
Telephone:
Fax:
Telephone:
Fax:
+44 (0) 1454 850000
+44 (0) 1454 850001
+41 (0) 52 647 4700
+41 (0) 52 659 2394
Email:
Web site:
Australian Baldor Pty Ltd
Telephone:
Fax:
+61 2 9674 5455
+61 2 9674 2495
Baldor Electric Company
Telephone:
Fax:
Email:
+1 479 646 4711
Baldor Electric (F.E.) Pte Ltd
+1 479 648 5792
Telephone:
Fax:
+65 744 2572
+65 747 1708
Web site:
Baldor Italia S.R.L
Telephone:
Fax:
+39 (0) 11 56 24 440
+39 (0) 11 56 25 660
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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 fatal injury. Only qualified personnel
should attempt to start-up, program or troubleshoot this equipment.
Precautions
WARNING: Be sure that you are completely familiar with the safe operation and programming
of 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 fatal injury. Only qualified personnel should attempt to program,
start-up or troubleshoot this equipment.
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 should
attempt to program, start-up or troubleshoot this equipment.
WARNING: Improper operation or programming may cause violent motion of the motor shaft
and driven equipment. Be certain that unexpected motor shaft movement will not
cause injury to personnel or damage to equipment. Peak torque of several times
the rated motor torque can occur during control failure.
WARNING: When operating a motor with no load coupled to its shaft, remove the shaft key to
prevent it flying out when the shaft rotates.
CAUTION: The safe integration of this equipment into a machine system is the responsibility
of the machine designer. Be sure to comply with the local safety requirements at
the place where the machine is to be used. In Europe these are the Machinery
Directive, the ElectroMagnetic Compatibility Directive and the Low Voltage
Directive. In the United States this is the National Electrical code and local codes.
CAUTION: To prevent equipment damage, be certain that the input power has correctly sized
protective devices installed.
CAUTION: To prevent equipment damage, be certain that input and output signals are
powered and referenced correctly.
CAUTION: To ensure reliable performance of this equipment be certain that all signals to/from
II
the NextMove BX are shielded correctly.
CAUTION: Avoid locating this equipment immediately above or beside heat generating
equipment, or directly below water or steam pipes.
CAUTION: Avoid locating this equipment in the vicinity of corrosive substances or vapors,
metal particles and dust.
1-2 General Information
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2 Introduction
2
II
2.1 NextMove BX features
II
NextMove BX is a high speed multi-axis intelligent motion controller, supporting up to four
servo axes.
II
NextMove BX features the Mint motion control language. Mint is a structured form of Basic,
custom designed for motion control applications. It allows you to get started very quickly with
simple motion control programs. In addition, Mint includes a wide range of powerful
commands for complex applications.
II
Standard features of the NextMove BX include:
H
H
H
H
H
H
Control of up to four axes
Point to point moves, software cams and gearing
16 general purpose digital inputs, software configurable as level or edge triggered
4 fast position latch inputs
8 digital outputs
8 analog inputs with 12-bit resolution, configurable as single ended inputs or differential
pairs
H
CANopen protocol for peer-to-peer communications with Mint controllers and other third
party devices
H
H
Proprietary CAN protocol for control of Baldor remote I/O devices
Programmable in Mint.
II
Included with NextMove BX is the Baldor Motion Tookit CD. This contains a number of
utilities and useful resources to get the most from your Mint controller. These include:
H
H
H
Mint WorkBench v5
II
This is the user interface for communicating with the NextMove BX . Installing
WorkBench v5 will also install firmware for NextMove BX .
II
PC Developer Libraries
These include ActiveX interfaces that allow PC applications to be written that
communicate with the NextMove BX .
II
Embedded Developer Libraries
Allows embedded C31 applications to be developed using the Texas Instruments
TMS320C3x compiler.
II
This manual is intended to guide you through the installation of NextMove BX .
The chapters should be read in sequence.
II
The Basic Installation section describes the mechanical installation of the NextMove BX .
The following sections require knowledge of the low level input/output requirements of the
installation and an understanding of computer software installation. If you are not qualified in
these areas you should seek assistance before proceeding.
MN1904
Introduction 2-1
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2.2 Receiving and inspection
II
When you receive your NextMove BX , there are several things you should do immediately:
1. Check the condition of the packaging and report any damage immediately to the carrier that
II
delivered your NextMove BX .
II
2. Remove the NextMove BX from the shipping container. The packing materials may be
retained for future shipment.
II
3. Verify that the catalog number of the NextMove BX you received is the same as the catalog
number listed on your purchase order. The catalog/part number is described in the next
section.
II
4. Inspect the NextMove BX for external damage during shipment and report any damage to
the carrier that delivered it.
II
5. If the NextMove BX is to be stored for several weeks before use, be sure that it is stored in
a location that conforms to the storage humidity and temperature specifications shown in
section 7.1.10.
2.2.1 Identifying the catalog number
II
NextMove BX is available with different specifications. As a reminder of which model has
been installed, it is a good idea to write the catalog number in the space provided below.
Catalog number: NMX004-_______
Installed in: ________________________
Date: ______
A description of the catalog numbers are shown in the following table:
Catalog
Description
number
II
NMX004-501 NextMove BX , for control of 2 axes
II
NMX004-502 NextMove BX , for control of 3 axes
II
NMX004-503 NextMove BX , for control of 4 axes
2-2 Introduction
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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
µF . . . . . . . . . . . . . . microfarad
pF . . . . . . . . . . . . . . picofarad
mH . . . . . . . . . . . . . millihenry
Φ . . . . . . . . . . . . . . . phase
ms . . . . . . . . . . . . . . millisecond
µs . . . . . . . . . . . . . . microsecond
ns . . . . . . . . . . . . . . nanosecond
Kbaud . . . . . . . . . . . kilobaud (the same as Kbit/s in most applications)
MB . . . . . . . . . . . . . megabytes
CDROM . . . . . . . . . Compact Disc Read Only Memory
CTRL+E . . . . . . . . . on the PC keyboard, press Ctrl then E at the same time.
mm . . . . . . . . . . . . . millimeter
m . . . . . . . . . . . . . . . meter
in . . . . . . . . . . . . . . . inch
ft . . . . . . . . . . . . . . . feet
lb-in . . . . . . . . . . . . . pound-inch (torque)
Nm . . . . . . . . . . . . . Newton-meter (torque)
DAC . . . . . . . . . . . . Digital to Analog Converter
ADC . . . . . . . . . . . . Analog to Digital Converter
AWG . . . . . . . . . . . . American Wire Gauge
(NC) . . . . . . . . . . . . Not Connected
PC . . . . . . . . . . . . . Personal Computer (IBM compatible)
MN1904
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2-4 Introduction
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3 Basic Installation
3
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 BX . This
II
II
section describes the mechanical installation and power requirements of the NextMove BX .
3.1.1 Power sources
An external (customer supplied) 24VDC logic supply is required. This must be a regulated
power supply capable of providing:
H
H
H
24VDC ±20% at approximately 700mA (max) for the logic power supply
12 to 24VDC ±20% at approximately 400mA (max) for the isolated outputs
12 to 24VDC ±20% at approximately 200mA for the isolated digital inputs and fast
interrupts.
II
A 24V filter may be required to comply with the CE directive for which the NextMove BX was
tested.
3.1.2 PC Hardware requirements
A PC that fulfills the following specification will be required:
Minimum specification
Intel Pentium 133MHz
32MB
Recommended specification
Processor
RAM
Intel Pentium 200MHz or faster
64MB
60MB
Hard disk space
CD-ROM
40MB
A CD-ROM drive
Screen
800 x 600, 256 colors
1024 x 768, 256 colors
Mouse
A mouse or similar pointing device
Operating system
Windows 95, Windows 98, Windows ME,
Windows NT, Windows 2000 or Windows XP
MN1904
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3.1.3 Tools and miscellaneous hardware
H
Your PC operating system user manual might be useful if you are not familiar with
Windows
H
H
H
A small screwdriver (supplied) with a blade width less than 2.5mm (1/10 in).
II
M5 screws or bolts for mounting the NextMove BX
Crimping tool.
II
A connector kit is supplied with your NextMove BX , containing a number of useful connectors
and accessories.
3.1.4 Other information needed for installation
This information is useful (but not essential) to complete the installation:
H
H
The data sheet or manual provided with the servo drive controlling the motor, describing
the wiring information of the cables/connectors
Knowledge of which digital inputs/outputs will be ‘Active Low’, ‘Active High’ or edge
triggered.
3-2 Basic Installation
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3.2 Mechanical installation and location requirements
It is essential that you read and understand this section before beginning the
installation.
The safe operation of this equipment depends upon its use in the appropriate environment.
The following points must be considered:
II
H
The NextMove BX must be installed indoors, permanently fixed and located so that it can
only be accessed by service personnel using tools.
H
H
The maximum suggested operating altitude is 2000m (6562ft).
II
The NextMove BX must operate in an ambient temperature of 0°C to 40°C (32°F to
104°F).
II
H
The NextMove BX must operate in relative humidity levels of less than 80% for
temperatures up to 31°C (87°F) decreasing linearly to 50% relative humidity at 40°C
(104°F) (non-condensing).
II
H
H
The NextMove BX must be installed where the pollution degree according to IEC664
shall not exceed 2.
The external customer supplied 24VDC for the logic supply must be installed so that the
24VDC supplied to the unit is isolated from the AC supply using double or reinforced
insulation.
H
The inputs and outputs of the control circuit must be limited to Safety Extra Low Voltage
circuits.
H
H
H
The atmosphere must not contain flammable gases or vapors.
There must not be abnormal levels of nuclear radiation or X-rays.
II
The NextMove BX must be secured by the slots in the flange, with the protective
earth/ground stud bonded to a safety earth/ground by a 25A conductor.
H
H
The external customer supplied 24VDC logic supply might require a 24V filter.
II
Each D-type connector on the front panel of the NextMove BX is secured using two
hexagonal jack screws (sometimes known as “screwlocks”). If a jack screw is removed
accidentally or lost it must be replaced with an identical jack screw with an external male
threaded section of 5mm (0.2 in).
Jack screws with longer threads might result in loose connections.
II
H
The two D-type connectors on the top panel of the NextMove BX are each secured using
two hexagonal jack screws (sometimes known as “screwlocks”). If a jack screw is
removed accidentally or lost it must be replaced with an identical jack screw with an
external male threaded section of 7mm (0.28 in). Jack screws with shorter threads might
result in loose connections.
See also page 1-2.
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3.2.1 Mounting the NextMove BXII
Ensure you have read and understood the Mechanical installation and location requirements in
II
section 3.2. Mount the NextMove BX on its rear side, the side opposite the front panel.
II
The NextMove BX must be mounted upright to ensure adequate cooling. M5 bolts or screws
should be used.
