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NextMove ESB Motion Controller

1. TLP115A Figure 8 Fast interrupt digital input DIN3 shown Digital inputs DINO to DIN3 use CREFO as their common connection Note The fast inputs are particularly sensitive to noise so inputs must use shielded twisted pair cable Do not connect mechanical switches relay contacts or other sources liable to signal bounce directly to the fast inputs This could cause unwanted multiple triggering MN1924 Input Output 4 7 www supportme net 4 3 1 2 DIN4 DIN11 Digital inputs DIN4 to DIN11 have a common specification Opto isolated digital inputs m Sampling frequency 1kHz Digital inputs to DIN11 use CREF1 as their common connection NextMove ESB Figure 9 General purpose digital input DIN11 shown 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 4 3 1 3 DIN12 DIN19 Digital inputs DIN12 to DIN19 have the same electrical specification as DIN4 11 except that they use CREF2 as their common connection NextMove ESB DIN19 CREF2 Shield Figure 10 General purpose digital input DIN19 shown 48 Input Output 924 www supportme net 4 3 1 4
2. Ease SAM 6 8 f 5 deen cep bees 7 1 tel y an Pede s 7 1 aie Nie aon Weta ee one bee P oi ea os 7 1 PNZ AlfalogJnpuls 2 irrita XU ono der o e pee e E RES 1 1 1 9 Analog ara RR Sms 1 1 reu a ees Les oe 7 2 7 1 5 Digital outputs general purpose 7 2 71 07 IRCIAVSOUNDU Cx 7 2 FA ENCOOCEINDUIS de oo IN CER duc ti 7 3 7 1 8 Stepper 5 7 3 719 Serials RSZS2 5485 d a cR Boo 7 3 GAN IMENICE Era ene ere aed are weet 7 4 7 111 Environmental 7 4 7 1 12 Weights and dimensions 1 4 Appendices A SOM CV AN A 1 AA Feedback cables 1 D CE Guigeines aux ao OR DOG B 1 Bal QUINE aes sew Res se B 1 B 1 1 Conformity and CE marking B 1 B 1 2 NextMove ESB compliance B 1 B 1 3 Use of compli
3. NextMove ESB supply 24V DIN4 VA k CREF1 TLP280 User supply GND Figure 11 Digital input typical active high input connection using a switch XQ NextMove ESB User supply 24V DIN4 CREF1 User supply GND Figure 12 Digital input typical active low input connection using a switch Note The circuits shown in Figures 11 and 12 are not suitable for use with fast inputs DINO to DIN3 Using a mechanical switch relay contacts or other source liable to signal bounce could cause unwanted multiple triggering MN1924 Input Output 4 9 www supportme ne User X3 MicroFlex equipment output supply x9 NextMove ES 24V Status Status DIN4 NEC PS2562L 1 CREF1 TLP280 User supply GND Figure 13 Digital input typical connections from a Baldor MicroFlex User Mos supply x9 NextMove ESB 24V DIN4 PS2562L 1 CREF1 TLP280 User supply GND Figure 14 Digital input typical connections from a Baldor FlexDrive Flex Drive or MintDrive 440 Input Output 924 t www supportme net 4 3 2 Digital outputs The digital outputs are available on connectors X4 and X11 as shown in section 4 1 1 A digital output can be configured in MintMT as a general purpose output a
4. If the Proportional gain is increased still further the system becomes unstable you keep pressing and then letting off the gas pedal so hard you never travel at a steady speed To reduce the onset of instability a term called Velocity Feedback gain KVEL is used This resists rapid movement of the motor and allows the Proportional gain to be set higher before vibration starts Another term called Derivative gain KDERIV can also be used to give a similar effect With Proportional gain and Velocity Feedback gain or Derivative gain it is possible for a motor to come to a stop with a small following error Demand stopped so you stopped too but not quite level The NextMove ESB tries to correct the error but because the error is so small the amount of torque demanded might not be enough to overcome friction This problem is overcome by using a term called Integral gain KINT This sums the error over time so that the motor torque is gradually increased until the positional error is reduced to zero ike a person gradually pushing harder and harder on your car until they ve pushed it level with Demand However if there is large load on the motor it is supporting a heavy suspended weight for example it is possible for the output to increase to 10096 demand This effect can be limited using the KI NTLI M T keyword which limits the effect of KINT to a given percentage of the demand output Another keyword called KI NTMODE can even
5. BALDOR MOTION PRODUCTS MOTION CONTROL NextMove ESB Motion Controller Installation Manual 01 06 MN1924 Contents 1 General Information 2 Introduction 21 NextMove ESB features 2 2 Receiving and inspection 2 2 1 Identifying the catalog number 2 3 Units and abbreviations 3 Basic Installation 9 1 Introduction iii 3 1 1 Location requirements 3 1 2 Mounting the NextMove ESB 3 1 3 Other requirements for installation 4 NPU OUMUT vine ee 4s 4 Introduction 4 1 1 Connector locations erbe RII 42 Analog scs ev RU Ra ESTA 2 21 aen atas 4 2 2 Analog 43 4 3 1 sss pari E 4 3 2 Digital outputs lt 2 eim iaia 44 Offer IO scri eroi diodi 44 1 Stepper control outputs models NSB002 501 502 4 4 2 Stepper control outputs models NSB003 501 502 443 Encoder inputs 0 2 4 4 Relay 5 445 USB 22d E E hem ee 4406 sis rate eared 447 WSNGIRSZ32 cem ev acht or E tees 4 4 8 Multidrop using
6. 4 20 introduction 4 20 opto isolation 4 21 specifications 7 4 terminator 4 21 wiring 4 21 Catalog number identifying 2 3 CE Guidelines B 1 Closed loop control an introduction 5 13 Command outputs See Demand outputs Configuration axis 5 6 digital inputs 5 27 digital outputs 5 28 selecting a scale 5 7 selecting the axis type 5 6 setting the drive enable output 5 8 testing a stepper axis 5 10 testing and tuning a servo axis 5 11 testing the drive enable output 5 9 Connectors CAN 4 20 locations 4 2 MN1924 Index serial 4 17 USB 4 16 Critically damped response 5 20 D Demand outputs 4 5 5 11 Digital I O 4 7 auxiliary encoder inputs 4 9 configuration 5 27 digital inputs 4 7 digital outputs 4 11 Drive enable output setting 5 8 testing 5 9 E Encoder cables A 1 inputs 4 14 Environmental 3 1 7 4 F Features 2 1 Feedback 4 14 7 3 cables A 1 H Hardware requirements 3 3 Help file 5 3 Indicators 6 2 status display 6 2 Input Output 4 1 analog inputs 4 3 7 1 analog outputs 4 5 7 1 CAN connection 4 20 connection summary 4 25 connector locations 4 2 digital inputs 4 7 7 2 Index digital outputs 4 7 4 11 7 2 encoder inputs 4 14 7 3 relay 4 16 serial port 4 17 multidrop using RS485 RS422 4 18 using RS232 4 17 stepper control outputs 4 12 4 13 7 3 USB port 4 16 Installation 3 1 Introduction to closed loop control 5 13 L
7. 4 5 3 CANopen The NextMove ESB must have the CANopen firmware loaded to use this protocol Baldor have implemented a CANopen protocol in MintMT based on the Communication Profile CIA DS 301 which supports both direct access to device parameters and time critical process data communication The NextMove ESB design does not comply with a specific CANopen device profile DS4xx although it is able to support and communicate with the following devices m Any third party digital and analog I O device that is compliant with the Device Profile for Generic I O Modules DS 401 m Baldor HMI Human Machine Interface operator panels which are based on the Device Profile for Human Machine Interfaces DS403 Other Baldor controllers with CANopen support for peer to peer access using extensions to the CIA specifications 05301 and DS302 The functionality and characteristics of all Baldor CANopen devices are defined in individual standardized ASCII format Electronic Data Sheets EDS which can be found on the Baldor Motion Toolkit CD supplied with your product or downloaded from www supportme net Figure 25 shows a typical CANopen network with two NextMove ESB units and a Baldor HMI operator panel Baldor HMI Operator Panel NextMove ESB NextMove ESB End CANopen 45 45 D type Power supply terminal block Figure 25 Typical CANopen network connecti
8. 5485 R8422 4 4 9 Connecting serial Baldor HMI Operator Panels qo CAN Locus e 4 5 1 CAN connector 45 2 CAN WING 23 ette alc eked rta Wace Toad 45 9 CANDE s exito YE P IMG P 454 Baldor CAN 4 6 Connection summary minimum system wiring MN1924 Contents i 5 Operation 6 5 1 INTPOGUCTIONN eee ee ae 5 1 1 Connecting the NextMove ESB to the 5 1 2 Installing WorkBench 5 5 1 3 Starting the NextMove ESB 5 1 4 Preliminary checks 0 15 ca lhi ee la 52 5 SAV arce d intecis dior 5 2 2 Starting WorkBench 5 53 5 3 1 Selecting the axis type 5 3 2 5 5 5 3 3 Setting the drive enable output 5 3 4 Testing the drive enable output 54 Stepper axis testing 5 4 1 Testing 55 Servo axis testing and tuning 5 5 1 Testing the demand 5 5 2 An introduction to
9. Connect overall shield to connector backshell Figure 22 4 wire RS422 multi drop connections Each transmit receive TX RX network requires a termination resistor at the final RX connection but intermediate devices must not be fitted with termination resistors An exception is where repeaters are being used which may correctly contain termination resistors Termination resistors are used to match the impedance of the load to the impedance of the transmission line cable being used Unmatched impedance causes the transmitted signal to not be fully absorbed by the load This causes a portion of the signal to be reflected back into the transmission line as noise If the source impedance transmission line impedance and load impedance are all equal the reflections noise are eliminated Termination resistors increase the load current and sometimes change the bias requirements and increase the complexity of the system 448 Input Output 924 www supportme ne 4 4 9 Connecting serial Baldor HMI Operator Panels Serial Baldor HMI Operator Panels use a 15 pin male D type connector marked PLC PORT but the NextMove ESB Serial connector uses a 9 pin male D type connector The NextMove ESB may be connected with or without hardware handshaking as shown in Figure 23 Baldor HMI NextMove ESB Baldor HMI NextMove ESB PLC PORT Serial Port PLC PORT Without hardware handshaking With hardware handshaking Figure 23 R
