Baldor Baby Accessories iMN1921 User Manual

MOTION CONTROL  
NextMove ST  
Motion Controller  
Installation Manual  
2/03  
MN1921  
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Contents  
1
2
General Information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-1  
Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1  
2.1 NextMove ST features . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1  
2.2 Receiving and inspection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-2  
2.3 Units and abbreviations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-3  
3
4
Basic Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-1  
3.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-1  
3.1.1 Location requirements . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .  
3.1.2 Mounting the NextMove ST . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .  
3.1.3 Other requirements for installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .  
3-1  
3-2  
3-3  
Input / Output . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-1  
4.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-1  
4.1.1 Connector locations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .  
4-2  
4.2 Power connections . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-3  
4.2.1 Operation using combined drive and logic supply . . . . . . . . . . . . . . . . . . . .  
4.2.2 Operation using separate drive and logic supplies . . . . . . . . . . . . . . . . . . .  
4-3  
4-4  
4.3 Stepper outputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-5  
4.3.1 Stepper axes 0-2 drive outputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .  
4.3.2 Stepper axes 0-3 logic outputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .  
4-5  
4-8  
4.4 Analog I/O . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-9  
4.4.1 Analog inputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .  
4-9  
4.4.2 Analog output . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-10  
4.5 Digital I/O . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-11  
4.5.1 Digital inputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-11  
4.5.2 Digital outputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-13  
4.5.3 Error output . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-14  
4.6 Other I/O . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-15  
4.6.1 RS232 serial communication . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-15  
4.6.2 50-pin edge connector . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-16  
4.6.3 CAN communication . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-17  
4.7 Connection summary - minimum system wiring . . . . . . . . . . . . . 4-19  
MN1921  
Contents  
i
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5
Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-1  
5.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-1  
5.1.1 Connecting the NextMove ST to the PC . . . . . . . . . . . . . . . . . . . . . . . . . . . .  
5.1.2 Installing WorkBench v5 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .  
5.1.3 Starting the NextMove ST . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .  
5.1.4 Preliminary checks . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .  
5.1.5 Power on checks . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .  
5-1  
5-1  
5-1  
5-1  
5-2  
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 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .  
5-6  
5.4 Stepper axis - testing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-8  
5.4.1 Testing the output . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .  
5-8  
5.5 Digital input/output configuration . . . . . . . . . . . . . . . . . . . . . . . . . . 5-9  
5.5.1 Digital input configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .  
5-9  
5.5.2 Digital output configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-10  
5.6 Saving setup information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-11  
5.6.1 Loading saved information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-12  
6
7
Troubleshooting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-1  
6.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-1  
6.1.1 Problem diagnosis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .  
6.1.2 SupportMe feature . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .  
6-1  
6-1  
6.2 NextMove ST indicators . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-2  
6.2.1 Status display . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .  
6.2.2 Surface mount LEDs D3, D4 and D16 . . . . . . . . . . . . . . . . . . . . . . . . . . . . .  
6.2.3 Communication . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .  
6.2.4 Motor control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .  
6-2  
6-3  
6-4  
6-4  
Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-1  
7.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-1  
7.1.1 Input power . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .  
7.1.2 Output power (Power Out connector) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .  
7.1.3 Analog inputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .  
7.1.4 Analog output . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .  
7.1.5 Digital inputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .  
7.1.6 Digital outputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .  
7.1.7 Stepper axis 0-2 drive outputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .  
7.1.8 Stepper axes 0-3 logic outputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .  
7.1.9 CAN interface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .  
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  
7-4  
7-4  
7-4  
MN1921  
ii Contents  
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1 General Information  
1
LT0184A00 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  
disclaims 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.  
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  
workmanship. 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 supplied. 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 consequential 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 damages, so the above exclusion may not apply.) In any event,  
BALDOR’s total liability, under all circumstances, 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.  
Precautions  
WARNING: Do not touch any circuit board, power device or electrical connection before you  
first ensure that no high voltage is present at this equipment or other equipment to  
which it is connected. Electrical shock can cause serious or fatal injury.  
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.  
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.  
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.  
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: Electrical components can be damaged by static electricity. Use ESD  
(electrostatic discharge) procedures when handling this drive.  
1-2 General Information  
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2 Introduction  
2
2.1 NextMove ST features  
NextMove ST is a high performance multi-axis intelligent controller for stepper motors.  
NextMove ST features the MintMT motion control language. MintMT is a structured form of  
Basic, custom designed for stepper or servo motion control applications. It allows you to get  
started very quickly with simple motion control programs. In addition, MintMT includes a wide  
range of powerful commands for complex applications.  
Standard features include:  
H
H
H
H
H
H
H
Three stepper drive outputs, with control for a fourth external stepper axis  
Integral AC/DC power supply  
Point to point moves, software cams and gearing  
24 general purpose 5V digital inputs, software configurable as level or edge triggered  
16 general purpose digital outputs (open collector Darlington type)  
2 differential ±10V analog inputs with 12-bit resolution  
1 single-ended 0-11V analog output with 8-bit resolution for control of a fifth axis or other  
equipment  
H
Programmable in MintMT.  
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Included with NextMove ST is the Baldor Motion Toolkit CD. This contains a number of utilities  
and useful resources to get the most from you MintMT controller. These include:  
H
H
H
Mint WorkBench v5  
This is the user interface for communicating with the NextMove ST. Installing Mint  
WorkBench will also install firmware for NextMove ST.  
PC Developer Libraries  
Installing Mint WorkBench will install ActiveX interfaces that allow PC applications to be  
written that communicate with the NextMove ST.  
Embedded Developer Libraries  
Allows embedded C33 applications to be developed using the Texas Instruments  
TMS320C3x v5.11 compiler.  
This manual is intended to guide you through the installation of NextMove ST.  
The chapters should be read in sequence.  
The Basic Installation section describes the mechanical installation of the NextMove ST.  
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.  
Note: You can check that you have the latest firmware and WorkBench v5 releases by  
visiting the website www.supportme.net.  
2.2 Receiving and inspection  
When you receive your NextMove ST, there are several things you should do immediately:  
1. Check the condition of the packaging and report any damage immediately to the carrier  
that delivered your NextMove ST.  
2. Remove the NextMove ST from the shipping container but do not remove it from its anti-static  
bag until you are ready to install it. The packing materials may be retained for future shipment.  
3. Verify that the catalog number of the NextMove ST you received is the same as the  
catalog number listed on your purchase order. The catalog/part number is described in  
the next section.  
4. Inspect the NextMove ST for external damage during shipment and report any damage to  
the carrier that delivered it.  
5. If the NextMove ST 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 3.1.1.  
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  
. . . . . . . . . . . . . . . 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  
MN1921  
Introduction 2-3  
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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 ST.  
This section describes the mechanical installation of the NextMove ST.  