194 (7.6)
58.5 (2.3)
All dimensions shown as mm (inches)
203 (8.0)
40 (1.6)
(Allow additional depth to accommodate wiring)
Figure 1 - Package dimensions
This completes the basic installation.
You should read the following sections in
sequence before using the NextMove BXII.
3-4 Basic Installation
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4 Input / Output
4
4.1 Introduction
II
This section describes the location and purpose of each connector on the NextMove BX .
The following conventions will be used to refer to the inputs and outputs:
I/O . . . . . . . . . . . . . . Input / Output
DIN . . . . . . . . . . . . . Digital Input
DOUT . . . . . . . . . . . Digital Output
AIN . . . . . . . . . . . . . Analog Input
AOUT . . . . . . . . . . . Analog Output
4.2 Connector locations - top panel
Jumpers
X15 RS232
P
1
2
Power
CAN1
CAN2
1
2
3
4
5
6
7
8
9
Shield
RXD
TXD
DTR
0V GND
DSR
RTS
CTS
0V GND
X16 / X17 CAN
1
2
3
4
5
6
7
8
CAN1+
CAN1-
(NC)
CAN 0V
CAN V+
(NC)
CAN2+
CAN2-
X14 RS485
1
2
3
4
5
6
7
8
9
Shield
RX+
TX+
(NC)
0V GND
(NC)
TX-
RX-
0V GND
MN1904
Input / Output 4-1
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4.3 Connector locations - front panel
X1 Digital Inputs 8-15
X2 Digital Inputs 0-7
1
2
3
4
5
6
7
8
9
DIN0
DIN1
DIN2
DIN3
DIN4
DIN5
DIN6
DIN7
CREF
1
2
3
4
5
6
7
8
9
DIN8
DIN9
DIN10
DIN11
DIN12
DIN13
DIN14
DIN15
CREF
10 Shield
10 Shield
X3 Analog Inputs
X4 Digital Outputs 0-7
1
2
3
4
5
6
7
8
9
AIN0
AIN1
AIN2
AIN3
AIN4
AIN5
AIN6
AIN7
AGND
1
2
3
4
5
6
7
8
9
DOUT0
DOUT1
DOUT2
DOUT3
DOUT4
DOUT5
DOUT6
DOUT7
USR V+
10 Shield
10 CGND
X5 Relay & User Power
X7 Demands
1
2
3
4
5
6
7
8
9
AOUT0
AGND
AOUT1
AGND
AOUT2
AGND
AOUT3
AGND
AGND
1
2
3
4
5
6
7
8
9
Relay COM
Relay NC
Relay NO
Relay COM
USR V+
USR V+
CREF
CREF
CGND
10 Shield
10 CGND
X6 Interrupts
X9 Encoder 0
X10 Encoder 1
X11 Encoder 2
X12 Encoder 3
X13 Aux Encoder
1
2
3
4
5
6
7
8
9
FASTIN0
Shield
CREF
FASTIN1
Shield
CREF
FASTIN2
Shield
CREF
1
2
3
4
5
6
7
8
9
CHA+
CHB+
CHZ+
(NC)
10 FASTIN3
DGND
CHA-
CHB-
CHZ-
X8 Power
1
+24V
+5V out
2
3
4
5
6
7
8
9
0V
Shield
+5V out
GND
+12V out
GND
-12V out
Shield
Tightening torque for terminal block
connections is 0.25Nm (2.2 lb-in)
10 Shield
4-2 Input / Output
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4.4 Power connections
A 24VDC, 2A supply must be provided to power the control electronics. It is recommended
II
that a separate fused 24V supply is provided for the NextMove BX , with the fuse rated at 4A
maximum. If other devices are to be powered from the same 24V supply, a filter (Baldor
II
catalog number FI0014A00) should be installed to isolate the NextMove BX from the rest of
the system.
4.4.1 Power - X8
Location Connector X8
(Mating connector: Weidmüller BL 3.5/10, 3.5mm pitch)
Pin Name
Description
1
2
3
4
5
6
7
8
9
+24V
GND
Shield
+5V
+24V logic supply input (18-30V)
Shield connection
+5V output
GND
+12V
GND
-12V
±12V output
Shield
Shield connection
Shield connection
10 Shield
Description
Connection point for 24V logic power supply input,
5V output and 12V output.
Tightening torque for terminal block connections is 0.25Nm (2.2 lb-in). Use 60/75 or 75°C
copper (Cu) wire only.
The power connector X8 provides a connection point for the main customer supplied 24V logic
II
power supply. From this supply, the NextMove BX creates 5V and 12V supplies for internal
and external use.
The 5V supply can be used to supply encoders and external circuits, to a maximum of 650mA.
The +5V and GND connections on pins 4 and 5 are connected internally to the +5V and GND
pins on connectors X9 to X13.
CAUTION: Encoder power must be connected before operating the system. If the
encoders are not powered when the system is enabled, there will be no
position feedback. This could cause violent motion of the motor shaft.
The 12V supply can be used to power external circuits, to a maximum of 200mA. However,
this supply must not be used to provide power for the digital outputs. For this, a separate
supply must be used (see sections 4.6.4 and 4.7.3).
MN1904
Input / Output 4-3
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4.5 Analog I/O
II
The NextMove BX provides:
H
H
Eight 12-bit resolution analog inputs, available on connector X3.
Four 14-bit resolution analog outputs, available on connector X7.
Sections 4.5.1 to 4.5.2 describe each analog input and output.
4.5.1 Analog inputs - X3
Location Connector X6
(Mating connector: Weidmüller BL 3.5/10, 3.5mm pitch)
Pin Name
MintMT ke ywor d / description
1
2
3
4
5
6
7
8
9
AIN0
AIN1
AIN2
AIN3
AIN4
AIN5
AIN6
AIN7
AGND
ADC. 0
ADC. 1
ADC. 2
ADC. 3
ADC. 4
ADC. 5
ADC. 6
ADC. 7
Analog ground
Shield connection
10 Shield
Description
Single ended or differential inputs
Voltage range: software selectable 0-5V, ±2.5V, ±10V
Resolution: 12-bit with sign (accuracy ±4.9mV @ ±10V input)
Input impedance: >20kΩ
Sampling interval: 222µs - 2ms
The Mint keyword ADCMODE can be used to setup various configurations for the analog inputs.
H
Single ended (ADCMODE 0): This is the default configuration. Each input behaves as a
single ended, unipolar input with an input range of 0-5V. The input’s 0V connection is
connected to pin 9, AGND.
H
H
Single ended, bipolar (ADCMODE 2): Each input is a single ended, bi-polar input with an
input range of ±5V. The input’s 0V connection is connected to pin 9, AGND.
Pseudo differential (ADCMODE 1): Inputs are used in pairs (0 and 1, 2 and 3, 4 and 5, 6 and
7) to create four differential inputs. Within each pair, the odd numbered input is the
negative input, and the even numbered input is the positive input. The input range is 0 -
5V.
4-4 Input / Output
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H
H
Pseudo differential, bipolar (ADCMODE 3): Inputs are used in pairs (0 and 1, 2 and 3, 4 and
5, 6 and 7) to create four differential inputs. Within each pair, the odd numbered input is the
negative input, and the even numbered input is the positive input. The input range is
±2.5V.
True differential (ADCMODE 5): Inputs are used in pairs (0 and 1, 2 and 3, 4 and 5, 6 and 7)
to create four differential inputs. Within each pair, the odd numbered input is the negative
input, and the even numbered input is the positive input. The input range is ±10V.
When an input is selected to operate in any of the paired modes (1, 3 or 5), the other input of
the pair is automatically configured to the same mode. The differential input is referenced
using the name of the odd numbered input.
ADCMODE 4 can be used to turn off an input. When an input is turned off, the sampling
frequency for the other inputs increases proportionately, to a maximum of 4.5kHz for a single
active input.
See the Mint help file for full information about ADCMODE and analog input configuration.
II
NextMove BX
20k
10k
10k
-
Mint
ADC. 0
-
+
+
+12V
14k
10k
10k
10k
AIN0
Pin 1
56k
56k
Mint
-
ADC. 0
(differential
mode)
+
10k
AIN1
Pin 2
14k
-12V
20k
10k
10k
-
Mint
ADC. 1
-
+
+
Figure 2 - Analog input circuit, AIN0/AIN1 pair shown
MN1904
Input / Output 4-5
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4.5.2 Analog outputs (Demands) - X7
Location Connector X7
(Mating connector: Weidmüller BL 3.5/10, 3.5mm pitch)
1
Pin Name
MintMT ke ywor d / description
DAC. 0
1
2
3
4
5
6
7
8
9
Demand0
AGND
Analog ground
DAC. 1
Demand1
AGND
10
Analog ground
DAC. 2
Demand2
AGND
Analog ground
DAC. 3
Demand3
AGND
Analog ground
Analog ground
Shield connection
AGND
10 Shield
Description
Four independent command outputs
Output range: ±10VDC (±10mV).
Resolution: 14-bit (accuracy ±1.22mV).
Output current: 1mA maximum
Update interval: Immediate
Mint and the Mint Motion Library use the analog outputs to control servo drives.
Demand outputs 0 to 3 correspond to axes 0 to 3. The analog outputs may be used to drive
loads of 10kΩ or greater. The outputs are referenced to the internal ground and are not
opto-isolated. Shielded twisted pair cable should be used. The shield connection should be
made at one end only.
II
1nF
NextMove BX
14k7
-
TL084
+
+12V
-12V
Demand
±100%
12k
Demand0
Pin 1
AGND
Figure 3 - Analog output circuit - Demand0 shown
4-6 Input / Output
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4.6 Digital I/O
There are a total of 20 digital inputs. Inputs DIN0 to DIN15 are general purpose inputs, which
can be configured in Mint for any of the following functions:
H
H
H
H
H
forward limit (end of travel) input on any axis
reverse limit (end of travel) input on any axis
home input on any axis
drive error input on any axis
controlled stop input on any axis.
Inputs DIN16 to DIN19 are known as fast position interrrupts and can only be used to latch
position. They cannot be used as general purpose inputs and their states cannot be read in
Mint.
Inputs can be shared between axes, and are programmable in Mint (using the keywords
I NPUTACTI VELEVEL, I NPUTMODE, I NPUTPOSTRI GGER and I NPUTNEGTRI GGER) to
determine their active level and if they should be edge triggered.
There are a 8 general purpose digital outputs. An output can be configured in Mint as a
general purpose output, a drive enable output or a general error output. Outputs can be shared
between axes and are programmable, using the Mint keyword OUTPUTACTI VELEVEL, to
determine their active level.
The outputs are driven by a current sourcing, PNP Darlington type driver, with overcurrent and
short circuit protection. Power for the outputs is derived from a customer supplied 12-24V
supply.