10. 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 BALDORS 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 491 Hawkley Drive Bristol BS32 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 Email technical support baldor ch Web site www baldor co uk Australian Baldor Pty Ltd Baldor Electric Company Telephone 61 2 9674 5455 Telephone 1 4
11. incorrectly See sections 5 5 2 to 5 7 move Motor is under control but Verify that the NextMove ESB and drive are correctly when moved to a position and grounded to a common ground point then back to the start it does not return to the same position Servo outputs only Check all encoder channels are free from electrical noise they are correctly wired to the controller when the motor turns the two square wave signals are 90 degrees out of phase Also check the complement signals Ensure that the encoder cable uses shielded twisted pair cable with the outer shield connected at both ends and the inner shields connected only at the NextMove ESB end Stepper outputs only The motor is not maintaining synchronization with the NextMove ESB 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 2 4 WorkBench v5 The Spy window does not The system refresh has been disabled Go to the Tools update Options menu item select the System tab and then choose a System Refresh Rate 500ms is recommended Firmware download fails Confirm that you have the correct version of firmware Attempting to download certain older versions of firmware intended for models without USB will cause the download to fail Download the latest version of firmware Cannot communicate with the After firmware download alway
12. of maximum output 0 5V to be produced at the DEMANDO output Correspondingly the Spy window s Velocity display should show a negative value 6 To remove the demand and stop the test type STOP 4 This should cause the demand produced at the DEMANDO output to become OV C 1 m If itis necessary for the motor to turn in the opposite direction for a positive demand then the DACMODE and ENCODERMODE keywords should be used The DACMODE keyword is used to invert the demand output voltage The ENCODERMODE keyword must then also be used to reverse the incoming feedback signal to correspond with the inverted demand output Note that if ENCODERMODE had already been used to compensate for a reversed encoder count as described in step 4 above it will be necessary to change it back to its original setting to correspond with the inverted demand output set using DACMODE See the MintMT help file for details of each keyword 5 12 Operation MN1924 www supportme net 5 5 2 An introduction to closed loop control This section describes the basic principles of closed loop control If you are familiar with closed loop control go straight to section 5 6 1 When there is a requirement to move an axis the NextMove ESB control software translates this into a demand output voltage This is used to control the drive amplifier which powers the motor An encoder or resolver on the motor is used to measure the motor s positi
13. 26 On Baldor nodes and operator panels jumpers JP1 and JP2 must be set to position 1 the lower position for the network to operate correctly This configures the 5 MN1924 Input Output 4 23 www supportme net channel to operate on pins 1 and 2 of the RJ45 connectors On the Baldor CAN node jumper JP3 can be used to connect an internal 1200 terminating resistor provided the node is at the end of the network Jumpers JP4 and JP5 can be used to configure the node ID and baud rate Up to 63 Baldor I O nodes including no more than 4 operator panels can be added to the network by the NextMove ESB using the MintMT NODETYPE keyword Any network and node related events can then be monitored using the MintMT BUS2 event Note All CAN related MintMT keywords are referenced to either CANopen or Baldor CAN using the bus dot parameter Although the NextMove ESB has a single physical CAN bus channel that may be used to carry either protocol MintMT distinguishes between the protocols with the bus dot parameter For Baldor CAN the bus dot parameter must be set to 2 Please refer to the MintMT help file for further details on Baldor CAN MintMT keywords and dot parameters 424 Input Output ss 924 www supportme net 4 6 Connection summary minimum system wiring As a guide Figure 27 shows an example of the typical minimum wiring required to allow the NextMove ESB and a single axis dr
14. 3 4 USRV DOUT3 4 2 For models NSB003 50x X11 DOUT 0 7 1 DOUT8 a DOUT6 7 5112 Shield Shield DOUT7 8 11 DIR3 DIR3 USR V 9 10 DIR3 5V USRGND 10 9 STEP3 STEP3 8 STEP3 NC AINO 1 4 7 DGND DGND AINO 2 X3 STEP 2 3 6 Shield Shield AGND 3 5 DIR2 DIR2 AIN1 4 4 DIR2 5V AIN1 5 X12 0 1 3 2 STEP2 Shield 6 amp relay 2 STEP2 NC RELCOM 1 DGND DGND RELNC 8 12 Shield Shield REL NO 9 2111 DIRI 10 10 DIR1 5 DEMANDO 1 9 STEP1 STEP1 AGND 2 8 STEP1 NC ie 7 DGND DGND DEMAND1 4 X2 STEP 0 1 6 Shield Shield AGND 5 5 DIRO DIRO DEM 2 X13 AOUT 0 3 4 DIRO 5V AGND 8 demands 3 SHEET ING ELE j Oeo AGND 1 X1 24Vin 21 ov Shield 12 NSB002 501 NSB002 502 Required mating connectors Sauro CTF10008 Sauro CTF12008 Sauro CTF02008 9 pin D type plug male 9 pin D type socket female RJ45 plug USB type B plug Tightening torque for terminal block connections is 0 3 N m 2 65 Ibf in Use 60 75 or 75 C copper Cu wire only N NC Not Connected 42 Input Output N92 www supportme net 4 2 Analog I O The NextMove ESB provides m Two 12 bit resolution analog inputs m Four 12 bit resolution analog outputs 4 2 1 Analog inputs The analog inputs are available on connector X12 pins 1 amp 2 and 4 8 5 AIN1 Differential inputs Voltage range 10V Resol
15. LED indicators status display 6 2 Loading saved information 5 30 O Operation 5 1 connecting to the PC 5 1 installing the USB driver 5 2 installing WorkBench v5 5 1 power on checks 5 2 preliminary checks 5 2 starting 5 1 Operator panels HMI operator panels 4 19 Overdamped response 5 19 Power sources 3 3 7 1 Precautions 1 2 R Receiving and Inspection 2 3 Relay 4 16 RS232 4 17 specification 7 3 RS485 4 18 multidrop using RS485 RS422 4 18 specifications 7 3 5 Safety Notice 1 2 Saving setup information 5 29 Scale selecting 5 7 Serial port 4 17 connecting serial Baldor HMI panels 4 19 Index Servo axis 5 11 adjusting KPROP 5 25 eliminating steady state errors 5 21 testing the demand output 5 11 tuning for current control 5 16 tuning for velocity control 5 22 Specifications 7 1 analog inputs 7 1 analog outputs demands 7 1 CAN interface 7 4 digital inputs 7 2 digital outputs 7 2 encoder inputs 7 3 environmental 7 4 power 1 relay 7 2 serial port 7 3 stepper outputs 7 3 weights and dimensions 4 Status display 6 2 Stepper axis 5 10 control outputs 4 12 4 13 testing the output 5 10 T Testing servo axis 5 11 stepper axis 5 10 Troubleshooting 6 1 Baldor CAN 6 8 CANopen 6 6 communication 6 3 help file 5 3 motor control 6 4 problem diagnosis 6 1 status display 6 2 SupportMe 6 1 WorkBench v5 6 5 Tuning adjusting KPROP 5 25 axis f
16. STEPx or DIRx outputs to ground leave them unconnected NextMove ESB DS26LS31 RECON Step STEPO Q DS26LS31 Dir Output DIRO DGND NS Connect shields at one end only Figure 16 Stepper output typical connection to a Baldor MicroFlex NextMove ESB drive amplifier DS26LS31 RESA Lu Step Be Output Pulse 8 GND DS26LS31 BEDS Dir Output DGND Shield EN Connect shields at one end only Dirt DIRO Dir GND Figure 17 Stepper output typical connection to a Baldor FlexDrive Flex Drive or MintDrive 442 Input Output 924 www supportme net 4 4 2 Stepper control outputs models NSB003 501 502 The stepper control outputs are available on connectors X2 and X3 as shown in section 4 1 1 There are four sets of stepper motor control outputs operating in the range OHz to 500 2 Each of the step pulse and direction signals from the NextMove ESB is driven by a ULN2003 open collector Darlington output device The STEPPERDELAY keyword allows a 0 4 25us delay to be introduced between state changes of the step and direction outputs The FREQkeyword can be used to directly control the output frequency between 60Hz and 500 2 see the MintMT help file N CAUTION NextMove ESB The ULN2003 drivers are static sensitive devices Take appropriat
17. approved components will not guarantee CE compliant system m The components used in the controller installation methods used materials selected for interconnection of components are important m installation methods interconnection materials shielding filtering and earthing grounding of the system as a whole will determine CE compliance m The responsibility of CE mark compliance rests entirely with the party who offers the end system for sale such as an OEM or system integrator B 1 4 EMC installation suggestions To ensure electromagnetic compatibility EMC the following installation points should be considered to help reduce interference Earthing grounding of all system elements to a central earth ground point star point m Shielding of all cables and signal wires B 1 5 Wiring of shielded screened encoder cables NextMove ESB Encoder Connector 5 X6 X7 Cable Housing CHA CHA CHB CHB CHZ CHZ 5V GND Jemi gt 7 e Ti Ht i ire S Connect overall shield Connect overall shield P to connector backshell to connector backshell Figure 35 Encoder signal cable grounding B 2 CE Guidelines MN1924 Abbreviations 2 4 Analog I O 4 3 analog inputs 4 3 analog outputs 4 5 Auxiliary encoder inputs 4 9 B Basic Installation 3 1 location requirements 3 1 mounting 3 2 Calculating KVELFF 5 22 CAN interface Baldor CAN 4 23 CANopen 4 22 connector
