NextMove ST Motion Controller
Contents
1. DO IE TB Shield 5 Axis0 Axis2 en AO 4 Output Output 2 C2 Shield 5 1 D2 D1 Te 215 PSU Logic Axis1 Power BE A1 4 Output In 2 PSU Drive Shield 5 1 PSU Drive Shield T z 6 Shield AINO 2 P 5 12V OUT ANO 3 nalog ower 4 Shield 3 12V OUT NINA E Inputs Out 5 AID AGND 6 1 5V OUT Shield TIE 712 Shield DOUTO 2 11 DGND DOUT1 3 10 DIN7 DOUT2 n 9 DING Doula Digital Digital DINA Output mus 8 DOUT7 9 0 7 0 7 z DIN OUT COMO 10 3 DINO DGND 11 2 DGND Shield 12 1 Shield Shield TIR 712 Shield DOUT8 2 11 DGND DOUT9 3 10 DIN23 DOUT10 4 9 DIN22 DOUT11 5 CS SE 8 DIN21 DOUT12 6 Digital Digital 7 DIN20 Sort Outputs mus DOUT15 9 8 15 16 23 4 DIN17 OUT COMI 10 3 DIN16 DGND 11 2 Shield 12 1 Shield Shield TIE 112 Shield DGND 2 11 DGND DINS 3 10 AUXZ IN DIN9 n fers 9 AUXDIR IN DIN10 5 Digital Misc 8 AUXSTEP IN DINI inputs 6 DIR2 DIN13 8 8 15 5 STEP2 DIN14 9 4 DGND DGND ti gum 3 SEND Shield 2 eua 1 SOUT 4 Mating connectors 1 Weidm ller Omnimate BL 3 5 12 5 2 Weidm ller Omnimate BL 3 5 6 Tightening torque for terminal block 3 Weidm ller Omnimate BLZ 5 08 5 connections is 0 25Nm 2 2 Ib in 50 pin connector not used 5 9 pin D type socket female 4 2 Input Output MN1921 4 2 Power connections The NextMove ST can accept AC or DC power supplies and has connections for separate drive and logic supplies However the2. 5 8 5 4 1 Testing the output eere 5 8 5 5 Digital input output configuration 5 9 5 5 4 Digital input configuration 5 9 5 5 2 Digital output 5 10 5 6 Saving setup information 5 11 5 6 1 Loading saved information 5 12 6 Troubleshioollng ES 6 1 0 1 Introduction c arrangia 6 1 6 1 1 Problemdiagnosis EE Ee eect ee ee ee ee 6 1 6 1 2 SupportMe feature tees 6 1 6 2 NextMove ST indicators 6 2 6 21 Status display ii ck RR REED ei ai 6 2 6 2 2 Surface mount LEDs D3 D4 and 016 6 3 6 2 3 Communication EER EED deren ERA Y ER EE 6 4 6 2 4 Motor Control uses rper RR ph EP REY pee spei sas 6 4 OPECHIGAliONs ss REKE AR aero 7 1 7 1 Introduction EE EE EE EE EE EE tees 7 1 7 11 INPUT POWER rieti 7 1 7 1 2 Output power Power Out connector 7 1 11 8 Analog inputs oerte mete tm mae RT cR RE Ee HE EE Bn 7 2 TAA Analog output loe tem e ee ee opea 7 2 7 1 5 1 Digital inputs ir BR O ERE Ls 7 2 7 1 6 Digital outputs een 7 3 7 1 7 Stepper axis 0 2 drive outputs 7 3 7 1 8 Steppe
3. Load supply 24N NextMove ST 3 Output 2 2 Load 5 2 88 MintMT DOUTO 5t 0 7AAHCT244 og OG os gt sk OUT COMO supply o GND DGND Figure 13 Digital output DOUTO shown MN1921 Input Output 4 13 4 5 3 4 5 3 1 4 5 3 2 4 5 3 3 4 5 3 4 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 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 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 RELAYO 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 configure
4. 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 MN1921 Operation 5 5 5 3 5 3 1 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 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 SCA
5. Twisted pair Twisted pairs Q Q Q Figure 16 Typical CAN network connections MN1921 Input Output 4 17 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 1200 resistor 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 A very low error rate over CAN can only be achieved with a suitable wiring scheme so the following points should be observed m The connection arrangement is normally a multi point drop The CAN cables should have a characteristic impedance of 1200 and a delay of 5ns m Other characteristics depend upon the length of the cabling Cable length Maximum Resistance Conductor theoretical area bit rate Om 300m Oft 984ft 500Kbit s 60mQ m 0 34 0 60mm 300m 600m 984ft 1968ft 100Kbit s 40mQ m 0 50 0 60mm 600m 1000m 1968ft 3280ft SOKbit s 26mQ m 0 75 0 80mm m OV connection of all of the nodes on the network must be tied together through the CAN cabling This ensures that t
6. Baldor Electric F E Pte Ltd Email sales baldor com Telephone 65 744 2572 Web site www baldor com Fax 65 747 1708 Baldor Italia S R L Telephone 39 0 11 56 24 440 Fax 39 0 11 56 25 660 MN1921 General Information 1 1 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 AN WARNING AN WARNING AN WARNING AN WARNING AN CAUTION AN CAUTION Precautions 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 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 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 Improper operation or programming may cause violent motion of the motor shaft and driven equipment Be certain that unexpected mot