MN1904
Input / Output 4-7
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4.6.1 Digital inputs - X1
Location Connector X1
(Mating connector: Weidmüller BL 3.5/10, 3.5mm pitch)
Pin Name
Mint ke ywor d / description
I NX. 8
1
2
3
4
5
6
7
8
9
DIN8
DIN9
I NX. 9
DIN10
DIN11
DIN12
DIN13
DIN14
DIN15
CREF
I NX. 10
I NX. 11
I NX. 12
I NX. 13
I NX. 14
I NX. 15
Common connection
Shield connection
10 Shield
Description
Eight general purpose optically isolated AC digital inputs.
Sampling interval: 1ms
II
NextMove BX
Vcc
2k2
Mint
DINx
I NX. x
CREF
TLP120
Active high:
DINx = 12-24VDC (±20%)
CREF = 0V
Active low:
DINx = 0V
CREF = 12-24VDC (±20%)
Figure 4 - Digital input circuit
4-8 Input / Output
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The inputs are conditioned using Schmitt trigger buffers. If an input is configured as edge
triggered, the triggering pulse must have a duration of at least 1ms (one software scan) to
guarantee acceptance by Mint. The use of shielded cable for inputs is recommended.
Active high: connect +24VDC to the input and 0V to pin 9 (CREF).
The digital inputs will be active when a voltage of +24VDC (greater than 12VDC) is applied to
them and will sink a current of approximately 11mA each.
Active low: connect +24VDC to pin 9 (CREF) and 0V to the input.
The digital inputs will be active when grounded (<2V) and will source a maximum of 11mA
each.
Note: Sustained input voltages above 28V will damage the inputs.
4.6.2 Digital inputs - X2
Location Connector X2
(Mating connector: Weidmüller BL 3.5/10, 3.5mm pitch)
1
Pin Name
Mint ke ywor d / description
1
2
3
4
5
6
7
8
9
DIN0
DIN1
DIN2
DIN3
DIN4
DIN5
DIN6
DIN7
Common
I NX. 0
I NX. 1
I NX. 2
10
I NX. 3
I NX. 4
I NX. 5
I NX. 6
I NX. 7
Common connection
Shield connection
10 Shield
Description
Eight general purpose optically isolated AC digital inputs.
Sampling interval: 1ms
The inputs are electrically identical to inputs DIN8 to DIN15 described in section 4.6.1.
MN1904
Input / Output 4-9
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4.6.3 Digital inputs (Interrupts) - X6
Digital inputs FASTIN0 to FASTIN3 can be used as high speed position latches, allowing any
combination of axes to be captured by the hardware. Using FASTIN0, the latency between
input triggering and capture is 30µs. Using FASTIN1 to FASTIN3, latency is 1ms. Special Mint
keywords (beginning with the letters FAST...) allow specific functions to be performed as a
result of fast position inputs becoming active. See the Mint help file for details.
Location Connector X6
(Mating connector: Weidmüller BL 3.5/10, 3.5mm pitch)
1
Pin Name
Mint ke ywor d / description
FASTSELECT. 0
1
2
3
4
5
6
7
8
9
FASTIN0
Shield
Shield connection
Common connection
FASTSELECT. 1
CREF
10
FASTIN1
Shield
Shield connection
Common connection
FASTSELECT. 2
CREF
FASTIN2
Shield
Shield connection
Common connection
FASTSELECT. 3
CREF
10 FASTIN3
Description
Four fast position digital inputs.
Note: The fast inputs are particularly sensitive to noise, so inputs must use shielded
twisted pair cable. Do not connect mechanical switches, relay contacts or other
sources liable to signal ‘bounce’ directly to the fast inputs. This could cause
unwanted multiple triggering.
II
NextMove BX
Vcc
2k2
FASTINx
Mint
100pF
TLP115
CREF
Active high:
Active low:
FASTINx = 12-24VDC (±20%)
CREF = 0V
FASTINx = 0V
CREF = 12-24VDC (±20%)
Figure 5 - Digital input circuit - fast interrupts
4-10 Input / Output
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4.6.4 Digital outputs - X4
Location Connector X4
(Mating connector: Weidmüller BL 3.5/10, 3.5mm pitch)
1
Pin Name
Mint ke ywor d / description
1
2
3
4
5
6
7
8
9
DOUT0
DOUT1
DOUT2
DOUT3
DOUT4
DOUT5
DOUT6
DOUT7
USR V+
OUTX. 0
OUTX. 1
OUTX. 2
10
OUTX. 3
OUTX. 4
OUTX. 5
OUTX. 6
OUTX. 7
Customer power supply V+
Customer power supply ground
10 CGND
Description
Eight general purpose optically isolated digital outputs.
Output current: 50mA maximum (continuous) each output
Update interval: Immediate
Each optically isolated output is designed to source current from the customer supplied
12-24V supply (USR V+) as shown in Figure 6. The outputs can be written to directly using
the Mint keyword OUTX (for example OUTX. 2=1).
The sense of the outputs can be configured in WorkBench v5, and their states are displayed in
the Spy window. The use of shielded cable is recommended.
II
NextMove BX
USR V+
OUTX. x
UDN2987
Output
DOUTx
module
TLP121
Output
load
CGND
Figure 6 - Digital output circuit
The USR V+ and CGND connections on pins 9 and 10 are connected internally to the USR V+
and CGND pins on connector X5. See section 4.7.3.
MN1904
Input / Output 4-11
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4.7 Other I/O
4.7.1 Encoder interfaces - X9, X10, X11, X12, X13
Location Connectors X9, X11, X11, X12, X13
Pin Name
Description
1
CHA+
CHB+
CHZ+
(NC)
Channel A signal
2
Channel B signal
3
Index channel signal
Not connected
4
5
1
5
DGND
CHA-
CHB-
CHZ-
+5V out
Power supply ground
Channel A signal complement
Channel B signal complement
Index channel signal complement
Power supply to encoder
9
6
6
7
8
9
Description
Five identical encoder inputs, each with complementary A, B and Z
channel inputs on a 9-pin female D-type connector
II
Up to five incremental encoders may be connected to NextMove BX . The auxiliary (master)
encoder (X13) is labeled Aux Encoder. Each input channel enters an AM26LS32AM differential
line receiver with pull up resistors and terminators. Encoders must provide 5V single ended or
differential signals, or RS422/RS485 differential signals. The use of individually shielded
twisted pair cable is recommended. See section 4.4.1 for details of the encoder power supply.
II
NextMove BX
Vcc
2k2
22R
CHA+
Pin 1
AM26LS32
Differential
line receiver
to CPU
120R
2k2
22R
CHA-
Pin 6
Figure 7 - Encoder channel input circuit - Channel A shown
4-12 Input / Output
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4.7.2 Encoder input frequency
The maximum encoder input frequency is affected by the length of the encoder cables. The
theoretical maximum frequency is 7.5 million quadrature counts per second. This is equivalent
to a maximum frequency for the A and B signals of 1.87MHz. However, the effect of cable
length is shown in the Table 1:
Maximum cable length
Encoder
Frequency
meters
2
feet
6.56
1.3MHz
500kHz
250kHz
100kHz
50kHz
20kHz
10kHz
7kHz
10
32.8
20
65.6
50
164.0
328.1
984.2
2296.6
3280.8
100
300
700
1000
Table 1 - Effect of cable length on maximum encoder frequency
The maximum recommended cable length is 30.5m (100ft).
MN1904
Input / Output 4-13
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4.7.3 Relay and user power - X5
Location Connector X5
(Mating connector: Weidmüller BL 3.5/10, 3.5mm pitch)
Pin Name Description
Relay COM Common relay connection
1
2
3
4
5
6
7
8
9
Relay NC
Relay NO
Normally closed relay connection
Normally open relay connection
Relay COM Common relay connection
USR V+
USR V+
CREF
Digital output customer power supply
Digital output customer power supply
Digital input common connection
CREF
Digital input common connection
CGND
Digital output customer power supply ground
Digital output customer power supply ground
10 CGND
Description
Connection point for the digital outputs’ customer power supply and the
relay contacts. Relay rated at 1A, 24VDC
The relay and user power connector X5 provides a connection point for the internal relay, the
customer power supply used to power the digital outputs, and the digital input’s common
connection. Power connections are assigned two pins to provide increased wiring capacity.
The USR V+ and CGND connections on pins 5/6 and 9/10 are connected internally to the
USR V+ and CGND pins on connector X4 - see section 4.6.4.
II
The relay outputs are isolated from any internal circuits in the NextMove BX . The relay is
II
controlled by a latch, which is cleared when the NextMove BX resets. Reset can occur due to
power-down, a watchdog error or when deliberately caused by the host PC. In normal
operation the relay is energized and the Relay NC contact is connected to Relay COM. In the
event of an error or power loss, the relay is de-energized and the Relay NO contact is
connected to Relay COM.
The relay can be configured as a global error output using the Mint keyword
GLOBALERROROUTPUT.
II
NextMove BX
Relay
Relay NC
Pin 2
Relay NO
Pin 3
Mint
Relay COM
Pin 1
Figure 8 - Relay connections
4-14 Input / Output
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4.7.4 RS232 - X15
Location Top panel, connector X15
Pin Name
1
2
3
4
5
6
7
8
9
Shield
RXD
TXD
1
6
9
DTR (internally connected to pin 6)
0V
5
DSR (internally connected to pin 4)
RTS
CTS
0V
Description
RS232 connections on a single 9-pin male D-type connector
II
The NextMove BX has a full-duplex RS232 serial port with the following preset configuration:
H
H
H
H
H
H
9600 baud
1 start bit
8 data bits
1 stop bit
No parity
Hardware handshaking lines (RS232) RTS and CTS must be connected.
The configuration can be changed using the Mint keyword SERI ALBAUD. It is stored in
EEPROM and restored at power up.
The port is configured as a DTE (Data Terminal Equipment) unit so it is possible to operate the
controller with any DCE (Data Communications Equipment) or DTE equipment. Full duplex
transmission with hardware handshaking is supported.
Only the TXD, RXD and 0V GND connections are essential for communication, although
hardware handshaking will not be supported unless the other connections are made.
Both the output and input circuitry are single ended and operate between ±12V. The port is
capable of operation at up to 57.6Kbaud.
MN1904
Input / Output 4-15
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RS232
RXD 2
COM
2 RXD
3 TXD
5 GND
7 RTS
8 CTS
TXD 3
GND 5
RTS 7
CTS 8
9-pin
II
NextMove BX
Computer
COM Port
(DCE / DTE)
(DTE)
Connect overall
shield to connector
backshell.