18. by car hand Repeat this process slowly increasing RINT LIMIT 100 00 the value of KDERIV until you begin to feel 1 00 some resistance in the motor shaft The 0 00 exact value of is not critical at this stage 5 16 Operation MN1924 www supportme net MN1924 Click in the KPROP box and enter a value that is approximately one quarter of the value of If the motor begins to vibrate huis 4 decrease the value of KPROP or increase the value of KDERIV until the vibration stops Small changes may be all that is necessary Fine tuning In the Move Type drop down box check that the move type is set to Step Click in the Distance box and enter a distance for the step move It is recommended to set a value that will cause the motor to turn a short distance for example one revolution Note The distance depends on the scale set in section 5 3 2 If you set a scale so that units could be expressed in revolutions or other unit of your choice then those are the units that will be used here If you did not set a scale the amount you enter will be in encoder counts Click in the Duration box and enter a duration for the move in seconds This should be a short duration for example 0 15 seconds Click Go The NextMove ESB will perform the move and the motor will turn As the soon as the move is completed WorkBench v5 will upload captured data f
19. is powered For serial connections check that the serial cable is wired correctly and properly connected Check that no other application on the PC is attempting to use the same serial port For USB connections check that the cable is properly connected Check the USB connector socket pins for damage or sticking Check that the USB device driver has been installed a USB Motion Controller device should be listed in Windows Device Manager Cannot communicate with the Verify that WorkBench v5 is loaded and that controller NextMove ESB is the currently selected controller MN1924 Troubleshooting 6 3 www supportme net Symptom Cannot communicate with the After firmware download always power cycle the controller after downloading controller remove 24V power and then reconnect firmware 6 2 3 Motor control 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 5 5 4 Confirm that the drive enable output has been configured see section 5 3 3 Ensure that while the NextMove ESB is not in error the drive is enabled and working When the NextMove ESB is first powered up the drive should be disabled if there is no program running there is often an LED on the front of the drive to indicate status Servo outputs only Check that the servo loop gains are setup c
20. of KPROP amot Demand Measured position 4 position i i i i i i i i i i L L i 4 5 4 4 i i i i i i L i i i L i i i i i i i L ii c E a ll he i i i i i i E i 0 I 100 150 A xx i L i 6 Eee EE Less ssi E E S S IA EPA TI E DC NIE 1 Time ms Figure 31 Overdamped response 10 Click in the KDERIV and or KPROP boxes and make the required changes The ideal response is shown in section 5 6 4 Avis 4 Fine tuning MN1924 Operation 5 19 www supportme net 5 6 4 Critically damped response If the graph shows that the response reaches the demand quickly and only overshoots the demand by a small amount this can be considered an ideal response for most systems See Figure 32 600 Demand position 500 400 3000 2000 1200 Figure 32 Critically damped ideal response 5 20 Operation MN1924 www supportme net 5 7 Servo axis eliminating steady state errors In systems where precise positioning accuracy is required it is often necessary to position within one encoder count Proportional gain KPROP is not normally able to achieve this because a very small following error w
21. value of 0 1 will probably be a good starting figure which can then be increased slowly Fine tuning Amis 4 Click Go The NextMove ESB will perform the move and the motor will turn As the soon as the move is completed WorkBench v5 will upload captured data from the NextMove ESB The data will then be displayed in the Capture window as a graph Note The graph that you see will not look exactly the same as the graph shown here Remember that each motor has a different response Using the check boxes below the graph select the Measured position and Demand osition traces i Operation 5 25 www supportme net 0 500 1000 1500 Timeims Figure 34 Correct value of KPROP The two traces will probably appear with a small offset from each other which represents the following error Adjust KPROP by small amounts until the two traces appear on top of each other approximately as shown in Figure 34 Note It may be useful to use the zoom function to magnify the end point of the move In the graph area click and drag a rectangle around the end point of the traces To zoom out right click in the graph area and choose Undo Zoom 5 26 Operation MN1924 www supportme net 5 9 Digital input output configuration The Digital I O window can be used to setup other digital inputs and outputs 5 9 1 Digital input configuration The Digital Inputs tab allows you to define how each digital input will
22. whereby it cannot influence the bus Check 12 24V is being applied to pin 5 of the RJ45 CAN connector to power the opto isolators There is at least one other Baldor CAN node in the network with jumpers JP1 and 2 in the 1 lower position The network is terminated only at the ends not at intermediate nodes All nodes on the network are running at the same baud rate All nodes have been assigned a unique node ID The integrity of the CAN cables To recover from the off state the bus must be reset This can be done using the MintMT BUSRESET keyword or by resetting the NextMove ESB 6 8 Troubleshooting MN1924 Specifications f 7 1 Introduction This section provides technical specifications of the NextMove ESB 7 1 1 Input power Input power Nominal input voltage 24V 20 Power consumption 50W 2A Q24V 7 1 2 Analog inputs 500 both inputs enabled 250 one input disabled Sampling interval 7 1 3 Analog outputs a Output voltage range VD Output DAC resolution Update interval 100 2000 same as LOOPTI ME default 1000 MN1924 Specifications 7 1 www supportme net 7 1 4 Digital inputs 3 me USR V supply voltage VDC Nominal 24 Minimum 12 Maximum 30 Input voltage VDC Active gt 12V Inactive lt 2V Input current mA 7 maximum per input USR V 24V 7 1 5 Digital outputs general purpose Descriptio
23. 0 typical connection from a drive amplifier e g Baldor MicroFlex FlexDrive Flex Drive or MintDrive MN1924 Input Output 4 15 www supportme net 4 4 4 Relay connections The relay connections are available on connector X12 as shown in section 4 1 1 The relay outputs are isolated from any internal circuits the NextMove ESB In normal operation while there is no error the relay is energized and REL COM is connected to REL NO In the event of an error or power loss the relay is de energized and REL COM is connected to REL NC The relay can be controlled by the RELAY keyword and can be configured as the global error output by setting GLOBALERROROUTPUT to 1000 _RELAYO See the Mint MT help file NextMove ESB MintMT GLOBALERROROUTPUT DRI VEENABLEOUTPUT Figure 20 Relay connections 4 4 5 USB port Location USB Mating connector USB Type B downstream plug VBUS USB 5V xe ee 1 2 The USB connector can be used as an alternative method for connecting the NextMove ESB to a PC running WorkBench v5 The NextMove ESB is a self powered USB 1 1 12Mbps compatible device If it is connected to a slower USB1 0 host PC or hub communication speed will be limited to the USB1 0 specification 1 5Mbps If it is connected to a faster USB2 0 480Mbps host PC or hub communication speed will remain at the USB 1 1 specification of the NextMove ESB Ideally the NextMove ESB should be connecte
24. 00m 2 For bus lengths greater than about 1000m 20Kbit s 2500m 2 bridge or repeater devices may be needed 10Kbit s 5000m 2 m The compromise between bus length and CAN baud rate must be determined for each application The CAN baud rate can be set using the BUSBAUD keyword It is essential that all nodes on the network are configured to run at the same baud rate m The wiring topology of a CAN network should be as close as possible to a single line bus structure However stub lines are allowed provided they are kept to a minimum lt 0 3m at 1 Mbit s m The OV 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 ESB or CAN peripheral devices are within the common mode range of the receiver circuitry of other nodes on the network 4 5 2 1 Opto isolation On the NextMove ESB the CAN channel is opto isolated A voltage in the range 12 24V must be applied to pin 5 of the CAN connector From this supply an internal voltage regulator provides the 5V at 100mA required for the isolated CAN circuit CAN cables supplied by Baldor are category 5 and have a maximum current rating of 1A so the maximum number of NextMove ESB units that may be used on one network is limited to ten Practical operation of the CAN channel is limited to 500Kbit s owing to the propagation delay of the opto isolators MN1924 Input Output 4 21 www supportme net