3.1.1 Location requirements  
You must read and understand this section before beginning the installation.  
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 the NextMove ST are shielded correctly.  
CAUTION: Avoid locating the NextMove ST immediately above or beside heat  
generating equipment, or directly below water steam pipes.  
CAUTION: Avoid locating the NextMove ST in the vicinity of corrosive substances or  
vapors, metal particles and dust.  
The safe operation of this equipment depends upon its use in the appropriate environment.  
The following points must be considered:  
H
H
H
The NextMove ST is designed to be mounted indoors, permanently fixed and located.  
The NextMove ST must be secured by the slots in the metal carrier.  
The NextMove ST must be installed in an ambient temperature of 0°C to 40°C (32°F to  
104°F).  
H
The NextMove ST must be installed 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.  
H
H
The NextMove ST must be installed where the pollution degree according to IEC664 shall  
not exceed 2.  
There shall not be abnormal levels of nuclear radiation or X-rays.  
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3.1.2 Mounting the NextMove ST  
CAUTION: Before touching the unit be sure to discharge static electricity from your  
body and clothing by touching a grounded metal surface. Alternatively,  
wear an earth strap while handling the unit.  
Ensure you have read and understood the location requirements in section 3.1.1. Mount the  
NextMove ST by the four slots in the metal carrier/heatsink assembly. M5 bolts or screws are  
recommended.  
140 (5.51)  
53 (2.09)  
Slot detail  
6 (0.24)  
All dimensions shown as  
mm (inches)  
127 (5.00)  
Figure 1 - Package dimensions  
There must be at least 20mm clearance between the NextMove ST and neighboring  
equipment to allow sufficient cooling by natural convection. Remember to allow additional  
space around the edges to accommodate the mating connectors and associated wiring  
leading to the NextMove ST.  
3-2 Basic Installation  
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3.1.3 Other requirements for installation  
H
H
The NextMove ST requires a power supply as described in section 4.2.  
A PC that fulfills the following specification:  
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  
One free RS232 serial (COM) port  
800 x 600, 256 colors 1024 x 768, 256 colors  
Serial port  
Screen  
Mouse  
A mouse or similar pointing device  
Operating  
system  
Windows 95, Windows 98, Windows ME,  
Windows NT, Windows 2000 or Windows XP  
Software installation will be described later, in section 5.  
H
Your PC operating system user manual might be useful if you are not familiar with Windows.  
MN1921  
Basic Installation 3-3  
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3-4 Basic Installation  
MN1921  
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4 Input / Output  
4
4.1 Introduction  
This section describes the digital and analog input and output capabilities of the NextMove ST.  
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  
MN1921  
Input / Output 4-1  
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4.1.1 Connector locations  
1
2
3
4
5
1
2
3
4
5
5
4
3
2
1
5
4
3
2
1
Shield  
A2  
B2  
C2  
D2  
PSU Logic  
PSU Logic  
Shield  
PSU Drive  
PSU Drive  
D0  
C0  
B0  
A0  
Shield  
D1  
C1  
B1  
A1  
Shield  
Axis0  
Output  
Axis2  
Output  
Axis1  
Output  
Power  
In  
Shield  
AIN0+  
AIN0-  
AIN1+  
AIN1-  
AGND  
1
2
3
4
5
6
6
Shield  
5
4
3
2
1
-12V OUT  
Shield  
Analog  
Inputs  
Power  
Out  
+12V OUT  
DGND  
+5V OUT  
Shield  
DOUT0  
DOUT1  
DOUT2  
DOUT3  
DOUT4  
DOUT5  
DOUT6  
DOUT7  
OUT COM0  
DGND  
1
12  
11  
10  
9
Shield  
DGND  
DIN7  
DIN6  
DIN5  
DIN4  
DIN3  
DIN2  
DIN1  
DIN0  
DGND  
Shield  
2
3
4
5
8
Digital  
Outputs  
0-7  
Digital  
Inputs  
0-7  
6
7
7
6
8
5
9
4
10  
11  
12  
3
2
Shield  
1
Shield  
DOUT8  
1
12  
11  
10  
9
Shield  
DGND  
DIN23  
DIN22  
DIN21  
DIN20  
DIN19  
DIN18  
DIN17  
DIN16  
DGND  
Shield  
2
DOUT9  
3
DOUT10  
DOUT11  
DOUT12  
DOUT13  
DOUT14  
DOUT15  
OUT COM1  
DGND  
4
5
8
Digital  
Outputs  
8-15  
Digital  
Inputs  
16-23  
6
7
7
6
8
5
9
4
10  
11  
12  
3
2
Shield  
1
12  
11  
10  
9
Shield  
Shield  
DGND  
DIN8  
1
DGND  
2
AUXZ IN  
AUXDIR IN  
AUXSTEP IN  
BOOST2  
DIR2  
3
DIN9  
4
Digital  
Inputs  
8-15  
Misc  
8
DIN10  
DIN11  
DIN12  
DIN13  
DIN14  
DIN15  
DGND  
Shield  
5
7
6
6
7
5
STEP2  
DGND  
8
4
9
3
(NC)  
10  
11  
12  
2
SGND  
Serial  
1
SOUT  
Mating connectors:  
Weidmüller Omnimate BL 3.5/12  
Weidmüller Omnimate BL 3.5/6  
Weidmüller Omnimate BLZ 5.08/5  
50-pin connector (not used)  
Tightening torque for terminal block  
connections is 0.25Nm (2.2 lb-in)  
9-pin D-type socket (female)  
4-2 Input / Output  
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4.2 Power connections  
The NextMove ST can accept AC or DC power supplies, and has connections for separate  
drive and logic supplies. However, the NextMove ST can operate from a single combined  
supply if necessary.  
Supply  
connection  
Recommended  
supply voltage  
Supply voltage  
range  
Power  
requirement  
Logic  
Drive  
24VDC  
24VAC  
24VDC  
12-35VDC  
12-30VAC  
60W  
60VA  
150W  
12-35VDC  
(must not exceed 6A)  
24VAC  
24VDC  
24VAC  
12-30VAC  
(must not exceed 6A RMS)  
150VA  
210W  
210VA  
Combined  
drive and logic  
12-35VDC  
(must not exceed 8.5A)  
12-30VAC  
(must not exceed 8.5A RMS)  
4.2.1 Operation using combined drive and logic supply  
To operate the NextMove ST using a combined drive and logic supply, it is necessary to  
connect links between the power input connections as shown in Figure 2. The drive and logic  
supply inputs have independent bridge rectifiers so polarity is not important. The NextMove ST  
creates its own ±12V and +5V supplies for the control card and internal circuitry by deriving  
power from the drive supply.  