Figure 9 - RS232 serial port connections
The maximum recommended cable length is 3m (10ft) at 57.6Kbaud. When using lower baud
rates, longer cable lengths may be used up to maximum of 15m (49ft) at 9600 baud.
4-16 Input / Output
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4.7.5 Connecting Baldor HMI Operator Panels
Baldor HMI Operator Panels use a 15-pin male D-type connector (marked PLC PORT), but
II
the NextMove BX RS232 connector is a 9-pin male D-type connector. If you do not require
hardware handshaking then use the connections shown in Figure 10:
II
Baldor HMI
PLC PORT
NextMove BX
RS232
7
8
3
2
5
RTS
CTS
TXD
RXD
GND
Twisted pair
RXD
TXD
GND
2
3
5
1
Figure 10 - Cable wiring if hardware handshaking is not required
If hardware handshaking is required then use the connections shown in Figure 11:
II
Baldor HMI
PLC PORT
CTS 11
NextMove BX
RS232
Twisted pair
7
RTS
RTS 10
8
3
2
CTS
TXD
RXD
RXD
TXD
GND
2
3
5
1
5
GND
Figure 11 - Cable wiring if hardware handshaking is required
MN1904
Input / Output 4-17
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4.7.6 RS422 / RS485 - X14
If you will be using RS422 / RS485 and your PC does not have an RS422 / RS485 connector,
an RS232 to 4-wire RS422 / RS485 converter will be required. These commercially available
devices convert the signals from the PC RS232 port to the signals necessary for RS422 /
RS485 communications. Special care must be taken with the pin assignment on all RS422 /
RS485 devices, as this can differ between products. Connectors might need to be rewired to
provide the correct pin assignment.
Location Top panel, connector X14
Pin Name
1
2
3
4
5
6
7
8
9
Shield
RX+ (input)
TX+ (output)
(NC)
1
5
6
9
GND
(NC)
TX- (output)
RX- (input)
GND
Description
RS422 / RS485 connections on a 9-pin male D-type connector
This port provides 4-wire RS422 / RS485 connections. The port can be used for multidrop
applications operating at 9600 or 19200 baud. The configuration can be changed using the
Mint keyword SERI ALBAUD. It is stored in EEPROM and restored at power up.
Both the output and input circuitry are differential and operate between 0 and 5V.
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
II
a NextMove BX , a host application such as WorkBench v5 (or other custom application), or a
programmable logic controller (PLC).
II
The NextMove BX supports up to 15 devices, each having its own address (node) number to
II
uniquely identify it on the network. The address of the NextMove BX can be configured using
the Mint keyword NODE. It is stored in EEPROM and restored at power up.
4-18 Input / Output
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Network
master
Network slave
Twisted pairs
RX+
TX+
TX-
RX-
RX+
RX-
TX+
TX-
T
R
DGND
DGND
Network slave
T
R
RX+
RX-
Final slave shown with
TX+
TX-
terminating resistor, T
,
R
typical value 120Ω.
DGND
Connect overall shield
to connector backshell.
Figure 12 - 4-wire RS485 multi-drop connections
Each TX/RX network requires a termination resistor at the final RX connection, but
intermediate devices must not be fitted with termination resistors. An exception is where
repeaters are being used which may correctly contain termination resistors.
Termination resistors are used to match the impedance of the load to the impedance of the
transmission line (cable) being used. Unmatched impedance causes the transmitted signal to
not be fully absorbed by the load. This causes a portion of the signal to be reflected back into
the transmission line as noise. If the source impedance, transmission line impedance, and
load impedance are all equal, the reflections (noise) are eliminated. Termination resistors
increase the load current and sometimes change the bias requirements and increase the
complexity of the system.
MN1904
Input / Output 4-19
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4.7.7 CAN connectors - X16 & X17
CAN (Controller Area Network) offers very reliable serial communications over a two wire
twisted pair cable. In an industrial environment, the probability of an undetected error is
-11
4.7x10 . CAN also offers high speed data transfer (up to 1Mbit/s, dependent on bus length)
and low cost multiplex wiring schemes. CAN is optimized for the transmission of small data
packets and therefore offers fast update of I/O devices (peripherals) connected to the bus.
The CAN network allows several CAN peripheral devices to be attached to the same
controller.
The CAN connectors provide access to CANopen (CAN1) and Baldor CAN (CAN2) busses on
two separate connectors. Both busses are available on both connectors to simplify
“daisy-chaining” of peripherals.
Location Top panel, connectors X16 & X17
Pin Name
Description
1
2
3
4
5
6
7
8
CAN1+
CAN1-
(NC)
CANopen
CANopen
Not connected
CAN 0V
CAN V+
(NC)
Ground/earth reference for CAN signals
CAN remote node power V+ (12-24V)
Not connected
1
8
CAN2+
CAN2-
Baldor CAN
Baldor CAN
Description
CAN interfaces using RJ45 connectors.
Correct operation of CAN can only be achieved with screened/shielded twisted-pair cabling.
CAN1+ / CAN1- and CAN2+ / CAN2- must form twisted pairs with the shield connected to the
connector backshell, as shown in Figure 13. A range of suitable CAN cables are available
from Baldor, with catalog numbers beginning CBL004-5...
II
II
Baldor HMI
NextMove BX
1
NextMove BX
2
End node
Operator Panel
Twisted pair
Twisted pairs
2
7
2
1
2
1
2
1
2
1
2
1
T
R
T
R
5
4
5
4
5
4
5
4
5
4
Figure 13 - Typical CAN network connections
4-20 Input / Output
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4.7.8 CANopen
CANopen is a networking system based on the serial bus CAN. It uses the international CAN
standard ISO 11898 as the basis for communication. The Mint firmware implements a
CANopen protocol on CAN bus 1, based on the ‘Communication Profile’ CiA DS-301, which
supports both direct access to device parameters and time-critical process data
communication. This provides support for a range of Baldor and third-party devices.
The CANopen channel is available on both CAN connectors.
The default baud rate is 500Kbit/s, but this can be changed using the Mint
keyword BUSBAUD (previously CANBAUD). It is stored in EEPROM and
restored at power up.
CAN1 must be terminated by a 120Ω resistor connected between CAN1+
and CAN1- at both ends of the network and nowhere else. If the
NextMove BX is at the end of the network then ensure that CAN jumper 1 (accessible on the
II
top panel) is fitted.
4.7.9 Baldor CAN
Baldor CAN is also a networking system based on the serial bus CAN. It uses the
international CAN standard ISO 11898 as the basis for communication. The Mint firmware
implements a proprietary Baldor protocol on CAN bus 2, based on CAL, which supports both
direct access to device parameters and time-critical process data communication. This
provides support for the full range of Baldor ioNode CAN peripherals.
The Baldor CAN channel is available on both CAN connectors.
The default baud rate is 125Kbit/s, but this can be changed using the Mint
keyword BUSBAUD (previously CANBAUD). It is stored in EEPROM and
restored at power up.
CAN2 must be terminated by a 120Ω resistor connected between CAN2+
and CAN2- at both ends of the network and nowhere else. If the
NextMove BX is at the end of the network then ensure that the CAN jumper 2 (accessible on
II
the top panel) is fitted.
On the ioNode peripheral, jumpers JP1 and JP2 must be in the CAN Bus 2 position to select
pins 7 & 8 for CAN traffic.
MN1904
Input / Output 4-21
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4.8 Reset states
II
During power up, NextMove BX is held in a safe non-operational state known as hardware
reset. It will also go into hardware reset if the 24V logic supply drops below approximately
18V. This prevents uncontrolled operation due to the electronics losing power. When
II
NextMove BX is in hardware reset for any reason, most of the controlled interfaces fall into
known states.
II
It is also possible for NextMove BX to be in a state known as software reset. This is a safe
II
operational state where only the bootloader present on NextMove BX is running, because no
valid firmware has been found. This can happen if a firmware download is cancelled before it
has finished. Use WorkBench v5 to download new firmware, allowing the process to finish.
This might take 1-2 minutes.
Hardware and software reset states should not be confused with the Mint keyword RESET
which is used to clear axis errors.
Communications
At power up the CAN controllers will be held in reset and will have no effect on the CAN
buses. If a reset occurs during the transmission of a message CAN errors are likely to occur.
Digital Outputs
All of the digital outputs are inactive on power up regardless of their polarity. They will return
to the inactive state whenever a reset occurs.
Analog Outputs
All analog outputs are set to 0V by hardware during power up and will return to 0V on a reset.
Encoders
The encoder interfaces will not register any encoder input during reset. If the unit goes into
reset all position data will be lost.
4.8.1 System watchdog
The system watchdog provides hardware protection in the event of a firmware or ‘C’ program
malfunction. If the system watchdog is not updated, the controller will be reset.
4-22 Input / Output
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4.9 Connection summary - minimum system wiring
As a guide, Figure 14 shows an example of the typical minimum wiring required to allow the
II
NextMove BX and a single servo amplifier (motor drive) to work together.
Servo amplifier (axis 0)
II
Serial
communication
Host PC
NextMove BX
Error out
Demand +
Demand -
Enable*
Gnd*
Encoder output from
drive or motor
Common
earth/ground
+24V
supply
* Note:
This diagram shows the relay contacts
being used as a switch across the servo
amplifier’s enable input.
If the servo amplifier requires a 24Venable
signal then use the relay to switch 24V
from either the logic supply or user supply.
Figure 14 - Example minimum system wiring - Axis 0
Each connection is described in Table 2.
MN1904
Input / Output 4-23
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II
NextMove BX
Name of
Function
Servo amplifier
connection
connector signal
(Note: drive may be
labelled differently)
X1 DIN8
Error input
Error output
X5
Relay COM Common connection of relay Enable input
Relay NC
Normally closed connection
of relay
Ground
X7
Demand0
AGND
Command signal for axis 0
Demand+ input
Reference for analog signals Demand- input
Shield
Cable shield
(Not connected)
X9 (Encoder 0) Position feedback for axis 0
Encoder out (or direct
from motor)
X8
+24V
0V
Logic supply +24V
Logic supply 0V
Table 2 - Minimum system wiring connections
4-24 Input / Output
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5 Operation
5
5.1 Introduction
II
Before powering the NextMove BX you will need to connect it to the PC using a serial cable
and install the supplied PC software WorkBench v5. This software includes a number of tools
II
to allow you to configure, tune and program the NextMove BX . If you do not have experience
of software installation or Windows applications you may need further assistance for this stage
of the installation
5.1.1 Connecting the NextMove BXII to the PC
Connect the serial cable between a PC serial port (often labeled as “COM”) to the
II
NextMove BX RS232 connector. WorkBench v5 can scan all the COM ports, so you can use
any port.
5.1.2 Installing the software
The CDROM containing the software can be found separately within the packaging.