25. 10 2 maximum adjustable using the LOOPTI ME keyword factory default 1kHz MintMT and the Mint Motion Library use analog outputs DemandO to 2 to control drive amplifiers Demand outputs 0 to 2 are used by axes configured as servo see section 5 3 1 The Demand3 output may be used as general purpose analog output See the DAC keyword in the MintMT help file The analog outputs may be used to drive loads of 1kO or greater Shielded twisted pair cable should be used The shield connection should be made at one end only NextMove ESB Demand X13 100 5 X13 i Drive amplifier 10VDC demand Shield 3 NS Connect overall shield at one end only Figure 6 Analog output typical connection to a Baldor MicroFlex MN1924 Input Output 4 5 www supportme net FlexDrive drive amplifier NextMove ESB X13 DemandO amplifier 10VDC input NS Connect overall shield at one end only Shield Figure 7 Analog output typical connection to a Baldor FlexDrive Flex Drive MintDrive 4 6 Input Output MN1924 www supportme net 43 Digital I O The NextMove ESB provides 20 general purpose digital inputs m 11 gener
26. 5 3 4 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 SERROR and or SSTATUS to determine which applies Forward software hardware limit A forward software limit has been activated See SERROR and or SSTATUS to determine which applies Firmware being updated horizontal bars appear sequentially New firmware is being downloaded to the NextMove ESB Initialization error An initialization error has occurred at power on See the Error Log or 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 keywords LED and LEDDI SPLAY See the MintMT help file for details of each keyword If the status display shows one of the digits 0 7 with a flashing decimal point during startup this indicates that the NextMove ESB has detected a fault and cannot be started In this unlikely event please contact Baldor technical support 6 2 2 Communication If the problem is not listed below please contact Baldor technical support Cannot detect NextMove ESB Check that the NextMove ESB
27. 79 646 4711 Fax 61 2 9674 2495 Fax 1 479 648 5792 i Email sales baldor com Baldor Electric F E Pte Ltd Web site www baldor com Telephone 65 744 2572 65 747 1708 Baldor Italia S R L Telephone 39 0 11 56 24 440 Fax 39 0 11 56 25 660 MN1924 General Information 1 1 www supportme net Safety Notice Only qualified personnel should attempt to start up program or troubleshoot this equipment This equipment may be connected to other machines that have rotating parts or parts that are controlled by this equipment Improper use can 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 and driven equipment Be certain that unexpected motor shaft movement will not cause injury to personnel or dama
28. Auxiliary encoder inputs DIN17 STEP DIN18 DIR DIN19 2 DIN17 DIN19 may also be used as an auxiliary encoder input DIN17 accepts step pulse signals and DIN18 accepts direction signals allowing an external source to provide the reference for the speed and direction of an axis The step frequency 15 2 maximum determines the speed and the direction input determines the direction of motion Both the rising and falling edges of the signal on DIN17 cause an internal counter to be changed If 5V is applied to DIN18 or it is left unconnected the counter will increment If DIN18 is grounded the counter will be decremented Typically one channel of an encoder signal either A or B would be used to provide the step signal on DIN17 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 step 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 DIN18 allows the direction of motion to be determined The 2 signal on DIN19 can be supplied from the 5 index signal and may be read using the AUXENCODERZLATCH keyword See the MintMT help file for details of each keyword 4 3 1 5 Typical digital input wiring User
29. B002 502 NextMove ESB controller with USB and 5485 NSB003 501 NextMove ESB controller with USB and RS232 Open collector NSB003 502 NextMove ESB controller with USB and RS485 MN1924 Introduction 2 3 www supportme net 2 3 Units and abbreviations The following units and abbreviations may appear in this manual Vig cota ad Pares Volt also VAC and VDC ia AD PD Watt IA d deudas trien Ampere Ohm on brs milliohm lE a oris tai microfarad lo RNC EP picofarad llo MES millihenry ss phase MS cd ioa etat millisecond dL microsecond REED nanosecond FEET a ettet Seen ho millimeter ME meter P TP inch RZ feet Ib in pound force inch torque Newton meter torque ADO is Analog to Digital Converter ASCH totes American Standard Code for Information Interchange AM American Wire Gauge CAL CAN Application Layer CAN ilarit Controller Area Network Compact Disc Read Only Memory CAN Automation International Users and Manufacturers Group e V A o5 on the PC keyboard press Ctrl then E at the same time stes euet de Digital to Analog Converter DS301 2 CiA CANopen Application Layer and Communication Profile DS401 Device Profile for Generic Devices DS403 CiA Device Profile for H
30. CAN connector to power the opto isolators There is at least one other CANopen node in the network The network is terminated only at the ends not at intermediate nodes All nodes on the network are running at the same baud rate All nodes have been assigned a unique node ID The integrity of the CAN cables To recover from the off state the bus must be reset This can be done using the MintMT BUSRESET keyword or by resetting the NextMove ESB 6 6 Troubleshooting MN1924 www supportme net The Manager node cannot Assuming that the network is working correctly see scan recognize a node on the previous symptoms and the bus is in an Operational network using the MintMT state check the following NODESCAN keyword Only nodes that conform to DS401 DS403 and other Baldor CANopen nodes are supported by the MintMT NODESCAN keyword Check that the node in question has been assigned a unique node ID The node must support the node guarding process NextMove ESB does not support the Heartbeat process Try power cycling the node in question If the node in question does not conform to DS401 or DS403 and is not a Baldor CANopen node communication is still possible using a set of general purpose MintMT keywords See the MintMT help file for further details The node has been For communication to be allowed a connection must be successfully scanned made to a node after it has been scanned recognized by the Manager no
31. H 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 1 479 646 4711 Fax 1 479 648 5792 For additional office locations visit www baldor com LT0189A04 Printed in UK Baldor UK Ltd
32. HTAKINT HKI Attributes NH Controller Ge Default a Range IDLEAD Scie oe All NextMove Dori Figure 28 The WorkBench help file 1 5 3 2 2 2 For help on using WorkBench 5 click the Contents tab then click the small plus sign beside the WorkBench v5 book icon Double click a topic name to display it MN1924 Operation 5 3 www supportme net 5 2 2 Starting WorkBench v5 1 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 TT Ei tra Tools Producti Popen Hap rin Production Pogan s sisYt uc For Help nes EL UE D 2 Inthe opening dialog box click Start New Project WorkBench 5 x Recent Projects Projects Start New Project Browse for Project Demo Exit Workbench pen Recent Eraject 5 4 Operation MN1924 www supportme net 3 Inthe Select Controller dialog go to the drop down box near the top and select the PC serial port to which the NextMove ESB is connected If you are unsure
33. MIs EDS c ERE Electronic Data Sheet EMG ctr Electromagnetic Compatibility Human Machine Interface International Standards Organization nee kilobaud the same as Kbit s in most applications LOD Liquid Crystal Display MB megabytes Mbps megabits s NC Not Connected 2 4 Introduction MN1924 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 ESB This section describes the mechanical installation of the NextMove ESB 3 1 1 Location requirements You must read and understand this section before beginning the installation CAUTION 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 ESB are shielded correctly generating equipment or directly below water steam pipes N CAUTION Avoid locating the NextMove ESB immediately above or beside heat CAUTION Avoid locating the NextMove ESB 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 fo
34. S232 cable wiring Alternatively the Baldor HMI panel may be connected using RS485 422 as shown in Figure 24 Baldor HMI NextMove ESB PLC PORT n Serial Port Figure 24 RS485 422 cable wiring MN1924 Input Output 4 19 t www supportme net 4 5 CAN The CAN bus is a serial based network originally developed for automotive applications but now used for a wide range of industrial applications It offers low cost serial communications with very high reliability in an industrial environment the probability of an undetected error is 4 7 10 11 It is optimized for the transmission of small data packets and therefore offers fast update of devices peripheral devices connected to the bus The CAN protocol only defines the physical attributes of the network i e the electrical mechanical functional and procedural parameters of the physical connection between devices The higher level network functionality is defined by a number of standards and proprietary protocols CANopen is one of the most used standards for machine control within industries such as printing and packaging machines In addition to supporting CANopen Baldor have developed a proprietary protocol called Baldor CAN Both protocols are supported by NextMove ESB but unlike other Baldor devices both cannot be supported at the same time This is because NextMove ESB only has a single hardware CAN channel Separate firmware builds are available to support each of th