7. Memory CTRL 4E on the PC keyboard press Ctrl then E at the same time eye p millimeter Mietta meter inis esee inch jp PUR feet pound inch torque Nm Newton meter torque DAG sii ibi LED Digital to Analog Converter ADG Analog to Digital Converter American Wire Gauge NC 2 ossa Not Connected MN1921 Introduction 2 3 2 4 Introduction MN1921 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 AN CAUTION To prevent equipment damage be certain that input and output signals are powered and referenced correctly CAUTION ensure reliable performance of this equipment be certain that all signals to from the NextMove ST are shielded correctly generating equipment or directly below water steam pipes AN CAUTION Avoid locating the NextMove ST immediately above or beside heat 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 m The NextMove ST is designed to be mounted
8. NextMove ST can operate from a single combined supply if necessary Supply Recommended Supply voltage Power connection supply voltage range requirement Logic 24VDC 12 35VDC 60W 24VAC 12 30VAC 60VA Drive 24VDC 12 35VDC 150W must not exceed 6A 24VAC 12 30VAC 150VA must not exceed 6A RMS Combined 24VDC 12 35VDC 210W drive and logic must not exceed 8 5A 24VAC 12 30VAC 210VA 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 Rectifier logic PSU Drive Rectifier 12 35VDC or drive 12 30VAC 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 4 2 2 Operation using separate drive and logic supplies For improved noise immunity the 12V and 5V supplies u
9. a LIMIT or HOME input An input can be configured as a Limit or Home input for any axis using the LI M TFORVARDI NPUT LI M 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 ERRORSW TCH and ERRORI NPUTMODE keywords See the MintMT help file for details of each keyword Auxiliary Encoder inputs AUXSTEP IN AUXDIR IN AUXZ IN These inputs accept step pulse and directio
10. wire motor MN1921 Input Output 4 5 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 Motor axis output rr Phase 1 Phase 2 Figure 6 Connecting a 6 wire motor 4 6 Input Output MN1921 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 Phase 1 Phase 2 Figure 7 Connecting a 8 wire motor parallel windings NextMove ST axis output Motor Phase 1 Phase 2 Figure 8 Connecting a 8 wire motor series windings MN1921 Input Output 4 7 4 3 2 Stepper axes 0 3 logic outputs DGND DIR3 NextMove ST STEP3 BOOST3 DGND DIR2 STEPO STEP2 BOOST2 DGND DIR1 STEP1 BOOST1 DGND DIRO DGND STEPO BOOSTO J3 Figure 9 Ste
11. 1 4 5 4 5 1 Digital I O The NextMove ST provides m 24 general purpose digital inputs m 16 general purpose digital outputs Note Itis recommended to use separate shielded cables for the digital inputs The shield should be connected to the input connector s shield pin 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 m 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 m Sampling frequency 1kHz NextMove ST DINO 74AHCT14 DGND Figure 12 General purpose digital input DINO shown AN CAUTION Do not connect 24V signals to the digital inputs These are unprotected inputs connected directly to 7AAHCT14 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 NPUT to determine their active level and other properties The state of individual inputs can be read directly using the NX keyword See the MintMT help file MN1921 Input Output 4 11 4 5 1 1 Using a digital input as
12. AR 72902 2400 U S A Visit www supportme net for the latest documentation and software releases Australia Australian Baldor PTY Ltd Tel 61 2 9674 5455 Fax 61 2 9674 2495 Baldor ASR GmbH Germany Tel 49 0 89 905 080 Fax 49 0 89 905 08491 Europe Southern Baldor ASR AG Switzerland Tel 41 52 647 4700 Fax 41 52 659 2394 Japan Baldor Japan Corporation Tel 81 45 412 4506 Fax 81 45 412 4507 Mexico Baldor de Mexico Tel 52 477 761 2030 Fax 52 477 761 2010 Singapore Baldor Electric PTE Ltd Tel 65 744 2572 Fax 65 747 1708 United Kingdom Baldor UK Ltd Tel 44 1454 850000 Fax 44 1454 859001 U S A Headquarters Baldor Electric Company Tel 1479 646 4711 Fax 1479 648 5792 For additional office locations visit www baldor com LT0184A00 Printed in UK Baldor UK Ltd