1. Insert the CDROM into the drive.
2. After a few seconds the setup wizard should start automatically. If the setup wizard does not
appear, select Run... from the Windows Start menu and type
d:\start
where d represents the drive letter of the CDROM device (use the correct letter for your
installation).
Follow the on-screen instructions to install WorkBench v5. The setup wizard will copy the files
to appropriate folders on the hard drive. The default folder is C:\ProgramFiles\Baldor\MintMT,
although this can be changed during setup.
5.1.3 Starting the NextMove BXII
If you have followed the instructions in the previous sections, you should have now connected
all the power sources, your choice of inputs and outputs and the serial cable linking the PC
II
with the NextMove BX .
5.1.4 Preliminary checks
Before you apply power for the first time, it is very important to verify the following:
H
H
H
H
H
Disconnect the load from the motor until instructed to apply a load.
Inspect all power connections for accuracy, workmanship and tightness.
Verify that all wiring conforms to applicable codes.
II
Verify that the NextMove BX is properly earthed/grounded.
Check all signal wiring for accuracy.
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5.1.5 Power on checks
II
If at any time one of the Axis LEDs is illuminated red, this indicates that the NextMove BX
has detected a fault - see section 6.
1. Turn on the 24VDC supply.
2. After a brief test sequence the Status display should show the node number, for example
(the factory preset). If the display is not lit then re-check the power supply connections.
II
The NextMove BX is now ready to be configured using WorkBench v5.
5-2 Operation
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5.2 WorkBench v5
WorkBench v5 is a fully featured application for programming and controlling the
II
NextMove BX . The main WorkBench v5 window contains a menu system, the Toolbox and
other toolbars. Many functions can be accessed from the menu or by clicking a button - use
whichever you prefer. Most buttons include a ‘tool-tip’; hold the mouse pointer over the button
(don’t click) and its description will appear.
5.2.1 Help file
WorkBench v5 includes a comprehensive help file that contains information about every Mint
keyword, how to use WorkBench v5 and background information on motion control topics. The
help file can be displayed at any time by pressing F1. On the left of the help window, the
Contents tab shows the tree structure of the help file. Each book
contains a number of
topics . The Index tab provides an alphabetic list of all topics in the file, and allows you to
search for them by name. The Search tab allows you to search for words or phrases
appearing anywhere in the help file. Many words and phrases are underlined and highlighted
with a color (normally blue) to show that they are links. Just click on the link to go to an
associated keyword. Most keyword topics begin with a list of relevant See Also links.
Figure 15 - The WorkBench v5 help file
For help on using WorkBench v5, click the Contents tab, then click the small plus sign
beside the WorkBench v5 book icon. Double click a
topic name to display it.
MN1904
Operation 5-3
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5.2.2 Starting WorkBench v5
1. On the Windows Start menu, select Programs, WorkBench v5, WorkBench v5.
WorkBench v5 will start, and the Tip of the Day dialog will be displayed.
You can prevent the Tip of the Day dialog appearing next time by removing the check mark
next to Show tips at startup.
Click Close to continue.
2. In the opening dialog box, click Start New Project... .
5-4 Operation
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3. In the Select Controller dialog, go to the drop down box near the top and select the PC serial
II
port to which the NextMove BX is connected.
II
(If you are unsure which PC serial port is connected to the NextMove BX , select Scan all
serial ports. During the detection process, a dialog box may be displayed to tell you that
WorkBench v5 has detected new firmware. Click OK to continue.)
II
Click Scan to search for the NextMove BX .
II
When the search is complete, click on NextMove BX in the list to highlight it, and click the
Select button.
II
Note: If the NextMove BX is not listed, check the serial lead between the
II
II
NextMove BX and the PC. Check that the NextMove BX is powered correctly.
Click Scan to re-scan the ports.
When detection is complete, Fine-tuning mode will be displayed.
MN1904
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5.3 Configuring an axis
II
The NextMove BX is capable of controlling up to 4 servo axes, depending on model. Axis
numbering always begin at 0. For example, a four axis model has axes numbered 0, 1, 2 and
3. This section describes the basic setup for a single axis.
II
Note: The NextMove BX is also capable of controlling up to 4 ‘virtual’ axes. A virtual
axis allows most Mint commands to be executed as normal, with the virtual axis
simulating position and velocity information for any motion performed. No physical
axes are moved.
5.3.1 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 SCALE factor
allowing you to use units more suitable for your application. The unit defined by setting a value
for scale is called the user unit (uu).
Consider a motor with a 1000 line encoder. This provides 4000 quadrature counts for each
revolution. If SCALE is not set, a Mint command that involves distance, speed, or acceleration
may need to use a large number to specify a significant move. For example MOVER=16000
(Move Relative) would rotate the motor by 16000 quadrature counts - only four revolutions. By
setting a SCALE factor of 4000, the user unit becomes revolutions. The more understandable
command MOVER=4 could now be used to move the motor four revolutions.
In applications involving linear motion a suitable value for SCALE would allow commands to
express values in linear distance, for example inches, feet or millimetres.
1. In the Toolbox, click Setup, then click
the Parameters icon.
2. Click the Scale tab.
3. Click in the Axis drop down box to select the
axis.
Each axis can have a different scale if required.
5-6 Operation
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4. Click in the Scale box and type a value.
5. Click Apply.
This immediately sets the scaling factor for the
selected axis. It will remain in the
II
NextMove BX until another scale is defined,
or power is removed.
5.3.2 Setting the drive enable output
II
The drive enable output allows NextMove BX 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, an error on any of the axes sharing the output will cause all
of them to be disabled.
The drive enable output can either be a digital output or the relay.
1. In the Toolbox, click the Digital I/O icon.
2. At the bottom of the Digital I/O screen, click the
Digital Outputs tab.
The left of the screen shows two yellow icons,
High and Low. These describe how the output
should behave when activated (to enable the
axis).
3. If you are going to use the relay, ignore this step
and go straight to step 4.
If you are going to use a digital output, drag the
appropriate yellow icon to the grey OUT icon
that will be used as the drive enable output. Its
color will change to bright blue.
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4. If you are going to use the relay, drag the grey Relay0 icon to the grey X axis icon on the right
of the screen. To configure multiple axes to use the relay, repeat this step for the other axes.
If you are using a digital output, drag the bright blue OUT icon to the grey X 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 the bottom of the screen. This
sends the output configuration to the
II
NextMove BX .
5.3.3 Testing the drive enable output
1. On the main WorkBench v5 toolbar, click the
Drive enable button. Click the button again.
Each time you click the button, the drive enable
output is toggled.
When the button is in the pressed (down)
position the drive should be enabled. When the
button is in the raised (up) position the drive
should be disabled.
If this is not working, or the action of the button is reversed, check the electrical
II
connections between the NextMove BX and the drive. If you are using the relay output,
check that you are using the correct normally open or normally closed connection.
If you are using a digital output, check that it is using the correct high or low output
expected by the drive.
5-8 Operation
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5.4 Testing and tuning
This section describes the method for testing and tuning an axis.
5.4.1 Testing the drive command output
This section tests the operation and direction of the axis command output. It is recommended
that the motor is disconnected for this test.
1. Check that the Drive enable button is pressed
(down).
2. In the Toolbox, click Application then click
the Edit & Debug icon.
3. Click in the Command window.
4. Type:
TORQUE. 0=5
where 0 is the axis (demand output) to be
tested. In this example, this should cause a
demand of +5% of maximum output (0.5V) to
be produced at the Demand0 output
(connector X7, pin 1). See section 4.5.2 for
details of the demand outputs. In WorkBench v5, look at the Spy window located on the right
of the screen. The virtual LED Command display should show 5 (approximately). If there
seems to be no command output, check the electrical connections between the
II
NextMove BX and the drive.
5. To repeat the tests for negative (reverse) demands, type:
TORQUE. 0=- 5
This should cause a demand of -5% of maximum output (-0.5V) to be produced at the
Demand0 output.
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6. To remove the demand and stop the test, type:
STOP. 0
This should cause the demand produced at the
Demand0 output to become 0V.
5-10 Operation
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5.5 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 5.6.1.
II
When there is a requirement to move an axis, the NextMove BX control software translates this
into a demand output voltage. This is used to control the drive (servo amplifier) which powers the
motor. An encoder or resolver on the motor is used to measure the motor’s position. Every 1ms
II
(adjustable using the LOOPTI ME keyword) the NextMove BX compares the demanded and
measured positions. It then calculates the demand needed to minimize the difference between
them, known as the following error.
This system of constant measurement and correction is known as closed loop control.
[For the analogy, imagine you are in your car waiting at an intersection. You are going to go straight
on when the lights change, just like the car standing next to you which is called Demand. You’re
II
not going to race Demand though - your job as the controller (NextMove BX ) is to stay exactly
level with Demand, looking out of the window to measure your position ].
II
The main term that the NextMove BX uses to correct the error is called Proportional gain
(KPROP). A very simple proportional controller would simply multiply the amount of error by the
Proportional gain and apply the result to the motor [ the further Demand gets ahead or behind you,
the more you press or release the gas pedal ].
If the Proportional gain is set too high overshoot will occur, resulting in the motor vibrating back
and forth around the desired position before it settles [ you press the gas pedal so hard you go
right past Demand. To try and stay level you ease off the gas, but end up falling behind a little. You
keep repeating this and after a few tries you end up level with Demand, travelling at a steady
speed. This is what you wanted to do but it has taken you a long time ].
If the Proportional gain is increased still further, the system becomes unstable [you keep pressing
and then letting off the gas pedal so hard you never travel at a steady speed ].
To reduce the onset of instability, a term called Velocity Feedback gain (KVEL) is used. This
resists rapid movement of the motor and allows the Proportional gain to be set higher before
vibration starts. Another term called Derivative gain (KDERIV) can also be used to give a similar
effect.
With Proportional gain and Velocity Feedback gain (or Derivative gain) it is possible for a motor
to come to a stop with a small following error [ Demand stopped so you stopped too, but not quite
II
level ]. The NextMove BX tries to correct the error, but because the error is so small the amount
of torque demanded might not be enough to overcome friction.
In this situation, a term called Integral gain (KINT) can be used. This sums the error over time,
so that the motor torque is gradually increased until the positional error is reduced to zero [ like
a person gradually pushing harder and harder on your car until they’ve pushed it level with
Demand]. However, if there is large load on the motor (it is supporting a heavy suspended weight
for example), it is possible for the output to increase to 100% demand. This effect can be limited
using the KI NTLI MI T keyword which limits the effect of KINT to a given percentage of the
demand output. Another keyword called KI NTMODE can even turn off integral action when it’s not
needed.
The remaining gain terms are Velocity Feed forward (KVELFF) and Acceleration Feed
forward (KACCEL).