35. aft disconnected from other machinery 1 Check that the Drive enable button is pressed down 74 WorkBench v5 New Projed 2 Inthe Toolbox click the Edit amp Debug icon rg i Edit amp Debug 3 Click in the Command window 4 Type 02 where 0 is axis stepper output to be tested and 2 is the speed Command E The J OGcommand specifies the speed in user units per second so the speed is affected by SCALEF ACT OR section 5 3 2 If you have notselected a scale the command J OG 022 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 2 J OG 022 will cause rotation at 2 revolutions per second If there appears to be no step or direction output check the electrical connections to the assigned STEPx and DIRx outputs 5 Torepeat the tests for reverse moves type JOG O 2 6 To remove the demand and stop the test type STOP 0 TO C 1 4 5 10 Operation MN1924 www supportme net 5 5 Servo axis testing and tuning This section describes the method for testing and tuning a servo axis The drive amplifier must already have been tuned for basic current or velocity control of the motor 5 5 1 Testing the demand output This section tests the operation and direction of the demand out
36. al purpose digital outputs 4 3 1 Digital inputs Digital inputs are available on connectors X8 X9 and X10 as shown in section 4 1 1 The digital inputs are arranged in three groups each with their own common connection This allows each group to be configured independently for active high or active low operation The general purpose digital inputs DINO DIN19 can be shared between axes and programmable in Mint using a range of keywords beginning with the letters NPUT to determine their active level and if they should be edge triggered The state of individual inputs can be read directly using the NX keyword See the MintMT help file A general purpose digital input can be assigned to a special purpose function such as a home limit stop or error input See the keywords LI TFORMARDI NPUT LI M TREVERSEI STOPI and ERRORI in the MintMT help file 4 3 1 1 DINO DIN3 Digital inputs DINO to DIN3 can be assigned as fast interrupts These are used as high speed position latches allowing any combination of axes to be captured by the hardware The latency between input triggering and capture is 1us Special Mint keywords beginning with the letters FAST allow specific functions to be performed as a result of fast position inputs becoming active See the Mint help file for details NextMove ESB Vi
37. 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 Position following error A following error has occurred See the SERROR keyword and associated keywords Following errors could be caused by a badly tuned drive motor At higher acceleration and deceleration rates the following error will typically be greater Ensure that the drive motor is adequately tuned to cope with these acceleration rates The following error limit can be adjusted to suit your application see the FOLERRORFATAL and VELFATAL keywords Following error could also be the cause of encoder resolver loss see also the FEEDBACKFAULTENABLE keyword Follow mode The axis is in Follow mode See the FOLLOWkeyword Homing The axis is currently homing See the HOME keyword Incremental move An incremental move is being profiled See the and NCR keywords The axis is jogging In the Mint help file see the topics OG OGCOMVAND and Jog mode 6 2 Troubleshooting MN1924 J A www supportme net Offset move The axis is performing an offset move Positional Move The axis is performing a linear move See the MOVEA and MOVER keywords Stop A STOP command has been issued or the stop input is active Axis disabled The axis drive must be enabled before operation can continue See section
38. ant components B 2 B 1 4 EMC installation suggestions B 2 B 1 5 Wiring of shielded screened encoder cables B 2 MN1924 Contents iii iv Contents MN1924 General Information 1 LT0189A04 Copyright Baldor 2006 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
39. 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 an active low input and allocated to the forward limit input of axis 0 1 Inthe Toolbox click the Digital I O icon 2 At the bottom of the Digital I O screen click Irasn an 7 IN 15 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 inao 3 Drag the Low icon Ll onto the IN1 icon Ej This will setup IN1 to respond to a low input INI MN1924 Operation 5 27 www supportme net 4 Now drag the IN1 icon onto the Fwd Limit icon Ped IN 1 Dx This will setup IN1 as the Forward Limit input of axis INS IN 11 IN4 IN 12 INS IN 13 5 Click Apply to send the changes to the NextMove ESB Note If required multiple inputs can be configured before clicking Apply 5 9 2 Digital output configuration The Digital Outputs tab allows you to define how each digital output will operate and if it is to be configured as a drive enable output see section 5 3 3 Remember to click Apply to send the changes to the NextMove ESB 5 28 Operation MN1924 www supportme net 5 10 Saving setup information When power is removed from the NextMove ESB all data including configuration and
40. 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 2 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 e Back Pink O Opis Updale Help M vo gt HOMESWITCH HSW 2 HOMEBACKOFF HBA 2 HOMECREEPSPEED HCS HOMEDECEL HMD HOMEINPUT HI HOMEPOS HPS HOMEREFPOS HAP HOMESPEED HS TONES TS T See Also HOME MOMEINPUT retum the state of the home input Controllers Supported All NextMove Flex Driver MintDriver HOMETYPE Format HTACHANNEL HAC HTADAMPING HAD Dot Parameters HTADEADBAND HDB Axis Axis No HTAFILTER HAF
41. cable be sure to obtain a cable that is a shielded twisted pair 0 34 22 AWG wire minimum with an overall shield Ideally the cable should not exceed 30 5m 100ft in length Maximum wire to wire or wire to shield capacitance is 50pF per 300mm 11 length to a maximum of 5000pF for 30 5m 1008 MN1924 General A 1 www supportme net A 2 General MN1924 CE Guidelines B 1 Outline This section provides general information regarding recommended methods of installation for CE compliance It is not intended as an exhaustive guide to good practice and wiring techniques It is assumed that the installer of the NextMove ESB is sufficiently qualified to perform the task and is aware of local regulations and requirements Baldor products that meet the EMC directive requirements are indicated with a CE mark A duly signed CE declaration of conformity is available from Baldor B 1 1 EMC Conformity and CE marking The information contained herein is for your guidance only and does not guarantee that the installation will meet the requirements of the council directive 89 336 EEC The purpose of the EEC directives is to state a minimum technical requirement common to all the member states within the European Union In turn these minimum technical requirements are intended to enhance the levels of safety both directly and indirectly Council directive 89 336 EEC relating to Electro Magnetic Compliance EMC indicates that it
42. ce of firmware Bit rates Kbit s CANopen 10 20 50 100 125 250 500 1000 Baldor CAN 10 20 50 125 250 500 1000 7 1 11 Environmental Description Operating temperature range Maximum humidity 80 for temperatures up to 31 C 87 F decreasingly linearly to 509 relative humidity at 45 C 11372 non condensing according to DIN40 040 IEC 144 Maximum installation altitude above m s l See also section 3 1 1 7 1 12 Weights and dimensions Description Value Nominal overall dimensions 245mm x 135mm x 43mm 9 65in x 5 32 x 1 69in 7 4 Specifications MN1924 1 Feedback cables The Baldor cables listed in Table 3 connect the Encoder Out signal from a drive amplifier for example MicroFlex FlexDrive Flex Drive or MintDrive to the EncO Enc1 and Enc2 encoder input connectors on the NextMove ESB One cable is required for each servo axis See section 4 4 3 for the connector pin configuration Cable assembly description Baldor catalog number Drive Amplifier to NextMove ESB CBLO15MF E3B Feedback Cable CBLO25MF E3B with 9 pin D type male connectors CBLO3O0MF E3B at both ends CBL050MF E3B CBL061MF E3B CBLO75MF E3B CBLO91MF E3B CBL100MF E3B CBL150MF E3B CBL152MF E3B CBL200MF E3B CBL229MF E3B Available in North and South America only Table 3 Drive amplifier to NextMove ESB feedback cables you are not using a Baldor
43. closed loop control 5 6 Servo axis tuning for current control 5 6 1 Selecting servo loop gains 5 6 2 Underdampedresponse 5 6 3 Overdamped response 5 6 4 Critically damped response 5 7 Servo axis eliminating steady state errors 5 8 Servo axis tuning for velocity control 591 Calculating KVELEP eo aces n ee edo 502 JAdpmstng KPROP ix dace eed er De ani d eem 5 9 Digital input output configuration 5 9 1 Digital input configuration 5 9 2 Digital output configuration 5 10 Saving setup information 5 10 1 Loading saved information Troubleshooting 6 1 JntrodH lOEI uiuos act anie un 9 dtr d ce a a 6 1 1 Problem 5 6 1 2 SupportMe feature 6 2 NextMove ESB indicators 62 display a a RC Reel 6 2 2 Communication Contents MN1924 6 2 3 6 4 624 WOMBDCNGCN lee data a 6 5 629 GANODOD 6 6 6 2 0 Baldo CAN