POWER IN  
5
Rectifier  
(logic)  
4
3
Fuse  
2
1
PSU Drive:  
12-35VDC or  
12-30VAC  
Rectifier  
(drive)  
Fuse  
Figure 2 - Linking supply inputs to operate from drive supply only  
The regulated ±12V and +5V supplies are made available on the power out connector, for use  
with low power external circuitry, such as input potentiometers. Current demand must not  
exceed 10mA from the ±12V supply and 200mA from the 5V supply.  
MN1921  
Input / Output 4-3  
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4.2.2 Operation using separate drive and logic supplies  
For improved noise immunity, the ±12V and +5V supplies used for the control card and internal  
circuitry can be derived from a separate logic supply. To operate the NextMove ST using  
separate drive and logic supplies, do not link power input connector pins. Connect power as  
shown in Figure 3.  
POWER IN  
5
4
3
2
1
PSU Logic:  
12-35 VDC or  
12-30 VAC  
Rectifier  
(logic)  
Fuse  
Fuse  
PSU Drive:  
12-35 VDC or  
12-30 VAC  
Rectifier  
(drive)  
Figure 3 - Connecting separate drive and logic supplies  
4-4 Input / Output  
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4.3 Stepper outputs  
The NextMove ST provides three 37VDC (max), 2A stepper axes drive outputs, operating at  
10Hz to 200kHz. Logic level outputs are provided to control a fourth stepper axis.  
If required, the output current for individual axes can be derated. This can only be achieved by  
making precise alterations to the NextMove ST circuitry. Please contact Baldor Technical  
Support for details.  
4.3.1 Stepper axes 0-2 drive outputs  
AXIS 2  
5
4
3
2
1
Shield  
Step  
ST  
L297  
Controller  
ST  
L298  
Driver  
Motor  
outputs  
Direction  
Figure 4 - Stepper output - axis 2 shown  
The stepper axis drive outputs operate in half stepping mode.  
4.3.1.1 Connecting a 4-wire motor  
Four-wire bipolar motors can be used with the NextMove ST. Connections are shown in  
Figure 5. If the motor turns in the wrong direction, reverse the connections from one of the  
phase outputs AB or CD, but not both.  
NextMove ST  
axis output  
Motor  
Shield  
Phase 1  
Phase 2  
Figure 5 - Connecting a 4-wire motor  
MN1921  
Input / Output 4-5  
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4.3.1.2 Connecting a 6-wire motor  
Six-wire unipolar motors can be used with the NextMove ST. Six-wire motors are similar to  
eight-wire motors except the coils in each phase have a permanent center tap connection.  
Connections are shown in Figure 6. If the motor turns in the wrong direction, reverse the  
connections from one of the phase outputs AB or CD, but not both. Always leave the common  
center tap wires unconnected.  
NextMove ST  
axis output  
Motor  
Shield  
Phase 1  
Phase 2  
Figure 6 - Connecting a 6-wire motor  
4-6 Input / Output  
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4.3.1.3 Connecting a 8-wire motor  
Eight-wire (universal) motors can be used with the NextMove ST. Connections are shown in  
Figures 7 and 8. If the motor turns in the wrong direction, reverse the connections from one of  
the phase outputs AB or CD, but not both. Eight-wire motors can be connected in two ways,  
depending on the required torque and speed characteristics.  
NextMove ST  
axis output  
Motor  
Shield  
Phase 1  
Phase 2  
Figure 7 - Connecting a 8-wire motor, parallel windings  
NextMove ST  
axis output  
Motor  
Shield  
Phase 1  
Phase 2  
Figure 8 - Connecting a 8-wire motor, series windings  
MN1921  
Input / Output 4-7  
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4.3.2 Stepper axes 0-3 logic outputs  
DGND  
STEP3  
DGND  
STEP2  
DGND  
STEP1  
DGND  
STEP0  
DIR3  
NextMove ST  
BOOST3  
DIR2  
ULN2003  
STEP0  
DGND  
BOOST2  
DIR1  
Step  
Output  
74AHCT244  
BOOST1  
DIR0  
GND  
BOOST0  
J3  
Figure 9 - Stepper output pin header J3, and output circuit (STEP0 shown)  
To allow external stepper amplifiers to be used, all of the stepper output signals from the  
NextMove ST control card are output on a 16-pin header, J3, mounted on the card. There are  
four sets of stepper motor control outputs, operating in the range 10Hz to 1MHz. The step  
(pulse), direction and boost signals from the NextMove ST control card are divided into two  
groups, each group driven by an ULN2003 open collector Darlington output device.  
Each ULN2003 has a maximum power dissipation of 900mW at 25°C. The total combined  
output requirements for the group DIR0 - DIR2 and STEP0 - STEP2 must not exceed this limit.  
The total combined output requirements of the group DIR3, STEP3 and BOOST0 - BOOST3  
must not exceed this limit. The maximum current limit for any individual output in a group is  
400mA if only one output is in use, reducing to 50mA if all outputs in the group are in use.  
These limits are for a 100% duty cycle.  
It is recommended to use separate shielded cables for the step outputs. The shield should be  
connected at one end only.  
The STEP2, DIR2 and BOOST2 outputs are also duplicated on the MISC connector.  
4-8 Input / Output  
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4.4 Analog I/O  
The NextMove ST provides:  
H
H
Two 12-bit resolution analog inputs.  
One 0-11V analog output.  
4.4.1 Analog inputs  
H
H
H
H
H
Differential inputs.  
Voltage range: ±10V.  
Resolution: 12-bit with sign (accuracy ±4.9mV @ ±10V input).  
Input impedance: 120k.  
Sampling frequency: 4kHz maximum, 2kHz if both inputs are enabled.  
The analog inputs pass through a differential buffer and second order Butterworth filter with a  
cut-off frequency of approximately 1kHz.  
Both inputs are normally sampled at 2kHz. However, an input can be disabled by setting  
ADCMODE to 4 (_a c OFF). With one input disabled, the remaining input will be sampled at 4kHz.  
In MintMT, analog inputs can be read using the ADC keyword. See the MintMT help file for full  
details of ADC and ADCMODE.  
NextMove ST  
15k  
22nF  
10k  
120k  
120k  
-
-
10k  
AIN0-  
AIN0+  
3
2
+
+
MintMT  
ADC. 0  
10nF  
100pF  
100pF  
AGND  
6
Figure 10 - Analog input, AIN0 shown  
For differential inputs connect input lines to AIN+ and AIN-. Leave AGND unconnected.  
MN1921  
Input / Output 4-9  
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4.4.2 Analog output  
H
H
H
Single ended output.  
Voltage range: 0-11V.  
Output current: 30mA maximum.  
The analog output provides an independent opto-isolated 0-11V output for controlling an  
additional axis or other external equipment. The output is controlled using the AUXDAC  
keyword - see the MintMT help file. Output offset voltage can be controlled by the variable  
resistor R35, located just behind the SOUT and SGND pins of the Misc connector.  