13. BALDOR E MOTION PRODUCTS e MOTION CONTROL NextMove ST Motion Controller Installation Manual 2 03 MN1921 Contents 1 General lnformation 1 1 2 ele Ole die cera pete oo OE ON 2 1 2 1 NextMove features 2 1 2 2 Receiving and inspection 2 2 2 3 Units and abbreviations 2 3 3 Basic Installation 12952 gek oa Eb OPERE LE PY EY 3 1 3 1 Introd tloki cipria etae ree ug 3 1 3 1 1 Location requirements 3 1 3 1 2 Mounting the NextMove 5 3 2 3 1 3 Other requirements for installation 3 3 4 COUDU 12 5 re Ei Ata 4 1 4 1 Introduction EE EE EE ER Ee ee Ih 4 1 4 1 1 Connector locations 4 2 42 Power lt 4 3 4 2 1 Operation using combined drive and logic supply 4 3 4 2 2 Operation using separate drive and logic supplies 4 4 4 3 Stepper outputs rere EE verteta cb EER RE EER i 4 5 4 3 1 Stepper axes 0 2 drive outputs 4 5 4 3 2 Stepper axes 0 3 logic outputs 4 8 44 Analog VO s Burg RES eere DERE REED Gee ae eas 4 9 44 1 Anal
14. Falling and Rise Fall These describe how the input will be triggered m Er x m m His mir E E mia Hd i B BH Tul Mia m mu Mm B HM TE Ti 28 MN1921 Operation 5 9 4 Now drag the IN1 icon E onto the Fwd Limit icon Faust This will setup IN1 as the Forward Limit input of axis 0 E iig m m m sdb ER MIE MI m m Fewer HE MEE MUSE Bg m E m RD Mu 5 Click Apply to send the changes to the NextMove ST Lee 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 MN1921 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 Inthe Toolbox click the Edit amp Debug icon 2 Onthe 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 Ne
15. For this reason connections must use shielded twisted pair cable 4 12 Input Output MN1921 4 5 2 Digital outputs The digital outputs are available across a range of connectors as shown in section 4 1 1 m 16 general purpose digital outputs m Update frequency Immediate There are 16 general purpose digital outputs arranged in two groups DOUTO 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 10096 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 CUTPUTACTI VELEVEL keyword to determine their active level
16. LE 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 Inthe 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 400 counts tot User Position Unit 5 6 Operation MN1921 5 Click Apply 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 MN1921 Operation 5 7 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 Mnrklenrh v5 ew Prnjer 2 In the Toolbox click the Edit amp Debug icon 3 Click in the Command window 4 Type J OG 0 2 where 0 is the axis stepper outpu
17. USBAUD and NODE keywords 4 18 Input Output MN1921 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 al an Host PC Stepper motor Serial communication Figure 17 Example minimum system wiring MN1921 Input Output 4 19 4 20 Input Output MN1921 5 1 5 1 1 5 1 2 5 1 3 5 1 4 Operation 5 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 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 Installing WorkBench v5 You will need to install WorkBench v5 to configure the NextMove ST 1 Insert the CD in
18. are within the capabilities of the motor 6 4 Troubleshooting MN1921 Specifications rd 7 1 Introduction This section provides technical specifications of the NextMove ST 7 1 1 Input power Logic power Nominal supply voltage 24VDC 24VAC Minimum supply voltage 12VDC 12VAC Maximum supply voltage 35VDC 30VAC Power consumption 60W 60VA Drive power Nominal supply voltage 24VDC 24VAC Minimum supply voltage 12VDC 12VAC Maximum supply voltage 35VDC 30VAC Power consumption 150W 150VA current not to exceed 6A Combined drive amp logic power Nominal supply voltage 24VDC 24VAC Minimum supply voltage 12VDC 12VAC Maximum supply voltage 35VDC 30VAC Power consumption 210W 210VA current not to exceed 8 5A 7 1 2 Output power Power Out connector Output power 12V at 10mA and 5V at 200mA MN1921 Specifications 7 1 7 1 3 Analog inputs Input ADC resolution 12 includes sign bit Equivalent resolution 10V input mV 4 9 Sampling interval 500 both inputs enabled 250 one input disabled 7 1 4 Analog output EWE Be sees COS WE NE ET NN WE WA El 7 1 5 Digital inputs Input voltage Maximum Minimum High Input current approximate per input Sampling interval 7 2 Specifications MN1921 7 1 6 Digital outputs Description o ve D supply voltage maximum Output current DOUTO DOUT7 ids output one output on 500 Per output al