44. d directly to a USB port on the host PC If it is connected to a hub shared by other USB devices communication could be affected by the activity of the other devices A 2m 6 5 ft standard USB cable is supplied The maximum recommended cable length is 5m 16 4 ft 446 Input Output 924 www supportme net 4 4 6 Serial port Location Serial Mating connector 9 pin female D type so s gt NextMove ESB is available with either 5232 RS485 serial port see section 2 2 1 The port is fully ESD protected to IEC 1000 4 2 15kV When the NextMove ESB is connected to WorkBench v5 the Tools Options menu item can be used to configure the serial port The configuration can also be changed using the Mint keyword SERI ALBAUD see the Mint help file for details It is stored in EEPROM and restored at power up The port is capable of operation at up to 115 2 Kbaud on 5232 4 4 7 Using RS232 The NextMove ESB has a full duplex RS232 serial port with the following preset configuration 57 6 Kbaud 1 start bit 8 data bits 1 stop bit No parity Hardware handshaking lines RTS and CTS must be connected Serial COM TXD 3 3 TXD 9 pin NextMove ESB 5 5GND Computer DTE COM Port RTS 7 7 RTS DTE CTS 8 8 CTS Connect overall shield 7 to connector backshell Figure 21 RS232 serial port connections MN1924 Input Output 4 17 www supportme net The RS232 port is configured a
45. d if the same hardware channel has been selected for more than one servo axis or for more than one stepper axis It is recommended that unused axes are always set to OFF as this provides more processing time for the axes that are in use Setting an axis to Virtual means that it can be used to simulate motion within the controller but uses no physical outputs hardware channel See the MintMT help file for details of the CONFI Gand SCHANNEL keywords 5 6 Operation MN1924 www supportme net 5 3 2 Selecting a scale MintMT defines all positional and speed related motion keywords in terms of encoder quadrature counts for servo motors or steps for stepper motors The number of quadrature counts or steps is divided by the SCALEFACT OR 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 servo motor with a 1000 line encoder This provides 4000 quadrature counts for each revolution If SCALEFACTOR 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 16000 Move Relative would rotate the motor by 16000 quadrature counts only four revolutions By setting a SCALEFACTOR of 4000 the user unit becomes revolutions The more understandable command MOVER 4 could now be used to move the motor four revolutions The same concept applies to stepper
46. de but communication is still m Baldor controller nodes are automatically connected not possible to after being scanned m Nodes that conform to 05401 05403 must have the connections made manually using the MintMT CONNECT keyword If a connection attempt using CONNECT fails then it may be because the node being connected to does not support an object which needs to be accessed in order to setup the connection MN1924 Troubleshooting 6 7 www supportme net 6 2 6 Baldor CAN The Baldor CAN bus is This means that the internal CAN controller in the passive NextMove ESB is experiencing a number of Tx and or Rx errors greater than the passive threshold of 127 Check 12 24V is being applied to pin 5 of the RJ45 CAN connector to power the opto isolators There is at least one other Baldor CAN node in the network with jumpers JP1 and 2 in the 1 lower position The network is terminated only at the ends not at intermediate nodes All nodes on the network are running at the same baud rate All nodes have been assigned a unique node ID The integrity of the CAN cables The NextMove ESB should recover from the passive state once the problem has been rectified The Baldor CAN bus is off This means that the internal CAN controller in the NextMove ESB has experienced a fatal number of Tx and or Rx errors greater than the off threshold of 255 At this point the node will have switched itself to a state
47. de RS422 differential signals The use of individually shielded twisted pair cable is recommended A 5V supply is provided on connectors X5 X6 and X7 for powering the encoders The same 5V supply is also present on connectors X2 and X3 for powering external circuits see sections 4 4 1 and 4 4 2 Ensure that the total combined current demand of all 5V outputs does not exceed 600mA 4 4 3 1 Encoder input frequency The maximum encoder input frequency is affected by the length of the encoder cables The theoretical maximum frequency is 20 million quadrature counts per second This is equivalent to a maximum frequency for the A and B signals of 5MHz However the effect of cable length is shown in Table 1 A and B signal Maximum cable length frequency O O DI O O N c Table 1 Effect of cable length on maximum encoder frequency The maximum recommended cable length is 30 5m 1008 444 Input Output 924 www supportme net MicroFlex NextMove ESB FlexDrive Flex Drive MintDrive encoder output CHA to CPU MAX3095 Twisted pair to CPU MAX3095 Twisted pair to CPU MAX3095 Connect internal shield to Do not connect other end Connect overall shield to connector backshells shield connections Figure 19 Encoder input
48. drive enable output or a global error output Outputs can be shared between axes and can be configured using WorkBench v5 OUTPUTACTI VELEVEL keyword to determine their active level 4 3 2 1 DOUTO DOUT7 An external supply typically 24VDC is used to power the UDN2982 output devices as shown in Figure 15 When an output 1 activated current is sourced from the user supply through a UDN2982 output driver m A total of 500mA may be sourced by DOUTO DOUTT providing an average 62 5mA per output when all outputs are on 100 duty cycle 24V supply m An individual output can provide a maximum continuous current of 350mA but if other outputs are being used the total current must not exceed 500mA m maximum allowable power dissipation for the UDN2982 driver is 1 5W If an output is used to drive an inductive load such as a relay a suitably rated diode must be fitted across the relay coil observing the correct polarity The use of shielded cable is recommended NextMove ESB Voltage regulator 470R X11 UDN2982 V TLP281 Figure 15 Digital outputs DOUTO 7 DOUTO shown 4 3 2 2 DOUT8 DOUT10 8 DOUT10 use the same type of output circuitry as DOUTO DOUTT with their own UDN2982 output driver Because only three of the UDN2982 s eight outputs are being used the average cu
49. e protocols To determine which firmware is currently installed start WorkBench v5 and connect to the NextMove ESB see section 5 At the bottom of the WorkBench v5 window the status bar will show the name of the controller followed by CANopen or Baldor If the correct option is not shown it will be necessary to download alternative firmware by using the Install System File and or Download Firmware menu items in WorkBench v5 The firmware file can be found on the Baldor Motion Toolkit CD supplied with your product or downloaded from www supportme net See the MintMT help file for details about downloading firmware 4 5 1 CAN connector The CAN connection is made using the RJ45 connector on the NextMove ESB ame po FE je wo Eje Description Opto isolated CAN interface using a RJ45 connector The maximum default transmission rate on NextMove ESB is 500Kbit s 420 924 www supportme net 4 5 2 CAN wiring A very low error bit rate over CAN can only be achieved with a suitable wiring scheme so the following points should be observed m The two wire data bus line may be routed parallel twisted and or shielded depending on EMC requirements Baldor recommend a twisted pair cable with the shield screen connected to the connector backshell in order to reduce RF emissions and provide immunity to conducted interference m The bus must be terminated at both ends only n
50. e ESD precautions when handling the NextMove ESB A 5V supply is provided on connectors X2 and X3 for powering external circuits as shown in Figure 18 The same 5V supply is also present on connectors X5 X6 and X7 for powering encoders Ensure that the total combined current demand of all 5V outputs does not exceed 600 In situations where induced noise is affecting a step or direction output it may be necessary to connect a 5 or 10 pull up resistor between the output and the 5V supply pin 4 X2 Stepper drive opto isolated inputs Optocoupler reference T4AHCT244 Step clock input Direction Output TAAHCT244 CW CCW direction input X12 Enable input Figure 18 NSB003 501 502 only Connections to a typical stepper drive e g Baldor DSM series MN1924 Input Output 4 13 www supportme net 4 4 3 Encoder inputs 0 2 Location X5 X6 X7 Mating connectors 9 pin male D type Name Channel signal Shield Shield connection 610 Channel signal complement Channel B signal complement 8107 Index channel signal complement Three incremental encoders may be connected to NextMove ESB each with complementary A B and Z channel inputs Each input channel uses a MAX3095 differential line receiver with pull up resistors and terminators Encoders must provi
51. example the WorkBench v5 Axis Config Wizard will be used to assign axes 1 In the Toolbox click the Axis Config icon 2 For each required axis click in the Configuration column and select Servo or Stepper from the drop down box CD Anis 1 Serva Servo Channel 1 Ll LI 2 The Axis Config Wizard automatically ids ad wat assigns a Hardware Channel to the PY a E Ane axis For example Servo Channel 0 ais x si aie epper Lhanne indicates the servo axis will use the Si Avis na controllers Demand0 output Stepper Channel 1 indicates the stepper axis will use the controllers STEP1 and DIR1 outputs Optionally the default hardware channel assignment can be altered by clicking in the Hardware Channel column and choosing an alternative channel This means the axis will no longer use the correspondingly numbered physical outputs Demandx or STEPx DIRx so extra care must be taken when connecting the NextMove ESB to drive amplifiers 3 Click Finish to complete the Axis Config Wizard The axis configuration will be downloaded to the NextMove ESB Note Ifa Hardware channel required is in use or Hardware not available error message is displayed the configuration is not downloaded It is likely that the number of selected servo or stepper axes exceeds the number of physical axes of that type available on the NextMove ESB An error is also cause