NextMove ST  
MintMT  
AUXDAC. 0  
TI TLC272C  
Integration of PWM signal  
and offset adjustment  
PWM  
signal  
Opto-  
isolator  
1
2
SOUT  
SGND  
R35  
GND  
Figure 11 - Analog output  
4-10 Input / Output  
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4.5 Digital I/O  
The NextMove ST provides:  
H
H
24 general purpose digital inputs.  
16 general purpose digital outputs.  
Note: It is recommended to use separate shielded cables for the digital inputs. The  
shield should be connected to the input connector’s shield pin.  
4.5.1 Digital inputs  
The digital inputs are available across a range of connectors, as shown in section 4.1.1.  
All digital inputs have a common specification:  
H
H
General purpose 5V TTL digital inputs with internal pull-up resistors. Can also be assigned  
to special purposes such as Home, Limit, Stop and Error inputs.  
Sampling frequency: 1kHz  
NextMove ST  
+5V  
10k  
MintMT  
I NX. 0  
74AHCT14  
DIN0  
3
2
1nF  
DGND  
GND  
Figure 12 - General purpose digital input - DIN0 shown  
CAUTION: Do not connect 24V signals to the digital inputs.  
These are unprotected inputs connected directly to 74AHCT14 devices. 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 MintMT. The use of shielded cable for inputs is  
recommended.  
The 24 general purpose digital inputs can be shared between axes and can be configured  
using WorkBench v5 (or the Mint keywords beginning I NPUT...) to determine their active level  
and other properties. The state of individual inputs can be read directly using the I NX  
keyword. See the MintMT help file.  
MN1921  
Input / Output 4-11  
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Using a digital input as a LIMIT or HOME input  
An input can be configured as a Limit or Home input for any axis, using the  
LI MI TFORWARDI NPUT, LI MI TREVERSEI NPUT or HOMEI NPUT keywords. Typically, limit and  
home inputs will be grounded by normally closed switches. When a limit or home switch is  
activated, the switch will become open-circuit. If two or more limit switches are to be used they  
can be connected in series. If it is necessary to determine which limit has been reached, a  
double pole switch can be used at one limit to trigger an additional general purpose digital  
input.  
Using a digital input as a STOP input  
An input can be configured as a Stop input for any axis, using the STOPI NPUT keyword.  
Typically, a stop input will be grounded by a normally closed switch. When a stop switch is  
activated, the switch will become open-circuit. The action of a STOP input can be controlled  
using the STOPI NPUTMODE keyword. Typically, it is used as a safety interlock to stop all axes.  
Using a digital input as an ERROR input  
An input can be configured as an Error input for any axis, using the ERRORI NPUT keyword.  
This input can be used to stop the NextMove ST in the event of an error occurring elsewhere  
in the system. The action of an ERROR input can be controlled using the ERRORSWI TCH and  
ERRORI NPUTMODE keywords.  
See the MintMT help file for details of each keyword.  
4.5.1.1 Auxiliary Encoder inputs - AUXSTEP IN, AUXDIR IN, AUXZ IN  
These inputs accept step (pulse) and direction signals, allowing an external source to provide  
the reference for the speed and direction of an axis. The step frequency (20MHz maximum)  
determines the speed, and the direction input determines the direction of motion. Both the  
rising and falling edges of the AUXSTEP IN input cause an internal counter to be changed. If  
5V is applied to the AUXDIR IN input (or it is left unconnected) the counter will increment. If  
the direction input is grounded the counter will be decremented.  
Typically, one channel of an encoder signal (either A or B) would be used to provide the  
AUXSTEP IN signal, allowing the input to be used as an auxiliary (master) encoder input. The  
input can be used as a master position reference for cam, fly and follow move types. For this,  
the MASTERSOURCE keyword must be used to configure the pulse input as a master (auxiliary)  
encoder input. The master position reference can then be read using the AUXENCODER  
keyword.  
Since a secondary encoder channel is not used, the AUXDIR IN input allows the direction of  
motion to be determined. The AUXZ IN input can be supplied from the encoder’s index signal,  
and may be read using the AUXENCODERZLATCH keyword.  
See the MintMT help file for details of each keyword.  
Note: The AUXSTEP IN and AUXDIR IN inputs use the same type of input circuitry as  
the other digital inputs (see Figure 12). However, due to the faster internal  
processing required for these signals, they are particularly sensitive to noise. For  
this reason, connections must use shielded twisted pair cable.  
4-12 Input / Output  
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4.5.2 Digital outputs  
The digital outputs are available across a range of connectors, as shown in section 4.1.1.  
H
H
16 general purpose digital outputs  
Update frequency: Immediate  
There are 16 general purpose digital outputs, arranged in two groups; DOUT0-DOUT7 and  
DOUT8-DOUT15. Each group is driven by a ULN2803 device. The outputs are designed to  
sink current from an external supply (typically 24VDC), but have no overcurrent or short circuit  
protection. When an output is activated, it is grounded through the ULN2803.  
The ULN2803 has a maximum power dissipation of 2W at 25°C. The total output requirements  
of each group must not exceed this limit. The maximum current limit for any output within a  
group is 500mA if only one output is in use, reducing to 150mA if all outputs in the group are in  
use. These limits are for a 100% duty cycle.  
If the outputs are driving inductive loads such as relays, connect the group’s OUT COMx  
connection to the output’s power supply, as shown in Figure 13. This will connect internal  
clamp diodes on all outputs in the group.  
An output can be configured in MintMT as a general purpose output, a drive enable output or a  
global error output. Outputs can be shared between axes and can be configured using  
WorkBench v5 (or the OUTPUTACTI VELEVEL keyword) to determine their active level.  
Load  
supply  
24V  
NextMove ST  
Output  
Load  
ULN2803  
2
MintMT  
OUTX. 0  
DOUT0  
74AHCT244  
10  
11  
OUT COM0  
DGND  
Load  
supply  
GND  
GND  
Figure 13 - Digital output - DOUT0 shown  
MN1921  
Input / Output 4-13  
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4.5.3 Error output  
The NextMove ST control card has an internal error output connected directly to the enable  
inputs of the ST L297 stepper controllers (see section 4.3.1). The error output must therefore  
be used to enable the axes. There are a number of methods for controlling the error output.  
4.5.3.1 RELAY keyword  
Because the NextMove ST control card is used in products that include a hardware relay, the  
error output may be controlled directly by the RELAY keyword. The command RELAY=1 will  
enable the stepper controllers; the command RELAY=0 will disable them.  