MN1904
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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 disturbances
and load variations. The side effect of increasing KPROP is that it also increases the
overshoot, and if set too high it will cause the system to become unstable. The aim is to set
the Proportional gain as high as possible without getting overshoot, instability or hunting on
an encoder edge when stationary (the motor will buzz).
H
H
KVEL:This gainhas adampingeffect, andcanbeincreasedtoreduce any overshoot. If KVEL
becomes too large it will amplify any noise on the velocity measurement and introduce
oscillations.
KINT: This gain has a de-stabilizing effect, but a small amount can be used to reduce any
steady state errors. By default, KINTMODE is set so that the KINT term is either ignored, or
is only applied during periods of constant velocity.
H
H
H
KINTLIMIT: The integration limit determines the maximumvalue of the effect of integral action.
This is specified as a percentage of the full scale demand.
KDERIV: This gain has a damping effect. The Derivative action has the same effect as the
velocity feedback if the velocity feedback and feedforward terms are equal.
KVELFF: This is a feed forward term and as such has a different effect on the servo system
than the previous gains. KVELFF is outside the closed loop and therefore does not have an
effect on system stability. This gain allows a faster response to demand speed changes with
lower following errors, for example you would increase KVELFF to reduce the following error
during the slew section of a trapezoidal move. The trapezoidal test move can be used to
fine-tune this gain. This term is especially useful with velocity controlled servos
H
KACCEL: This term is designed to reduce velocity overshoots on high acceleration moves.
Due to the quantization of the positional data and the speed of the servo loop, for the
acceleration feed forward term to affect the servo loop the acceleration of the axis must
exceed 1,000,000 encoder counts per second.
5-12 Operation
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II
Figure 16 - The NextMove BX servo loop
MN1904
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5.6 Tuning an axis for current control
5.6.1 Selecting servo loop gains
All servo loop parameters default to zero, meaning that the demand output will be zero at
power up. Most servo amplifiers can be set to current (torque) control mode or velocity control
mode; check that the servo amplifier will operate in the correct mode. The procedure for
setting system gains differs slightly for each. To tune an axis for velocity control, go straight to
section 5.8. It is recommended that the system is initially tested and tuned with the motor shaft
disconnected from other machinery.
Note: The method explained in this section should allow you to gain good control of the
motor, but will not necessarily provide the optimum response without further
fine-tuning. Unavoidably, this requires a good understanding of the effect of the
gain terms.
1. In the Toolbox, click the Fine-tuning icon.
The Fine-tuning window is displayed at the
right of the screen. The main area of the
WorkBench v5 window displays the Capture
window. When tuning tests are performed, this
will display a graph representing the response.
2. In the Fine-tuning window, click in the KDERIV
box and enter a starting value of 1.
Click Apply and then turn the motor shaft by
hand. Repeat this process, slowly increasing
the value of KDERIV until you begin to feel
some resistance in the motor shaft. The exact
value of KDERIV is not critical at this stage.
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 necessary.
5-14 Operation
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4. In the Move Type drop down box, check that
the move type is set to Step.
5. Click in the Distance box and enter a distance
for the step move. It is recommended to set a
value that will cause the motor to turn a short
distance, for example one revolution.
Note:
The distance depends on the scale set in
section 5.3.1. If you set a scale so that units could be expressed in revolutions (or other unit
of your choice), then those are the units that will be used here. If you did not set a scale, the
amount you enter will be in encoder quadrature counts.
6. Click in the Duration box and enter a duration
for the move, in seconds. This should be a
short duration, for example 0.15 seconds.
7. Click Go.
II
The NextMove BX will perform the move and the motor will turn. As the soon as the move is
II
completed, WorkBench v5 will download captured data from the NextMove BX . The data will
then be displayed in the Capture window as a graph.
Note: The graphs that you see will not look exactly the same as the graphs shown here!
Remember that each motor has a slightly different response.
8. Using the check boxes below the graph, select
the traces you require, for example Demand
position and Measured position.
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5.6.2 Underdamped response
If the graph shows that the response is underdamped (it overshoots the demand, as shown in
Figure 17) then the value for KDERIV should be increased to add extra damping to the move.
If the overshoot is excessive or oscillation has occurred, it may be necessary to reduce the
value of KPROP.
Measured
position
Demand
position
Figure 17 - Underdamped response
9. Click in the KDERIV and/or KPROP boxes and
make the required changes. The ideal
response is shown in section 5.6.4.
5-16 Operation
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5.6.3 Overdamped response
If the graph shows that the response is overdamped (it reaches the demand too slowly, as
shown in Figure 18) then the value for KDERIV should be decreased to reduce the damping of
the move. If the overdamping is excessive, it may be necessary to increase the value of
KPROP.
Demand
Measured
position
position
Figure 18 - Overdamped response
10. Click in the KDERIV and/or KPROP boxes and
make the required changes. The ideal
response is shown in section 5.6.4.
MN1904
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5.6.4 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 19.
Demand position
Measured position
Figure 19 - Critically damped (ideal) response
5-18 Operation
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5.7 Eliminating steady-state errors
In systems where precise positioning accuracy is required, it is often necessary to position
within one encoder count. The proportional gain, KPROP, is not normally able to achieve this
because a very small following error will only produce a small demand for the drive which may
not be enough to overcome mechanical friction (this is particularly true in current controlled
systems). This error can be overcome by applying integral gain.
The integral gain, KINT, works by accumulating following error over time to produce a demand
sufficient to move the motor into the required position with zero following error. KINT can
therefore overcome errors caused by gravitational effects such as vertically moving linear
tables. With current controlled drives a non-zero demand output is required to hold the load in
the correct position, to achieve zero following error.
Care is required when setting KINT since a high value will cause instability during moves. A
typical value for KINT would be 0.1. The effect of KINT should also be limited by setting the
integration limit, KINTLIMIT, to the smallest possible value that is sufficient to overcome friction
or static loads, for example 5. This will limit the contribution of the integral term to 5% of the full
DAC output range.
1. Click in the KINT box and enter a small starting
value, for example 0.1.
2. Click in the KINTLIMIT box and enter a value
of 5.
II
With NextMove BX , the action of KINT and KINTLIMIT can be set to operate in various
modes:
H
H
H
Never - the KINT term is never applied
Always - the KINT term is always applied
Smart - the KINT term is only applied when the demand is zero or constant.
This function can be selected using the KINTMODE drop down box.
MN1904
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5.8 Tuning an axis for velocity control
Drives designed for velocity control incorporate their own velocity feedback term to provide
system damping. For this reason, KDERIV (and KVEL) can be set to zero.
Correct setting of the velocity feed forward gain KVELFF is important to get the optimum
response from the system. The velocity feed forward term takes the instantaneous velocity
demand from the profile generator and adds this to the output block (see Figure 16). KVELFF
is outside the closed loop and therefore does not have an effect on system stability. This
means that the term can be increased to maximum without causing the motor to oscillate,
provided that other terms are setup correctly.
When setup correctly, KVELFF will cause the motor to move at the speed demanded by the
profile generator. This is true without the other terms in the closed loop doing anything except
compensating for small errors in the position of the motor. This gives faster response to
changes in demand speed, with reduced following error.
5.8.1 Calculating KVELFF
To calculate the correct value for KVELFF, you will need to know:
H
The speed, in revolutions per minute, produced by the motor when a maximum demand
(+10V) is applied to the drive.
H
H
The setting for LOOPTI ME. The factory preset setting is 1ms.
The number of encoder lines for the attached motor. Baldor BSM motors use either 1000
or 2500 line encoders.
The servo loop formula uses speed values expressed in quadrature counts per servo loop. To
calculate this figure:
1. First, divide the speed of the motor, in revolutions per minute, by 60 to give the number of
revolutions per second. For example, if the motor speed is 3000rpm when a maximum
demand (+10V) is applied to the drive:
Revolutions per second
=
=
3000 / 60
50
2. Next, calculate how many revolutions will occur during one servo loop. The factory preset
servo loop time is 1ms (0.001 seconds), so:
Revolutions per servo loop
=
=
50 x 0.001 seconds
0.05
3. Now calculate how many quadrature encoder counts there are per revolution. The
II
NextMove BX counts both edges of both pulse trains (CHA and CHB) coming from the
encoder, so for every encoder line there are 4 ‘quadrature counts’. With a 1000 line
encoder:
Quadrature counts per revolution
=
=
1000 x 4
4000
4. Finally, calculate how many quadrature counts there are per servo loop:
Quadrature counts per servo loop
=
=
4000 x 0.05
200
5-20 Operation
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The analog demand output is controlled by a 12-bit DAC, which can create output voltages in
the range -10V to +10V. This means a maximum output of +10V corresponds to a DAC value
of 2048. The value of KVELFF is calculated by dividing 2048 by the number of quadrature
counts per servo loop, so:
KVELFF
=
=
2048 / 200
10.24
5. Click in the KVELFF box and enter the value.
The calculated value should give zero
following error in normal operation. Using
values greater than the calculated value will
cause the controller to have a following error
ahead of the desired position. Using values
less than the calculated value will cause the
controller to have following error behind the
desired position.
6. In the Move Type drop down box, check that
the move type is set to Trapezoid.
7. Click in the Distance box and enter a distance for the step move. It is recommended to set
a value that will cause the motor to make a few revolutions, for example 10.
Note: The distance depends on the scale set in section 5.3.1. If you set a scale so that
units could be expressed in revolutions (or other unit of your choice), then those
are the units that will be used here. If you did not set a scale, the amount you
enter will be in encoder counts.
8. Click Go.
II
The NextMove BX will perform the move and the motor will turn. As the soon as the move is
II
completed, WorkBench v5 will download captured data from the NextMove BX . The data will
then be displayed in the Capture window as a graph.
Note: The graph that you see will not look exactly the same as the graph shown here!
Remember that each motor has a slightly different response.
9. Using the check boxes below the graph, select
the Measured velocity and Demand velocity
traces.
MN1904
Operation 5-21
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Demand velocity
Measured velocity
Figure 20 - 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 trace for Demand velocity, reduce the value of KVELFF.
If the trace for Measured velocity appears below the trace for Demand velocity, increase the
value of KVELFF. Repeat the test after each change. When the two traces appear on top of
each other (approximately), the correct value for KVELFF has been found as shown in Figure
20.
5-22 Operation
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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 give the best response.
1. Click in the KPROP box and enter a starting
value of 0.1.
2. Click Go.
II
The NextMove BX will perform the move and the motor will turn. As the soon as the move is
II
completed, WorkBench v5 will download captured data from the NextMove BX . The data will
then be displayed in the Capture window as a graph.
Note: The graph that you see will not look exactly the same as the graph shown here!
Remember that each motor has a slightly different response.
3. Using the check boxes below the graph, select
the Measured position and Demand position
traces.