19. ases by visiting the website www supportme net 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 MN1921 2 3 Units and abbreviations The following units and abbreviations may appear in this manual MEO SL Volt also VAC and VDC ERR Y Watt E Ampere o DEREN Ohm HE microfarad DE ESTE picofarad mill millihenry Dia phase MS millisecond PSA microsecond PE nanosecond Kbaud kilobaud the same as Kbit s in most applications MB oem megabytes CDROM Compact Disc Read Only
20. coder inputs 4 12 configuration 5 9 digital inputs 4 11 digital outputs 4 13 error output 4 14 DRIVEENABLEOUTPUT keyword 4 14 Index E Environmental 3 1 7 4 Error output 4 14 DRIVEENABLEOUTPUT keyword 4 14 GLOBALERROROUTPUT keyword 4 14 RELAY keyword 4 14 F Features 2 1 G GLOBALERROROUTPUT keyword 4 14 H Hardware requirements 3 3 Help file 5 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 digital outputs 4 11 4 13 7 2 7 3 error input 4 12 home input 4 12 limit input 4 12 serial port 4 15 Stepper drive outputs 7 3 stepper logic outputs 7 3 stop input 4 12 Installation 3 1 MN1921 Index J Jumper settings CAN terminator 4 18 error output 4 14 L LED indicators status display 6 2 surface mount 6 3 Loading saved information 5 12 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 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 S Safety Notice 1 2 Saving setup information 5 11 Scale selecting 5 6 Specifications 7 1 analog i
21. d 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 1 Output MN1921 4 6 3 CAN communication The CAN connection is made using the RJ45 connector on the NextMove ST control card ee SSS CAN V CAN power V 12 24V om NE 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 probability of an undetected error is 4 7x10 11 CAN is optimized for the transmission of small data packets and therefore offers fast update of VO 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 Baldor HMI NextMove ST NextMove ST Operator Panel RJ45 connector RJ45 connector End node
22. d as a drive enable output 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 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 JP5 JP1 JP4 Normal operation Stepper controller enable inputs are under the control O of the NextMove ST Error output aD Disable is Stepper controller outputs O 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 MN1921 4 6 Other I O 4 6 1 RS232 serial communication Location Serial Mating connector 9 pin female D type Name Descr
23. d 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 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 SERRCR AXI SSTATUS NI TERROR and M SCERROR m 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 MN1921 Troubleshooting 6 1 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 LEDkeyword 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 e Spline A spline move is being performed See the SPLI NE keyword and related commands 8 Axis enabled Torgue mode The NextMove ST is in Tor
24. ed 16 general purpose digital outputs open collector Darlington type 2 differential 10 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 m Programmable in MintMT MN1921 Introduction 2 1 2 2 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 m Mint WorkBench v5 This is the user interface for communicating with the NextMove ST Installing Mint WorkBench will also install firmware for NextMove ST m PC Developer Libraries Installing Mint WorkBench will install ActiveX interfaces that allow PC applications to be written that communicate with the NextMove ST m 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 rele
25. gue mode See the TOROUE 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 FOLLOWand 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 CAMkeyword 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 Incremental move An incremental move is being profiled See the NCA and NCR keywords Jog The axis is jogging In the Mint help file see the topics OG J OGCOMVAND 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 5 je o G 5 6 2 Troubleshooting MN1921 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 o