4.5.3.2 DRIVEENABLEOUTPUT keyword  
The DRI VEENABLEOUTPUT keyword can be used to configure the error output as the drive  
enable output. For example, the command DRI VEENABLEOUTPUT. 1=_RELAY0 will mean  
that the error output will be the drive enable output for axis 1. When axis 1 is enabled, the error  
output will be activated and the axis enabled. If multiple axes are configured to use the error  
output as their drive enable output, enabling one axis will enable all of them. Similarly, if one  
axis is disabled, all will be disabled.  
The RELAY keyword cannot control the error output if it is configured as a drive enable output.  
4.5.3.3 GLOBALERROROUTPUT keyword  
By default, the error output is used as the global error output. In the event of an error on any  
axis, the global error output will be deactivated, disabling all axes. This action overrides the  
state of the error output defined by other methods, such as the drive enable status or RELAY  
keyword. Alternatively, the GLOBALERROROUTPUT keyword can be used to configure a  
general purpose digital output to be the global error output.  
See the MintMT help file for details of each keyword.  
4.5.3.4 Jumper settings  
The operation of the error output is dependent on jumpers JP1, JP3, JP4 and JP5. Jumper  
JP1 is situated next to the POWER IN connector on the baseboard, and must be set as shown  
in Figure 14.  
JP3 (do not fit)  
JP4  
JP5  
JP1  
Normal operation.  
Stepper controller enable  
inputs are under the control  
of the NextMove ST Error  
output.  
Disable.  
Stepper controller outputs  
are permanently disabled.  
Figure 14 - Error output jumper JP1  
Jumpers JP3, JP4 and JP5 are situated at the edge of the NextMove ST control card, near the  
end of the 50-pin expansion header. JP4 and JP5 must be fitted to allow correct operation of  
the error output. The neighboring jumper JP3 must not be fitted.  
4-14 Input / Output  
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4.6 Other I/O  
4.6.1 RS232 serial communication  
Location Serial  
Mating connector: 9-pin female D-type  
Pin Name  
Description  
1
2
3
4
5
6
7
8
9
SC  
Shield connection  
Receive Data  
Transmitted Data  
(Not connected)  
Signal Ground  
(Not connected)  
Request To Send  
Clear To Send  
Ground  
RXD  
TXD  
(NC)  
0V GND  
(NC)  
RTS  
1
5
6
9
CTS  
DGND  
Description RS232 connections on a 9-pin male D-type connector  
This connector is used to connect the NextMove ST to the PC running WorkBench v5, or other  
controller. It is a full-duplex RS232 serial port with the following preset configuration:  
H
H
H
H
H
H
57,600 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 SERI ALBAUD keyword. It is stored in EEPROM  
and restored at power up. The port is capable of operation at up to 115,200 baud.  
The port is configured as a DCE (Data Communications Equipment) unit so it is possible to  
operate the controller with any DCE or DTE (Data Terminal Equipment). Full duplex  
transmission with hardware handshaking is supported.  
Only the TXD, RXD and 0V GND connections are required for communication. Pins 4 and 6  
are linked on the NextMove ST.  
MN1921  
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  
NextMove ST  
Computer  
COM Port  
(DCE / DTE)  
(DCE)  
Connect overall  
shield to connector  
backshell.  
Figure 15 - 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. A suitable  
cable is available from Baldor, catalog number CBL001-501.  
4.6.2 50-pin edge connector  
This connector (if present) is fitted for development purposes only and is not used for normal  
operation of the NextMove ST.  
4-16 Input / Output  
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4.6.3 CAN communication  
The CAN connection is made using the RJ45 connector on the NextMove ST control card.  
Location NextMove ST control card  
Pin Name  
Description  
1
CAN+  
CAN channel positive  
2
CAN-  
CAN channel negative  
3
-
(NC)  
4
CAN 0V  
Ground/earth reference for CAN signals  
1
8
5
CAN V+  
CAN power V+ (12-24V)  
6
-
-
-
(NC)  
(NC)  
(NC)  
7
8
Description  
Opto-isolated CAN interface using a RJ45 connector.  
CAN offers serial communications over a two wire twisted pair cable up to maximum length of  
500m (1640ft). It offers very high communication reliability in an industrial environment; the  
-11  
probability of an undetected error is 4.7x10 . CAN is optimized for the transmission of small  
data packets and therefore offers fast update of I/O devices (peripheral devices) connected to  
the bus. The maximum (default) transmission rate on NextMove ST is 500Kbit/s.  
Correct operation of CAN can only be achieved with screened/shielded twisted-pair cabling.  
For improved noise immunity, CAN+ and CAN- must form a twisted pair with the shield  
connected to the connector backshell, as shown in Figure 16. A range of suitable CAN cables  
are available from Baldor, with catalog numbers beginning CBL004-5...  
NextMove ST  
RJ45 connector  
NextMove ST  
RJ45 connector  
Baldor HMI  
Operator Panel  
End node  
Twisted pair  
Twisted pairs  
1
2
1
2
7
2
1
2
T
R
T
R
0V  
4
5
4
5
4
5
24V  
Figure 16 - Typical CAN network connections  
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The CAN channel is opto-isolated. A voltage in the range 12-24V must be applied to pin 5 of  
the CAN connector. An internal voltage regulator provides the 5V required for the isolated CAN  
circuit. Practical operation of the CAN channel is limited to 500Kbit/s owing to the propagation  
delay of the opto-isolators.  
The CAN channel must be terminated by a 120resistor connected  
between CAN+ and CAN- at both ends of the network and nowhere  
else. If the NextMove ST is at the end of the network then ensure  
that jumper JP1, located just below the status display, is in position.  
This will connect an internal terminating resistor.  
JP1  
A very low error rate over CAN can only be achieved with a suitable  
wiring scheme, so the following points should be observed:  
H
The connection arrangement is normally a multi-point drop. The CAN cables should have  
a characteristic impedance of 120and a delay of 5ns/m. Other characteristics depend  
upon the length of the cabling:  
Cable length  
Maximum  
theoretical  
bit rate  
Resistance  
Conductor  
area  
2
2
2
0m ~ 300m (0ft ~ 984ft)  
500Kbit/s  
100Kbit/s  
<60m/m  
<40m/m  
<26m/m  
0.34 ~ 0.60mm  
0.50 ~ 0.60mm  
0.75 ~ 0.80mm  
300m ~ 600m (984ft ~ 1968ft)  
600m ~ 1000m (1968ft ~ 3280ft) 50Kbit/s  
H
The 0V connection of all of the nodes on the network must be tied together through the  
CAN cabling. This ensures that the CAN signal levels transmitted by NextMove ST or  
CAN peripheral devices are within the common mode range of the receiver circuitry of  
other nodes on the network.  
4.6.3.1 CANopen and Baldor CAN  
The NextMove ST can communicate with other MintMT controllers over a CANopen network.  