MN1904
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Demand position
Measured position
Figure 21 - Correct value of KPROP
The two traces will probably appear with a small offset from each other. Adjust KPROP by
small amounts until the two traces appear on top of each other (approximately), as shown in
Figure 21.
5-24 Operation
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5.9 Digital input/output configuration
The Digital I/O window can be used to setup other digital inputs and outputs.
5.9.1 Digital input configuration
The Digital Inputs tab allows you to define how each digital input will be triggered and,
optionally, if it is to be allocated to a special function, for example the Forward Limit. In the
following example, digital input 1 will be set to trigger on a falling edge, and allocated to the
forward limit input of axis 0:
1. In the Toolbox, click the Digital I/O icon.
2. At the bottom of the Digital I/O screen, click the
Digital Inputstab. The left of the screen shows
a column of yellow icons - High, Low, Rising,
Falling and Rise/Fall. These describe how the
input will be triggered.
3. Drag the Falling icon
onto the IN1 icon
. This will setup IN1 to respond to a falling edge.
MN1904
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4. Now drag the IN1 icon
onto the Fwd Limit icon
.
This will setup IN1 as the Forward Limit input of axis 0.
II
5. Click Apply to send the changes to the NextMove BX .
Note: If required, multiple inputs can be configured before clicking Apply.
5.9.2 Digital output configuration
The Digital Outputs tab allows you to define how each digital output will operate and if it is to
be allocated to a drive enable output (see section 5.3.2). Remember to click Apply to send the
II
changes to the NextMove BX .
5-26 Operation
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5.10 Saving setup information
II
When power is removed from the NextMove BX , configuration and tuning parameters are
lost. You should therefore save this information in a file, which can be loaded after the unit is
started. Alternatively, the information can be included in program files as part of the Startup
block. Program files are stored when power is removed, so the Startup block can be used to
restore configuration and tuning parameters automatically whenever a program is run.
1. In the Toolbox, click the Edit & Debug icon.
2. On the main menu, choose File, New File.
A new program editing window will appear.
3. On the main menu, choose Tools,
Upload Configuration Parameters.
WorkBench v5 will read all the
configuration information from the
II
NextMove BX and place it in a
Startup block. For details of the Startup
block, see the Mint help file.
MN1904
Operation 5-27
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4. On the main menu, choose File, Save File . Locate a folder, enter a filename and click Save.
5.11 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.
WorkBench v5 will open a new editing window to display the file.
A Startup block should be included in every Mint program, so that whenever a program is
II
loaded and run the NextMove BX will be correctly configured. Remember that every
drive/motor combination has a slightly different response. If the same program is used on a
II
different NextMove BX installation, the Startup block will need to be changed.
5-28 Operation
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6 Troubleshooting
6
6.1 Introduction
This section explains common problems that may be encountered, together with possible
solutions.
6.1.1 Problem diagnosis
If you have followed all the instructions in this manual in sequence, you should have few
II
problems installing the NextMove BX . If you do have a problem, read this section first. In
WorkBench v5, use the Error Log tool to view recent errors and then check the help file. If you
cannot solve the problem or the problem persists, the SupportMet feature can be used.
6.1.2 SupportMet feature
The SupportMet feature (on the Help menu) can be used to e-mail information to the Baldor
representative from whom you purchased the equipment. If required, you can choose to add
your program files as attachments. WorkBench v5 will automatically start up your e-mail
program and begin a new message, with comprehensive system information and selected
attachments already in place. You can add any additional message of your own and then send
the e-mail. The PC must have email facilities to use the SupportMet feature. If you prefer to
contact Baldor technical support by telephone or fax, contact details are provided at the front
of this manual. Please have the following information ready:
II
H
H
H
H
The serial number of your NextMove BX .
Use the Help, SupportMe menu item in WorkBench v5 to view details about your system.
The type of servo amplifier and motor that you are using.
Give a clear description of what you are trying to do, for example trying to establish
communications with WorkBench v5 or trying to perform fine-tuning.
H
Give a clear description of the symptoms that you can observe, for example the Status
display, error messages displayed in WorkBench v5, or the current value of any of the
Mint error keywords AXI SERROR, AXI SSTATUS, I NI TERROR, and MI SCERROR.
H
H
The type of motion generated in the motor shaft.
Give a list of any parameters that you have setup, for example the gain settings you have
entered.
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6.2 NextMove BX 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 MintMT help
file). When a specific axis is selected, its LED (numbered 0-3) will be
illuminated, and the following symbols may be displayed by the Status LED.
Some characters will flash to indicate an error.
Spline. A spline move is being performed. See the Mint keyword SPLI NE and related
commands.
Axis enabled.
II
Torque mode. The NextMove BX is in Torque mode. See the Mint keyword TORQUE
and related commands.
Hold to Analog. The axis is in Hold To Analog mode. See the Mint keyword HTA and
related commands.
Follow and offset. When an axis is following a demand signal it may be necessary to
advance or retard the slave in relation to the master. To do this an offset move is
performed in parallel with the follow. See the Mint keywords FOLLOW and OFFSET.
Circle. A circle move is being performed. See the Mint keywords CI RCLEA or
CI RCLER.
Cam. A Cam profile is being profiled. See the Mint keyword CAM.
General error. See AXI SERROR. The motion toolbar displays the status of
AXI SERROR, which is a bit pattern of all latched errors. See also the Error Log topics in
the help file.
Error input. The ERRORI NPUT has been activated and generated an error.
Flying shear. A flying shear is being profiled. See the Mint keyword FLY.
Position following error. A following error has occurred. See the Mint keyword
AXI SERROR and associated keywords. Following errors could be caused by a badly
tuned drive/motor. At higher acceleration and deceleration rates, the following error will
typically be greater. Ensure that the drive/motor is adequately tuned to cope with these
acceleration rates.
The following error limit can be adjusted to suite your application (see Mint keywords
FOLERRORFATAL and VELFATAL). Following error could also be the cause of
encoder/resolver loss (see also Mint keyword FEEDBACKFAULTENABLE).
Follow mode. The axis is in Follow mode. See the Mint keyword FOLLOW.
Homing. The axis is currently homing. See the Mint keyword HOME.
Incremental move. An incremental move is being profiled. See the Mint keywords
I NCA and I NCR.
6-2 Troubleshooting
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Jog. The axis is jogging. In the Mint help file, see the topics J OG, J OGCOMMAND and
Jog mode.
Offset move. The axis is performing an offset move.
Positional Move. The axis is performing a linear move. See the Mint keywords MOVEA
and MOVER.
Stop. A STOP command has been issued or the stop input is active.
Axis disabled. The axis/drive must be enabled before operation can continue. See
section 5.3.3. Click the Drive enable button in WorkBench v5.
Suspend. The SUSPEND command has been issued and is active. Motion will be
ramped to zero demand whilst active.
Reverse software or hardware limit. A reverse software limit has been activated.
See AXI SERROR and/or AXI SSTATUS to determine which applies.
Forward software or hardware limit. A forward software limit has been activated.
See AXI SERROR and/or AXI SSTATUS to determine which applies.
Firmware being updated (horizontal bars appear sequentially). New firmware is being
II
downloaded to the NextMove BX .
Initialization error. An initialization error has occurred at power on. See the Error Log or
I NI TERROR topics in the help file. Initialization errors should not normally occur.
User defined symbols can be made to appear using the Mint keywords LED and LEDDI SPLAY.
MN1904
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6.2.2 Motor control
Symptom
Check
II
NextMove BX appears
Check that the connections between motor and drive are
correct. Use WorkBench v5 to perform the basic system tests
(see section 5.4).
to be working but will not
cause motor to turn.
II
Ensure that while the NextMove BX is not in error, the drive is
II
enabled and working. When the NextMove BX is first powered
up the drive should be disabled if there is no program running
(there is often an LED on the front of the drive to indicate
status).
Check that the servo loop gains are setup correctly - check the
Fine-tuning window. See sections 5.5 to 5.7.
Motor runs uncontrollably Check that the encoders are connected, they have power
when controller is
switched on.
through Encoder V+ (if required, see sections 4.4.1 and 4.7.1)
and are functioning correctly. Use a dual trace oscilloscope to
display both channels of the encoder and/or the complement
signals simultaneously.
Check that the drive is connected correctly, and that with zero
II
demand from the NextMove BX there is 0V at the drive
demand input. See section 5.4.1.
II
Verify that the NextMove BX and drive are correctly grounded
to a common earth point.
Motor runs uncontrollably Check that the axis’ corresponding encoder and demand
when controller is
signals are connected to the same axes of motion. Check the
demand to the drive is connected with the correct polarity.
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 for a positive demand signal, a positive increase in
axis position is seen. The Mint DACMODE keyword can be used
to reverse DAC output polarity.
Check that the maximum following error is set to a reasonable
value. For setting up purposes, following error detection may
be disabled by setting FOLERRORMODE = 0.
Motor is under control, but Servo loop gains may be set incorrectly. See sections 5.5 to
vibrates or overshoots
during a move.
5.8.
6-4 Troubleshooting
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Symptom
Check
Motor is under control, but Using an oscilloscope, check:
when moved to a position
and then back to the start
it does not return to the
same position.
H
all encoder channels are clear signals and free from
electrical noise;
they are correctly wired to the controller;
when the motor turns, the two square wave signals are 90
degrees out of phase. Also check the complement signals.
H
H
Ensure that the encoder lead uses shielded twisted pair cable
and that the shield is attached to the shield connection only at
II
the NextMove BX end.
II
Verify that the NextMove BX and drive are correctly grounded
to a common earth point.
6.2.3 Communication
If the problem is not listed below please contact Baldor Technical Support. An oscilloscope will
be useful for many of the electrical tests described below.
Symptom
Check
II
II
Cannot detect NextMove BX
Check that the NextMove BX is powered and the serial
lead is properly connected.
Cannot communicate with the Verify that WorkBench v5 is loaded and that
II
controller.
NextMove BX is the currently selected controller.
6.2.4 Axis LED is red or Status LED shows a flashing symbol
If an axis LED is illuminated red and/or the Status display shows a flashing symbol, use the
Error Log tool in WorkBench v5 to view a list of recent errors. Alternatively, type
PRI NT AXI SERROR and PRI NT MI SCERROR as separate commands in the WorkBench v5
Command window. Each of these commands will return an error code, a description of which
can be found in the help file.
Press F1 and locate the AXI SERROR and MI SCERROR keywords. The Error Handling book
contains topics listing the Status display indicators and basic error codes. Remember that
many error codes are the sum of a bit pattern so may not be listed individually. For help on
understanding bit pattern values, see the Bit pattern values topic in the Keywords book.
MN1904
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6-6 Troubleshooting
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7 Specifications
7
7.1 Introduction
II
This section provides technical specifications of the NextMove BX .