26. he 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 B
27. indoors permanently fixed and located m The NextMove ST must be secured by the slots in the metal carrier m The NextMove ST must be installed in an ambient temperature of 0 C to 40 C 32 F to 104 F m 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 m The NextMove ST must be installed where the pollution degree according to IEC664 shall not exceed 2 m There shall not be abnormal levels of nuclear radiation or X rays MN1921 Basic Installation 3 1 3 1 2 Mounting the NextMove ST AN 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 reguirements 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 j s T 6 5 0 26 All dimensions shown as m inches 213 8 39 263 10 35 127 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 ma
28. iption 1 Shield connection 2 Receive Data 3 Transmitted Data 4 Not connected 3 5 Signal Ground 9 Not connected 7 Request To Send DGND Ground 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 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 OV GND connections are required for communication Pins 4 and 6 are linked on the NextMove ST MN1921 Input Output 4 15 RS232 RXD 2 TXD3 NextMove ST DCE GND 5 RTS 7 CTS8 N Connect overall shield to connector backshell 7 COM 2 RXD 3 TXD 5 GND 7 RTS 8 CTS 9 pin Computer COM Port DCE DTE Figure 15 RS232 serial port connections The maximum recommended cable length is 3m 10ft at 57 6Kbaud When using lower bau
29. l outputs on 150 Output current DOUT8 DOUT15 Per output one output on 500 Per output all outputs on 150 7 1 7 Stepper axis 0 2 drive outputs pem ww c cm os eem e _ COEN 4 3 7 1 8 Stepper axes 0 3 logic outputs pem wu _ Output type Pulse step direction and boost Maximum output frequency 8 Output current maximum sink per output MN1921 Specifications 7 3 7 1 9 CAN interface Channels ei CANopen Baldor CAN with optional firmware 7 1 10 Environmental pem ww Operating temperature range Maximum humidity 80 for temperatures up to 31 C 87 F decreasingly linearly to 5096 relative humidity at 40 C 104 F non condensing according to DIN40 040 IEC144 Maximum installation altitude above m s l See also section 3 1 1 7 1 11 Weights and dimensions Nominal overall dimensions 263mm x 140mm x 53mm 10 35in x 5 51in x 2 09in 7 4 Specifications MN1921 A Abbreviations 2 3 Analog VO 4 9 analog inputs 4 9 analog output 4 10 Auxiliary encoder 4 12 B Basic Installation 3 1 location requirements 3 1 mounting 3 2 C CAN interface connection 4 17 specifications 7 4 Configuration axis 5 6 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 RS232 4 15 D Digital VO 4 11 auxiliary en
30. lt 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 MN1921 5 2 5 2 1 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 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 B 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
31. n 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
32. nical Support 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 Verify that WorkBench v5 is loaded and that NextMove ST is the controller the currently selected controller Check that the NextMove ST control card is correctly connected to the baseboard 6 2 4 Motor control Symptom Controller appears to be Check that the connections between motor and drive are working but will not cause correct Use WorkBench v5 to perform the basic system motor to turn tests see section 5 4 A motor that is controlled by Adjust the Spindle output s offset potentiometer to remove the analog output runs as any offset voltage see section 4 4 2 soon as the controller is switched on 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 The motor is not maintaining synchronization with the when moved to a position NextMove ST drive output signals due to excessive and then back to the start it acceleration speed or load demands on the motor does not return to the same position Check that the acceleration speed and load