Baldor CAN is a proprietary CAN protocol, allowing the NextMove ST to communicate with a  
range of Baldor ioNode CAN peripherals.  
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, 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 NextMove ST has the  
ability to act as the network manager node or as a slave on the CANopen network.  
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. Optional MintMT  
firmware can be downloaded to implement a proprietary Baldor protocol on CAN bus 2, based  
on CAL (the CAN Application Layer). This supports both direct access to device parameters  
and time-critical process data communication. Baldor CAN provides support for the full range  
of Baldor ioNode CAN peripherals.  
The baud rate and node number of the NextMove ST can be set using the BUSBAUD and  
NODE keywords.  
4-18 Input / Output  
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4.7 Connection summary - minimum system wiring  
As a guide, Figure 17 shows an example of the typical minimum wiring required to allow the  
NextMove ST to control a single stepper motor. The diagram shows the logic supply being  
derived from the main Drive supply (see section 4.2.1).  
5
4
Drive  
power  
2
1
supply  
Host PC  
Stepper motor  
Serial  
communication  
Figure 17 - Example minimum system wiring  
MN1921  
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4-20 Input / Output  
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5 Operation  
5
5.1 Introduction  
The software provided includes a number of applications and utilities to allow you to configure,  
tune and program the NextMove ST. The Baldor Motion Toolkit CD containing the software can  
be found separately within the packaging.  
5.1.1 Connecting the NextMove ST to the PC  
Connect the serial cable between a PC serial port (often labeled as “COM”) to the  
NextMove ST RS232 connector. WorkBench v5 can scan all the COM ports, so you can use  
any port. If you are not using the Baldor serial cable CBL001-501, your cable must be wired in  
accordance with Figure 15 in section 4.6.1.  
5.1.2 Installing WorkBench v5  
You will need to install WorkBench v5 to configure the NextMove ST.  
1. Insert the CD 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 CD device.  
Follow the on-screen instructions to install WorkBench v5. The setup Wizard will copy the files  
to appropriate folders on the hard drive. The preset folder is C:\Program Files\Baldor\MintMT,  
although this can be changed during setup.  
5.1.3 Starting the NextMove ST  
If you have followed the instructions in the previous sections, you should have now connected  
power sources, your choice of inputs and outputs and the serial cable linking the PC with the  
NextMove ST.  
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
Inspect all power connections for accuracy, workmanship and tightness.  
Verify that all wiring conforms to applicable codes.  
Verify that the NextMove ST is properly earthed/grounded.  
Check all signal wiring for accuracy.  
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5.1.5 Power on checks  
If at any time the status display shows a digit and a flashing decimal point, this indicates that  
the NextMove ST has detected a fault - see section 6.  
1. Turn on the Logic supply (if separate from the Drive supply).  
2. Turn on the Drive supply.  
3. After a brief test sequence, ( followed by ), the Status display should show the node  
number, for example , the factory default. If the display is not lit then re-check the power  
supply connections. A green surface mount LED (D16) near the center of the control card  
should also be flashing once every two seconds. The NextMove ST is now ready to be  
configured using WorkBench v5.  
Note: If the red LED (D4) near the center of the control card remains illuminated, then  
the supply voltage to the NextMove ST control card is too low. See section 6.2.2  
for LED locations.  
5-2 Operation  
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5.2 WorkBench v5  
WorkBench v5 is a fully featured application for programming and controlling the NextMove ST.  
The main WorkBench 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 MintMT  
keyword, how to use WorkBench 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 18 - The WorkBench 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.  
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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 small 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 port to which the NextMove ST is connected. If you are unsure which PC serial port  
is connected to the drive, select Scan all serial ports.  
Click Scan to search for the NextMove ST.  
When the search is complete, click NextMove ST in the list to select it, and click the  
Select button.  
Note: If the NextMove ST is not listed, check the serial lead between the NextMove ST  
and the PC and that the NextMove ST is powered correctly. Click Scan to re-scan  
the ports.  
4. A dialog box may be displayed to tell you that WorkBench v5 has detected new firmware.  
Click OK to continue. WorkBench v5 reads back data from the NextMove ST. When this is  
complete, Fine-tuning mode is displayed. This completes the software installation.  
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5.3 Configuring an axis  
The NextMove ST is capable of controlling up to four stepper axes. This section describes the  
basic setup for these axes. Commands typed in the Command window have immediate effect  
- they do not need to be separately downloaded to the NextMove ST.  
5.3.1 Selecting a scale  
When controlling stepper motors, MintMT defines all positional and speed related motion  
keywords in terms of steps. The number of steps 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 1.8° step angle. The NextMove ST operates in half step mode, so  
there will be 400 steps per revolution. If SCALE is not set, a MintMT command that involves  
distance, speed, or acceleration may need to use a large number to specify a significant  
move. For example MOVER=1600 (Move Relative) would rotate the motor by 1600 steps - only  
four revolutions. By setting a SCALE factor of 400, 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.  
4. Click in the Scale box and type a value.  
5-6 Operation  
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5. Click Apply.  
This immediately sets the scaling factor for  
the selected axis, which will remain in the  
NextMove ST until another scale is defined  
or power is removed from the NextMove ST.  
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5.4 Stepper axis - testing  
This section describes the method for testing a stepper axis. The stepper control is an open  
loop system so no tuning is necessary.  
5.4.1 Testing the output  
This section tests the operation and direction of the output. It is recommended that the system  
is initially tested and tuned with the motor shaft disconnected from other machinery.  
1. Check that the Drive enable button is  
pressed (down).  
2. In the Toolbox, click the Edit & Debug icon.  
3. Click in the Command window.  
4. Type:  
J OG. 0=2  
where 0 is the axis (stepper output) to be  
tested and 2 is the speed.  
The J OG command specifies the speed in  
user units per second, so the speed is  
affected by SCALE (section 5.3.1). If you have not selected a scale, the command  
J OG. 0=2 will cause rotation at only 2 half steps per second, so it may be necessary to  
increase this figure significantly, to 200 for example. If you have selected a scale that  
provides user units of revolutions (as described in section 5.3.1) J OG. 0=2 will cause  
rotation at 2 revolutions per second. If there appears to be no drive output, check that  
jumper JP1 has not been set to disable the outputs - see section 4.5.3.  
5. To repeat the tests for reverse moves, type:  
J OG. 0 = - 2  
6. To remove the demand and stop the test, type:  
STOP. 0  
5-8 Operation  
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5.5 Digital input/output configuration  
The Digital I/O window can be used to setup other digital inputs and outputs.  
5.5.1 Digital input configuration  
The Digital Inputs tab allows you to define how each digital input will be triggered, and if it  
should be assigned to a special purpose function such as a Home or Limit input. 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 Inputs tab.  
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.  
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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.  