52. ge 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 WARNING Improper operation or programming may cause violent motion of the motor shaft CAUTION Electrical components can be damaged by static electricity Use ESD electrostatic discharge procedures when handling this controller 1 2 General Information MN1924 Introduction 2 2 1 NextMove ESB features NextMove ESB is a high performance multi axis intelligent controller for servo and stepper motors NextMove ESB 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 MN1924 Control of 4 stepper and 3 servo axes Point to point moves software cams and gearing 20 general purpose digital inputs software configurable as level or edge tri
53. ggered 11 general purpose digital outputs 2 differential analog inputs with 12 bit resolution 4 single ended analog outputs with 12 bit resolution USB serial port RS232 or RS485 serial port model dependent CANopen or proprietary Baldor CAN protocol for communication with MintMT controllers and other third party devices Programmable in MintMT Introduction 2 1 www supportme net Included with NextMove ESB is the Baldor Motion Toolkit CD This contains a number of utilities and useful resources to get the most from your MintMT controller These include m WorkBench v5 This is the user interface for communicating with the NextMove ESB Installing WorkBench v5 will also install firmware for NextMove ESB m Developer Libraries Installing WorkBench v5 will install ActiveX interfaces that allow PC applications to be written that communicate with the NextMove ESB This manual is intended to guide you through the installation of NextMove ESB The chapters should be read in sequence The Basic Installation section describes the mechanical installation of the NextMove ESB 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 sup
54. hoice of inputs and outputs and a serial or USB cable linking the PC with the NextMove ESB MN1924 Operation 5 1 www supportme net 5 1 4 Preliminary checks Before you apply power for the first time it is very important to verify the following Disconnect the load from the motor until instructed to apply a load Inspect all power connections for accuracy workmanship and tightness Verify that all wiring conforms to applicable codes Verify that the NextMove ESB is properly earthed grounded Check all signal wiring for accuracy 5 1 5 Power on checks If the status display shows one of the digits 0 7 with a flashing decimal point during startup this indicates that the NextMove ESB has detected a fault see section 6 1 Turn on the 24V control supply 2 After a brief test sequence 8 followed by the Status display should show the node number for example g the factory default If the display is not lit then re check the power supply connections 5 1 5 1 Installing the USB driver If you have connected the NextMove ESB to the PC using the USB connection it will be necessary to install the USB driver When the NextMove ESB is powered Windows 2000 or XP only will automatically detect the controller and request the driver The driver consists of two files USBmotion inf and USBmotion sys Both files must be present for installation 1 Follow the on screen instructions to select and install the driver The driver f
55. iles are available on the supplied Baldor Motion Toolkit CD If you are using copy of the driver located on the hard disk a floppy disk or another CD the two driver files must be in the same folder 2 During installation Windows XP may report that the driver is unsigned This is normal for the NextMove ESB driver so click the Continue Anyway button to continue with the installation When installation is complete a new USB Motion Controller device will be listed in the Universal Serial Bus controllers section of Windows Device Manager 6 Universal Serial Bus controllers L USB Motion Controller z Intel 82371 PCI to USB Universal Host Controller USB Root Hub The NextMove ESB is now ready to be configured using WorkBench v5 Note NextMove ESB is later connected to a different USB port on the host computer Windows may report that it has found new hardware Either install the driver files again for the new USB port or connect the NextMove ESB to the original USB port where it will be recognized in the usual way 5 2 Operation MN1924 www supportme net 5 2 WorkBench v5 WorkBench 5 15 a fully featured application for programming and controlling the NextMove ESB 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
56. ill only produce a small demand for the drive amplifier which may not be enough to overcome mechanical friction this is particularly true in current controlled systems This error can be overcome by applying integral gain The integral gain KINT works by accumulating following error over time to produce a demand sufficient to move the motor into the required position with zero following error KINT can therefore overcome errors caused by gravitational effects such as vertically moving linear axes With current controlled drive amplifiers a non zero demand output is required to hold the load in the correct position to achieve zero following error Care is required when setting KINT since a high value will cause instability during moves A typical value for KINT would be 0 1 The effect of KINT should also be limited by setting the integration limit KINTLIMIT to the smallest possible value that is sufficient to overcome friction or static loads for example 5 This will limit the contribution of the integral term to 5 of the full demand output range 1 Click in the KINT box and enter a small starting value for example 0 1 Axis 4 2 x in the KINTLIMIT box and enter a value up ee ee 15 KINTMODE Always KINT 01 EIN TLIMIT 5 4 KVEL 0 00 With NextMove ESB the action of KINT and KINTLIMIT can be operate in various modes Never the KINT term is never applied Always the KINT term is alwa
57. is protocol Baldor CAN is a proprietary CAN protocol based on CAL It supports only the following range of Baldor CAN specific I O nodes and operator panels InputNode 8 Baldor part ION001 503 an 8 x digital input CAN node OutputNode 8 Baldor part ION003 503 an 8 x digital output CAN node RelayNode 8 Baldor part ION002 503 8 x relay CAN node loNode 24 24 Baldor part 10 004 503 a 24 x digital input and 24 x digital output CAN node KeypadNode Baldor part KPD002 501 an operator panel CAN node with 4 x 20 LCD display and 27 key membrane labeled for control of 3 axes X Y Z m KeypadNode 4 Baldor part KPD002 505 an operator panel CAN node with 4 x 20 LCD display and 41 key membrane labeled for control of 4 axes 1 2 3 4 A typical Baldor CAN network with a NextMove ESB and a Baldor CAN operator panel is shown in Figure 18 Baldor CAN Operator Panel NextMove ESB Operator Panel supply OV 24V Figure 26 Baldor CAN operator panel connections The NextMove ESB CAN channel is opto isolated so a voltage in the range 12 24V must be applied to pin 5 of the CAN connector From this supply an internal voltage regulator provides the 5V required for the isolated CAN circuit The required 12 24V can be sourced from the Baldor CAN node or operator panel s supply which is internally connected to the CAN connector as shown in Figure
58. is the responsibility of the system integrator to ensure that the entire system complies with all relative directives at the time of installing into service Motors and controls are used as components of a system per the EMC directive Hence all components installation of the components interconnection between components and shielding and grounding of the system as a whole determines EMC compliance The CE mark informs the purchaser that the equipment has been tested and complies with the appropriate standards It rests upon the manufacturer or his authorized representative to ensure the item in question complies fully with all the relative directives in force at the time of installing into service in the same way as the system integrator previously mentioned Remember that it is the instructions of installation and the product that should comply with the directive B 1 2 NextMove ESB compliance When installed as directed in this manual NextMove ESB units meet the emission limits for industrial environment as defined by the EMC directives EN50081 2 1994 To meet the more stringent emission limits of the residential commercial and light industrial environment EN50081 1 1992 the NextMove ESB must be mounted in a suitable metal cabinet incorporating 360 screened cable glands MN1924 CE Guidelines B 1 www supportme net B 1 3 Use of CE compliant components The following points should be considered Using CE