33. nputs 7 2 analog outputs 7 2 CAN interface 7 4 digital inputs 7 2 digital outputs 7 3 environmental 7 4 input power 7 1 output power 7 1 stepper axis outputs 7 3 stepper logic outputs 7 3 weights and dimensions 7 4 Status display 6 2 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 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 U Units and abbreviations 2 3 Weights and dimensions 7 4 WorkBench v5 5 3 digital input output configuration 5 9 help file 5 3 loading saved information 5 12 saving setup information 5 11 starting 5 4 Index MN1921 Comments If you have any suggestions for improvements to this manual please let us know Write your comments in the space provided below remove this page from the manual and mail it to Manuals Baldor UK Ltd Mint Motion Centre 6 Bristol Distribution Park Hawkley Drive Bristol BS32 OBF United Kingdom Alternatively you can e mail your comments to manuals baldor co uk X continued MN1921 Comments Thank you for taking the time to help us Comments MN1921 BALDOR MOTORS DRIVES amp GENERATORS Baldor Electric Company P O Box 2400 Ft Smith
34. og input ss ii ee hid RE 4 9 442 Analog output cisco BERE ee ee HER Te EI Eie E Ede 4 10 4 5 WARE GE ere 4 11 45 1 Digitalinputs son REIR ED EE DE pali TIEN ME E 4 11 45 2 Digital outputs xiii beth urbe bnt eR E i RA 4 13 45 3 Error OutpUI ede mte naro bete wee pagis e e bae 4 14 4 6 Other VO aas Re c ur e e RR RR UR te Rp 4 15 4 6 1 RS232 serial communication esses 4 15 4 6 2 50 edge connector eese 4 16 4 6 3 GAN cormmu nicatiom ry ER EER ex eee 4 17 4 7 Connection summary minimum system wiring 4 19 MN1921 Contents i 5 Operallon erui utes era et ie bela 5 1 5 1 ntrod ction uuo oe salaried ios acute tenia 5 1 5 1 1 Connecting the NextMove ST to the 5 1 5 1 2 Installing WorkBench 5 5 1 5 1 3 Starting the NextMove ST 5 1 5 14 Preliminary Checks oe uere ER ai Re N ge e ges tea 5 1 5 1 5 eee en e n nnn 5 2 5 2 WorkBenCchVB EE EE EG SE a e ee ee ee es 5 3 N ER OE ER TO AE OE de 5 3 5 22 Starting WorkBench 5 54 5 3 Configuring an axis 5 6 5 3 1 Selectingascale esee 5 6 5 4 Stepper axis testing
35. or 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 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 Electrical components can be damaged by static electricity Use ESD electrostatic discharge procedures when handling this drive 1 2 General Information MN1921 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 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 trigger
36. pper output pin header J3 and output circuit STEPO 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 DIRO DIR2 and STEPO STEP2 must not exceed this limit The total combined output requirements of the group DIR3 STEP3 and BOOSTO 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 MN1921 4 4 Analog I O The NextMove ST provides m Two 12 bit resolution analog inputs m One 0 11V analog output 4 4 1 Analog inputs Differential inputs Voltage range 10V Resolution 12 bit with sign accuracy 4 9mV 10V input In
37. put impedance 120kQ 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 _acOFF 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 MintMT 0 Figure 10 Analog input AINO shown For differential inputs connect input lines to AIN and AIN Leave AGND unconnected MN1921 Input Output 4 9 4 4 2 Analog output m Single ended output m Voltage range 0 11V m 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 TI TLC272C AUXDAC 0 Opto Integration of PWM signal SOUT isolator and offset adjustment SGND Figure 11 Analog output 4 10 Input Output MN192
38. r axes 0 3 logic outputs 7 3 TAD GANinterface iro RE N EE cp hien a 7 4 71 10 Environmental EE ER RE EER en RAE SUA ee et 7 4 7 1 11 Weights and dimensions 7 4 ii Contents MN1921 General Information 1 LTO184A00 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 Mint 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 warrant
39. r 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 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 yellow Indicates that the FPGA is being initialized at startup D4 red Indicates that the card is in hardware reset If this LED D4 remains illuminated after power up the supply voltage to the card is too low Check power supply connections 0716 flashing green Flashes at 0 5Hz to indicate normal operation MN1921 Troubleshooting 6 3 6 2 3 Communication If the problem is not listed below please contact Baldor Tech