5. Click Apply to send the changes to the NextMove ST.  
Note: If required, multiple inputs can be configured before clicking Apply.  
5.5.2 Digital output configuration  
The Digital Outputs tab allows you to define how each digital output will operate and if it is to  
be configured as an error output. Remember to click Apply to send the changes to the  
NextMove ST.  
5-10 Operation  
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5.6 Saving setup information  
When power is removed from the NextMove ST all data, including configuration parameters, is  
lost. You should therefore save this information in a file, which can be loaded when the card is  
next used. Alternatively, the information can be included in program files as part of the Startup  
block.  
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  
NextMove ST and place it in a Startup  
block. For details of the Startup block,  
see the MintMT help file.  
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4. On the main menu, choose File, Save File. Locate a folder, enter a filename and click Save.  
5.6.1 Loading saved information  
1. In the Toolbox, click the Edit & Debug icon.  
2. On the main menu, choose File, Open File...  
Locate the file and click Open.  
A Startup block should be included in every Mint program, so that whenever a program is  
loaded and run the NextMove ST will be correctly configured. If the same program is used  
on a different NextMove ST installation, remember the Startup block might need to be  
changed to accommodate a different motor type.  
5-12 Operation  
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6 Troubleshooting  
6
6.1 Introduction  
This section explains common problems and their solutions.  
If you want to know the meaning of the LED indicators, see section 6.2.  
6.1.1 Problem diagnosis  
If you have followed all the instructions in this manual in sequence, you should have few  
problems installing the NextMove ST. 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 SupportMe feature can be used.  
6.1.2 SupportMe feature  
The SupportMe feature is available from the Help menu or by clicking the  
button on the  
motion toolbar. SupportMe can be used to gather information which can then be e-mailed,  
saved as a text file, or copied to another application. The PC must have e-mail facilities to use  
the e-mail 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:  
H
H
H
H
H
The serial number of your NextMove ST (if known).  
Use the Help, SupportMe menu item in WorkBench v5 to view details about your system.  
The type of motor that you are using.  
A clear description of what you are trying to do.  
A clear description of the symptoms that you can observe, for example 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 scale settings you have  
entered.  
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6.2 NextMove ST 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, 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 SPLI NE keyword and related  
commands.  
Axis enabled.  
Torque mode. The NextMove ST is in Torque mode. See the TORQUE keyword and  
related commands.  
Hold to Analog. The axis is in Hold To Analog mode. See the HTA keyword 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 FOLLOW and OFFSET keywords.  
Circle. A circle move is being performed. See the CI RCLEA or CI RCLER keywords.  
Cam. A Cam profile is being profiled. See the CAM keyword.  
General error. See the AXI SERROR keyword. 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 FLY keyword.  
Follow mode. The axis is in Follow mode. See the FOLLOW keyword.  
Homing. The axis is currently homing. See the HOME keyword.  
Incremental move. An incremental move is being profiled. See the I NCA and I NCR  
keywords.  
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 MOVEA and MOVER  
keywords.  
Stop. A STOP command has been issued or the stop input is active.  
6-2 Troubleshooting  
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Axis disabled. The axis/drive must be enabled before operation can continue. See  
section 5.4.1. 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  
downloaded to the NextMove ST.  
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.  
When a node number between 1 and 15 is displayed, it is shown in hexadecimal format (1 - F).  
For node numbers greater than 15, three horizontal bars are displayed. User defined symbols  
can be made to appear using the LED and LEDDI SPLAY keywords.  
See the MintMT help file for details of each keyword.  
6.2.2 Surface mount LEDs D3, D4 and D16  
The NextMove ST control card contains a number of surface mount LEDs that indicate  
hardware status:  
D3  
D3 (yellow):  
Indicates that the FPGA is being initialized at startup.  
D4 (red):  
Indicates that the card is in hardware reset. If this LED  
remains illuminated after power up, the supply voltage to  
the card is too low. Check power supply connections.  
D4  
D16  
D16 (flashing green):  
Flashes at 0.5Hz to indicate normal operation.  
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6.2.3 Communication  
If the problem is not listed below please contact Baldor Technical Support.  
Symptom  
Check  
Cannot detect NextMove ST Check that the NextMove ST is powered.  
Check that the serial lead is wired correctly and properly  
connected.  
Check that no other application on the PC is attempting to  
use the same serial port.  
Cannot communicate with  
the controller.  
Verify that WorkBench v5 is loaded and that NextMove ST is  
the currently selected controller.  
Check that the NextMove ST control card is correctly  
connected to the baseboard.  
6.2.4 Motor control  
Symptom  
Check  
Controller appears to be  
working but will not cause  
motor to turn.  
Check that the connections between motor and drive are  
correct. Use WorkBench v5 to perform the basic system  
tests (see section 5.4).  
A motor that is controlled by  
the analog output runs as  
soon as the controller is  
switched on.  
Adjust the Spindle output’s offset potentiometer to remove  
any offset voltage (see section 4.4.2).  
Use a digital output from the NextMove ST to control the  
enable input of the motor’s drive amplifier. This will allow the  
amplifier to be disabled at startup.  
Verify that the NextMove ST and drive are correctly  
grounded to a common earth point.  
Motor is under control, but  
when moved to a position  
and then back to the start it  
does not return to the same  
position.  
The motor is not maintaining synchronization with the  
NextMove ST drive output signals due to excessive  
acceleration, speed or load demands on the motor.  
Check that the acceleration, speed and load are within the  
capabilities of the motor.  
6-4 Troubleshooting  
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7 Specifications  
7
7.1 Introduction  
This section provides technical specifications of the NextMove ST.  