7.1.1 Input power
Description
Unit
VDC
VDC
Value
24
Logic supply input voltage
Minimum input voltage
18
Maximum input voltage
30
Logic supply input current (maximum)
User supply input voltage
mA
VDC
mA
700
12-24
850
User supply input current (maximum)
7.1.2 Analog inputs (X3)
Description
Unit
VDC
Value
Type
Single ended or differential
(software selectable)
Common mode voltage range
±10
(software selectable)
Input impedance
kÙ
>20
Input ADC resolution
bits
12
(includes sign bit)
Equivalent resolution (±10V input)
Sampling interval (variable)
mV
ms
±4.9
0.22 - 2
MN1904
Specifications 7-1
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7.1.3 Analog outputs (Demands - X7)
Description
Unit
Value
Bipolar
±10
Type
Output voltage range
Output current (max)
Output DAC resolution
VDC
mA
1
bits
14
(includes sign bit)
Equivalent resolution
Update interval
mV
±1.22
Immediate
7.1.4 Digital inputs (X1 & X2)
Description
Unit
VDC
VDC
Value
Type
Opto-isolated, AC inputs
Input voltage (Active high)
Nominal
Minimum
24
12
Input voltage (Active low)
VDC
Nominal
Maximum
0
2
Input current (approximate, per input)
mA
ms
11
1
Sampling interval
7.1.5 Digital inputs (Interrupts) (X6)
Description
Unit
VDC
VDC
Value
Type
Non-isolated, AC inputs
Input voltage (Active high)
Nominal
Minimum
24
12
Input voltage (Active low)
VDC
mA
Nominal
Maximum
0
2
Input current (approximate, per input)
9
7-2 Specifications
MN1904
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7.1.6 Digital outputs (X4)
Description
Unit
mA
Value
Output current
50
(maximum continuous, each output)
Update interval
Immediate
7.1.7 Relay output (X5)
Description
Unit
Value
Contacts
Normally closed
Contact rating (resistive)
1A @ 24VDC
or
0.5A @ 120VAC
Maximum carrying current
Maximum switching power
Maximum switching voltage
Maximum switching current
Contact resistance (maximum)
Update interval
A
2
60VA, 24W
125VAC, 60VDC
1
A
mÙ
100
Immediate
7.1.8 Encoder interfaces (X9 - X13)
Description
Unit
MHz
Value
A/B Differential, Z index
1.87
Encoder input
Maximum input frequency
Output power supply to encoders (total)
Maximum recommended cable length
5V, 650mA max.
30.5m (100ft)
7.1.9 CAN interfaces (X16 & X17)
Description
Channels
Bit rate
Unit
Value
CANopen, Baldor CAN
Kbit/s 10, 20, 50, 100, 125, 250, 500,
800, 1000
MN1904
Specifications 7-3
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7.1.10Environmental
Description
Unit
Operating temperature range
Min
Max
°C
°F
0
+40
+32
+104
Maximum humidity
80% for temperatures up to 87°F (31°C)
decreasingly linearly to 50% relative
humidity at 104°F (40°C), non-condensing
(according to DIN40 040 / IEC144)
%
Maximum installation altitude
(above m.s.l.)
m
ft
2000
6560
See also section 3.2.
7.1.11Weights and dimensions
Description
Unit
Value
Dimensions (H x W x D)
312mm x 58.5mm x 194mm
(12.3in x 2.3in x 7.6in)
Weight
1.86kg
(4.1lb)
7-4 Specifications
MN1904
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A Accessories
A
A.1 Introduction
II
The capabilities of the NextMove BX can be expanded using additional peripheral devices.
A.1.1 Baldor CAN nodes
II
Digital I/O can be expanded easily on NextMove BX using the Baldor CAN (CAN2)
connection. This provides a high speed serial bus interface to a range of I/O devices,
including:
H
H
H
H
H
inputNode 8: 8 opto isolated digital inputs.
relayNode 8: 8 relay outputs.
outputNode 8: 8 opto isolated digital outputs with short circuit and over current protection.
ioNode 24/24: 24 opto isolated input and 24 opto isolated outputs.
keypadNode: General purpose operator panel (3 and 4 axis versions).
Catalog
Description
number
ION001-503
ION002-503
ION003-503
ION004-503
KPD002-502
KPD002-505
8 digital inputs
8 relay outputs
8 digital outputs
24 digital inputs and 24 digital outputs
27 key keypad and 4 line LCD display
41 key keypad and 4 line LCD display
MN1904
Accessories A-1
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A.1.2 Encoder Splitter/Buffer board
This is a stand-alone PCB that takes an encoder signal, either single ended or differential and
gives differential outputs. This is useful for ‘daisy chaining’ an encoder signal from a master
across a number of controllers.
Catalog number
OPT008-501
Description
2-way encoder splitter - allows a single-ended or differential encoder
pulse train to be shared between two devices
4-way encoder splitter - allows a single-ended or differential encoder
pulse train to be shared between four devices
OPT029-501
A-2 Accessories
MN1904
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Index
A
D
Abbreviations, 2-3
Demands - X7, 4-6
Accessories, A-1
Digital I/O, 4-7
Baldor CAN nodes, A-1
encoder splitter/buffer board, A-2
Analog I/O, 4-4
analog inputs - X3, 4-4
analog outputs - X7, 4-6
configuration, 5-25–5-26
digital inputs - X1, 4-8
digital inputs - X2, 4-9
digital inputs - X6, 4-10
digital outputs - X4, 4-11
Dimensions, 3-4
Drive command output, 5-9
Drive enable output, 5-7
testing, 5-8
B
Baldor CAN nodes, A-1
Basic Installation, 3-1
E
Encoder
C
CAN
input frequency, 4-13
interfaces - X9 to X13, 4-12
Environmental
accessories, A-1
Baldor CAN, 4-21
CANopen, 4-21
location, 3-3
connectors, 4-20
specification, 7-4
specifications, 7-3
Catalog number, identifying, 2-2
Closed loop control, an introduction, 5-11
Configuration
F
Features, 2-1
axis, 5-6
digital inputs, 5-25
G
digital outputs, 5-26
selecting a scale, 5-6
setting the drive enable output, 5-7
testing the drive enable output, 5-8
Connector
locations, front panel, 4-2
locations, top panel, 4-1
Critically damped response, 5-18
General information, 1-1
H
Hardware requirements, 3-1
Help file, 5-3
MN1904
Index
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preliminary checks, 5-1
starting, 5-1
I
Indicators, 6-2
Overdamped response, 5-17
axis LEDs, 6-2, 6-5
status display, 6-2, 6-5
Input / Output
P
PC Hardware requirements, 3-1
analog I/O, 4-4
Power
connections - X8, 4-3
sources, 3-1
analog inputs - X3, 4-4, 7-1
analog outputs (Demands) - X7, 4-6, 7-2
CAN - X16 & X17, 4-20
connection summary, 4-23
digital I/O, 4-7
Precautions, 1-2
digital inputs (Interrupts) - X6, 4-10, 7-2
digital inputs - X1, 4-8, 7-2
digital inputs - X2, 4-9, 7-2
digital outputs - X4, 4-11, 7-3
encoder interfaces - X9-X13, 4-12, 7-3
relay and user power - X5, 4-14, 7-3
RS232 - X15, 4-15
connecting Baldor HMI panels, 4-17
RS422/RS485 - X14, 4-18
Installation, 3-1
R
Receiving and Inspection, 2-2
Relay, 4-14
specifications, 7-3
Reset states, 4-22
RS232, 4-15
RS422/RS485, 4-18
S
Safety Notice, 1-2
dimensions, 3-4
Saving setup information, 5-27
Scale, selecting, 5-6
mechanical, 3-3
mounting, 3-4
Serial connections
Interrupts - X6, 4-10
RS232, 4-15
Introduction to closed loop control, 5-11
RS422/RS485, 4-18
Specifications, 7-1
L
analog inputs - X3, 7-1
analog outputs (Demands) - X7, 7-2
CAN interfaces - X16 & X17, 7-3
digital inputs (Interrupts) - X6, 7-2
digital inputs - X1 & X2, 7-2
digital outputs - X4, 7-3
encoder interfaces - X9-X13, 7-3
environmental, 3-3, 7-4
input power, 7-1
LED indicators
axis LEDs, 6-2, 6-5
status display, 6-2, 6-5
Loading saved information, 5-28
M
Mounting, 3-4
O
relay output - X5, 7-3
Operation, 5-1
weights and dimensions, 3-4, 7-4
Status display, 6-2, 6-5
System watchdog, 4-22
connecting to the PC, 5-1
installing the software, 5-1
power on checks, 5-2
MN1904
Index
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critically damped response, 5-18
eliminating steady-state errors, 5-19
overdamped response, 5-17
selecting servo loop gains, 5-14
underdamped response, 5-16
T
Testing and tuning, 5-9
testing the drive command output, 5-9
Tools, 3-2
Troubleshooting, 6-1
axis LED is red, 6-5
communication, 6-5
help file, 5-3
U
Underdamped response, 5-16
Units and abbreviations, 2-3
motor control, 6-4
problem diagnosis, 6-1
status display, 6-2
W
shows a flashing symbol, 6-5
SupportMe, 6-1
Watchdog, 4-22
WorkBench v5, 5-3
Tuning, 5-9
digital input/output configuration, 5-25
help file, 5-3
loading saved information, 5-28
saving setup information, 5-27
starting, 5-4
adjusting KPROP, 5-23
axis for current control, 5-14
axis for velocity control, 5-20
calculating KVELFF, 5-20
MN1904
Index
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MN1904
Index
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Comments
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MN1904
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MN1904
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Baldor Electric Company
P.O. Box 2400
Ft. Smith, AR 72902-2400
U.S.A.
Australia
Mexico
Australian Baldor PTY Ltd
Tel: +61 2 9674 5455
Fax: +61 2 9674 2495
Baldor de Mexico
Tel: +52 477 761 2030
Fax: +52 477 761 2010
Europe
Singapore
Baldor ASR GmbH, Germany
Tel: +49 (0) 89 905 080
Fax: +49 (0) 89 905 08491
Baldor Electric PTE Ltd
Tel: +65 744 2572
Fax: +65 747 1708
Europe (Southern)
United Kingdom
Baldor UK Ltd
Tel: +44 1454 850000
Fax: +44 1454 859001
Baldor ASR AG, Switzerland
Tel: +41 52 647 4700
Fax: +41 52 659 2394
Japan
U.S.A. (Headquarters)
Baldor Electric Company
Tel: +1 479 646 4711
Fax: +1 479 648 5792
Baldor Japan Corporation
Tel: +81 45 412 4506
Fax: +81 45 412 4507
Printed in UK
E Baldor UK Ltd
LT0158A01
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