40. sed 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 PSU Logic Rectifier 12 35 VDC or logic 12 30 VAC ES PSU Drive Li 12 35 VDC or 12 30 VAC Fuse Figure 3 Connecting separate drive and logic supplies 4 4 Input Output MN1921 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 Shield Step L297 Controller Motor outputs Direction D2 C2 B2 A2 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 Phase 1 Phase 2 Figure 5 Connecting a 4
41. t 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 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 JOG 0 2 6 To remove the demand and stop the test type STOP 0 5 8 Operation MN1921 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 Inthe Toolbox click the Digital VO icon 2 Atthe bottom of the Digital I O screen click Irasn Len Inf IN 15 the Digital Inputs tab The left of the screen shows a column of yellow icons High Low Rising
42. 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 HOMESWITCH HSW Fini Alzo BEE HEHITIEDUUS Te mainm tha ari fen inpui Comins Supp omat Ves Maen arena Fiets has lor loses Farmai MEME SMIT CM aria 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 2 topic name to display it MN1921 Operation 5 3 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 5 4 Operation MN1921 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 bord ed NU riu
43. ting connectors and associated wiring leading to the NextMove ST 3 2 Basic Installation MN1921 3 1 3 Other requirements for installation m The NextMoveST requires a power supply as described in section 4 2 m APC that fulfills the following specification EE WA LENA ee GEE ms me A CD ROM drive Serial port One free RS232 serial COM port Screen 800 x 600 256 colors 1024 x 768 256 colors Mouse A mouse or similar pointing device Operating Windows 95 Windows 98 Windows ME system Windows NT Windows 2000 or Windows XP Software installation will be described later in section 5 Your PC operating system user manual might be useful if you are not familiar with Windows MN1921 Basic Installation 3 3 3 4 Basic Installation MN1921 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 Input Output DIN mes Digital Input Digital Output AIN Analog Input AOUT rien Analog Output MN1921 Input Output 4 1 4 1 1 Connector locations
44. to 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 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 Preliminary checks Before you apply power for the first time it is very important to verify the following 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 MN1921 Operation 5 1 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 Turnonthe Logic supply if separate from the Drive supply 2 Turnon the Drive supply 3 After a brief test sequence 8 followed by the Status display should show the node number for example the factory defau
45. xtMove ST and place it in a Startup block For details of the Startup block see the MintMT help file MN1921 Operation 5 11 4 Onthe main menu choose File Save File Locate a folder enter a filename and click Save 5 6 1 Loading saved information 1 Inthe Toolbox click the Edit amp Debug icon 2 Onthe 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 MN1921 6 1 6 1 1 6 1 2 Troubleshooting 6 Introduction This section explains common problems and their solutions If you want to know the meaning of the LED indicators see section 6 2 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 SupportMe feature The SupportMe feature is available from the Help menu or by clicking the HF button on the motion toolbar SupportMe can be use
46. y 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 Telephone 49 0 89 90508 0 6 Bristol Distribution Park Fax 49 0 89 90508 492 Hawkley Drive Bristol BS32 OBF Baldor ASR AG Telephone 44 0 1454 850000 Telephone 41 0 52 647 4700 Fax 44 0 1454 850001 Fax 41 0 52 659 2394 Email technical support baldor co uk Web site www baldor co uk Australian Baldor Pty Ltd Telephone 61 2 9674 5455 Baldor Electric Company Fax 61 2 9674 2495 Telephone 1 479 646 4711 Fax 1 479 648 5792
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