7.1.1 Input power  
Description  
Value  
Logic power  
Nominal supply voltage  
24VDC / 24VAC  
12VDC / 12VAC  
35VDC / 30VAC  
60W / 60VA  
Minimum supply voltage  
Maximum supply voltage  
Power consumption  
Drive power  
Nominal supply voltage  
Minimum supply voltage  
Maximum supply voltage  
Power consumption  
24VDC / 24VAC  
12VDC / 12VAC  
35VDC / 30VAC  
150W / 150VA  
(current not to exceed 6A)  
Combined drive & logic power  
Nominal supply voltage  
24VDC / 24VAC  
12VDC / 12VAC  
35VDC / 30VAC  
Minimum supply voltage  
Maximum supply voltage  
Power consumption  
210W / 210VA  
(current not to exceed 8.5A)  
7.1.2 Output power (Power Out connector)  
Description  
Value  
Output power  
±12V at 10mA  
and  
+5V at 200mA  
MN1921  
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7.1.3 Analog inputs  
Description  
Unit  
Value  
Type  
Differential  
Common mode voltage range  
VDC  
kÙ  
±10  
Input impedance  
120  
12 (includes sign bit)  
±4.9  
Input ADC resolution  
Equivalent resolution (±10V input)  
Sampling interval  
bits  
mV  
ìs  
500 (both inputs enabled)  
250 (one input disabled)  
7.1.4 Analog output  
Description  
Unit  
Value  
Single ended  
0-11V  
Type  
Output voltage range  
Output current (max)  
Update interval  
VDC  
mA  
1
Immediate  
7.1.5 Digital inputs  
Description  
Type  
Unit  
VDC  
VDC  
Value  
+5V inputs, non-isolated  
Input voltage  
Maximum  
Minimum  
High  
5.5  
0
>3.5V  
<1.5V  
Low  
Input current (approximate, per input)  
mA  
ms  
0.5  
1
Sampling interval  
7-2 Specifications  
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7.1.6 Digital outputs  
Description  
Unit  
V
Value  
Load supply voltage  
50  
(maximum)  
Output current (DOUT0-DOUT7)  
mA  
mA  
Per output, one output on  
Per output, all outputs on  
500  
150  
Output current (DOUT8-DOUT15)  
Per output, one output on  
500  
150  
Per output, all outputs on  
Update interval  
Immediate  
7.1.7 Stepper axis 0-2 drive outputs  
Description  
Unit  
kHz  
VDC  
A
Value  
200  
40  
Maximum output frequency  
Output voltage  
Output current (maximum, per axis)  
2
7.1.8 Stepper axes 0-3 logic outputs  
Description  
Unit  
Value  
Output type  
Pulse (step), direction and boost  
Maximum output frequency  
MHz  
mA  
3
Output current  
50  
(maximum sink, per output)  
MN1921  
Specifications 7-3  
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7.1.9 CAN interface  
Description  
Signal  
Unit  
Value  
2-wire, isolated  
1
Channels  
Protocols  
CANopen  
Baldor CAN (with optional firmware)  
Bit rates  
Kbit/s  
Unit  
10, 20, 50, 100, 125, 250, 500  
7.1.10 Environmental  
Description  
Operating temperature range  
Min  
Max  
°C  
°F  
0
+40  
+32  
+104  
Maximum humidity  
80% for temperatures up to 31°C (87°F)  
decreasingly linearly to 50% relative  
humidity at 40°C (104°F), non-condensing  
(according to DIN40 040 / IEC144)  
%
Maximum installation altitude  
(above m.s.l.)  
m
ft  
2000  
6560  
See also section 3.1.1.  
7.1.11 Weights and dimensions  
Description  
Value  
Weight  
Approximately 880g (1.94 lb)  
Nominal overall dimensions  
263mm x 140mm x 53mm  
(10.35in x 5.51in x 2.09in)  
7-4 Specifications  
MN1921  
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Index  
A
E
Abbreviations, 2-3  
Environmental, 3-1, 7-4  
Analog I/O, 4-9  
Error output, 4-14  
analog inputs, 4-9  
analog output, 4-10  
Auxiliary encoder, 4-12  
DRIVEENABLEOUTPUT keyword, 4-14  
GLOBALERROROUTPUT keyword, 4-14  
RELAY keyword, 4-14  
F
B
Features, 2-1  
Basic Installation, 3-1  
location requirements, 3-1  
mounting, 3-2  
G
GLOBALERROROUTPUT keyword, 4-14  
C
CAN interface  
connection, 4-17  
specifications, 7-4  
Configuration  
H
Hardware requirements, 3-3  
Help file, 5-3  
axis, 5-6  
I
digital inputs, 5-9  
digital outputs, 5-10  
selecting a scale, 5-6  
testing an axis, 5-8  
Connectors  
CAN, 4-17  
locations, 4-2  
power, 4-3  
Indicators, 6-2  
status display, 6-2  
surface mount LEDs, 6-3  
Input / Output, 4-1  
analog inputs, 4-9, 7-2  
analog output, 4-10, 7-2  
CAN connection, 4-17  
connection summary, 4-19  
connector locations, 4-2  
digital inputs, 4-11  
RS232, 4-15  
D
digital outputs, 4-11, 4-13, 7-2, 7-3  
error input, 4-12  
Digital I/O, 4-11  
auxiliary encoder inputs, 4-12  
configuration, 5-9  
home input, 4-12  
limit input, 4-12  
digital inputs, 4-11  
serial port, 4-15  
digital outputs, 4-13  
error output, 4-14  
stepper drive outputs, 7-3  
stepper logic outputs, 7-3  
stop input, 4-12  
DRIVEENABLEOUTPUT keyword, 4-14  
Installation, 3-1  
MN1921  
Index  
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CAN interface, 7-4  
digital inputs, 7-2  
digital outputs, 7-3  
environmental, 7-4  
input power, 7-1  
J
Jumper settings  
CAN terminator, 4-18  
error output, 4-14  
output power, 7-1  
L
stepper axis outputs, 7-3  
stepper logic outputs, 7-3  
weights and dimensions, 7-4  
Status display, 6-2  
LED indicators  
status display, 6-2  
surface mount, 6-3  
Loading saved information, 5-12  
Stepper axis, 5-8  
0-2 drive outputs, 4-5  
connecting a 4-wire motor, 4-5  
connecting a 6-wire motor, 4-6  
connecting a 8-wire motor, 4-7  
0-3 logic outputs, 4-8  
testing the output, 5-8  
O
Operation, 5-1  
connecting to the PC, 5-1  
installing WorkBench v5, 5-1  
power on checks, 5-2  
preliminary checks, 5-1  
starting, 5-1  
T
Testing, an axis, 5-8  
Troubleshooting, 6-1  
communication, 6-4  
help file, 5-3  
motor control, 6-4  
problem diagnosis, 6-1  
status display, 6-2  
SupportMe, 6-1  
P
Power  
sources, 3-3, 4-3, 7-1  
using a single drive supply, 4-3  
using separate drive and logic supplies, 4-4  
Precautions, 1-2  
R
Receiving and Inspection, 2-2  
RELAY keyword, 4-14  
RS232 port, 4-15  
U
Units and abbreviations, 2-3  
W
S
Weights and dimensions, 7-4  
Safety Notice, 1-2  
WorkBench v5, 5-3  
Saving setup information, 5-11  
Scale, selecting, 5-6  
Specifications, 7-1  
analog inputs, 7-2  
analog outputs, 7-2  
digital input/output configuration, 5-9  
help file, 5-3  
loading saved information, 5-12  
saving setup information, 5-11  
starting, 5-4  
MN1921  
Index  
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Comments  
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comments in the space provided below, remove this page from the manual and mail it to:  
Manuals  
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Mint Motion Centre  
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Bristol  
BS32 0BF  
United Kingdom.  
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continued...  
MN1921  
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Comments  
MN1921  
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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  
LT0184A00  
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