59. ive amplifier to work together Details of the connector pins are shown in Table 2 Host PC NextMove ESB asn Serial or USB connection X5 Drive amplifier axis 0 0060009000 0000000000000 000 69000 Demand Demand Enable Gnd 000000 Encoder output from X12 drive or motor 9 10 1 JE 13 000000000090 oeoo 24V GOOOGOOG OG 00000 E 24 control Common earth ground Figure 27 Example minimum system wiring MN1924 Input Output 4 25 www supportme net Name of Connection on amplifier signal Note connections may be labeled differently feedback input Encoder output NextMove ESB connector 1 Table 2 Connector details for minimum system wiring shown in Figure 27 ca tmm closed to enable drive EZ 426 Input Output 924 5 1 5 1 1 5 1 2 5 1 3 Operation D Introduction The software provided includes a number of applications and utilities to allow you to configure tune and program the NextMove ESB The Baldor Motion Toolkit CD containing the software can be found separately within the packaging Connecting the NextMove ESB to the PC The NextMove ESB can be connected to the PC using either RS232 or RS485 model dependen
60. llowing points must be considered m The NextMove ESB is designed to be mounted indoors permanently fixed and located m The NextMove ESB must be secured by the slots in the metal case The NextMove ESB must be installed in an ambient temperature of 0 C to 45 C 32 F to 113 m The NextMove ESB 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 45 113 F non condensing m The NextMove ESB 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 MN1924 Basic Installation 3 1 www supportme net 3 1 2 Mounting the NextMove ESB 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 ESB using the supplied M4 screws For effective cooling the ESB must be mounted on a smooth non flammable vertical surface Orientation must be as shown in Figure 1 with the two slots in the metal carrier heat sink assembly at the bottom 245 9 65 170 6 7 K gt 7N AN eco Ox All dimensions shown as RU mm inches WY Drawings n
61. mand causes a positive feedback signal 5 8 1 Calculating KVELFF To calculate the correct value for KVELFF you will need to know m The speed in revolutions per minute produced by the motor when a maximum demand 10V is applied to the drive amplifier The setting for LOOPTI ME The factory preset setting is 1ms m The resolution of the encoder input The servo loop formula uses speed values expressed in quadrature counts per servo loop To calculate this figure 1 First divide the speed of the motor in revolutions per minute by 60 to give the number of revolutions per second For example if the motor speed is 3000rpm when a maximum demand 10 is applied to the drive amplifier 3000 60 50 2 Next calculate how many revolutions will occur during one servo loop The factory preset servo loop time is 1ms 0 001 seconds so Revolutions per second 50 x 0 001 seconds 0 05 3 Nowcalculate how many quadrature encoder counts there are per revolution The NextMove ESB counts both edges of both pulse trains CHA and CHB coming from the encoder so for every encoder line there are 4 quadrature counts With a 1000 line encoder Revolutions per servo loop 1000 x 4 4000 4 Finally calculate how many quadrature counts there are per servo loop Quadrature counts per revolution 4000 x 0 05 200 Quadrature counts per servo loop 5 22 Operation MN1924 www supportme net The analog demand output is co
62. motors where the scale can be set according to the number of steps per revolution Typically this would be 200 for a motor with a 1 8 step angle or 400 if driven in half step mode By setting a SCALEFACT OR of 200 or 400 if driven in half step mode the user unit becomes revolutions In applications involving linear motion a suitable value for SCALEFACTOR would allow commands to express values in linear distance for example inches feet or millimeters 1 Inthe Toolbox 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 4000 count s to 1 User Position Unit 5 Click Apply Apply This immediately sets the scaling factor for the selected axis which will remain in the NextMove ESB until another scale is defined or power is removed from the NextMove ESB See section 5 10 for details about saving configuration parameters MN1924 Operation 5 7 www supportme net 5 3 3 Setting the drive enable output A drive enable output allows NextMove ESB to enable the external drive amplifier to allow motion or disable it in the event of an error Each axis can be configured with its own drive enable output or can share an output with other axes If an output is shared an error on any of the axes sharing the output will cause all of them to be disabled The drive enable out
63. n USR V supply voltage Nominal Minimum Maximum Output current DOUTO 7 DOUT8 10 Max source per output one output on 350 350 Max source per output all outputs on 62 5 166 Maximum total output current 500 500 Update interval Mint Immediate Switching time No load on output 100ms With 7mA or greater load 1 5 7 1 6 Relay output All models Contact rating resistive 1A 24VDC or 0 25A 30VAC Operating time max 7 2 Specifications MN1924 www supportme net 7 1 7 Encoder inputs Encoder input RS422 A B Differential Z index Output power supply to encoders 5V 500mA max total for all encoders 30 5m 100ft Maximum input frequency quadrature encoder inputs 0 and 1 20 quadrature encoder input 2 8 Maximum allowable cable length 7 1 8 Stepper control outputs Models NSB002 501 NSB002 502 Value Output type RS422 step pulse and direction 20 Output current mA maximum per output pair Models NSB003 501 NSB003 502 Darlington step pulse and direction Output type mA 50 Output current maximum sink per output 7 1 9 Serial RS232 RS485 port All models RS232 non isolated CTS RTS or RS485 non isolated model dependent 9600 19200 38400 57600 default 115200 RS232 only MN1924 Specifications 7 3 www supportme net 7 1 10 CAN interface meg p NN 2 wire isolated Protocols CANopen or Baldor CAN selected by choi
64. nt error keywords SERROR SSTATUS TERROR and SCERROR m The type of motion generated in the motor shaft m Give alist of any parameters that you have setup for example the settings you have entered MN1924 Troubleshooting 6 1 www supportme net 6 2 NextMove ESB 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 Spline A spline move is being performed See the SPLI NE keyword and related commands Axis enabled Torque mode The NextMove ESB 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 2 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 Cl RCLEA or Cl RCLER keywords Cam A Cam profile is being profiled See the CAMkeyword General error See the SERROR keyword The motion toolbar displays the status of SERROR which is a bit pattern of all latched errors See
65. ntrolled by a 12 bit DAC which can create output voltages in the range 10V to 10V This means a maximum output of 10V corresponds to a DAC value of 2048 The value of KVELFF is calculated by dividing 2048 by the number of quadrature counts per servo loop so KVELFF 2048 200 10 24 5 Click in the KVELFF box and enter the value Fine tuning Aus 4 The calculated value should give zero following error at constant velocity Using values greater than the calculated value will cause the controller to have a following error ahead of the desired position Using values less than the calculated value will cause the controller to have following error behind the desired position 6 Inthe Move Type drop down box check that the move type is set to Trapezoid T Click inthe Distance box and enter distance for the step move It is recommended to set a value that will cause the motor to make a few revolutions for example 10 Note The distance depends on the scale set in section 5 3 2 If you set a scale so that units could be expressed in revolutions or other unit of your choice then those are the units that will be used here If you did not set a scale the amount you enter will be in encoder counts mn o o The NextMove ESB will perform the move and the motor will turn As the soon as the move is completed WorkBench v5 will upload captured data from the NextMove ESB The data will then be displayed in the Capt
66. on Every 1ms adjustable using the LOOPTI ME keyword the NextMove ESB compares the demanded and measured positions It then calculates the demand needed to minimize the difference between them known as the following error This system of constant measurement and correction is known as closed loop control For the analogy imagine you are in your car waiting at an intersection You are going to go straight on when the lights change just like the car standing next to you which is called Demand You re not going to race Demand though your job as the controller NextMove ESB is to stay exactly level with Demand looking out of the window to measure your position The main term that the NextMove ESB uses to correct the error is called Proportional gain KPROP A very simple proportional controller would simply multiply the amount of error by the Proportional gain and apply the result to the motor the further Demand gets ahead or behind you the more you press or release the gas pedal If the Proportional gain is set too high overshoot will occur resulting in the motor vibrating back and forth around the desired position before it settles you press the gas pedal so hard you go right past Demand To try and stay level you ease off the gas but end up falling behind a little You keep repeating this and after a few tries you end up level with Demand traveling at a steady speed This is what you wanted to do but it has taken you a long time
67. onnected as shown in section 4 4 6 or USB cable m Your PC operating system user manual might be useful if you are not familiar with Windows MN1924 Basic Installation 3 3 www supportme net 3 4 Basic Installation MN1924 Input Output 4 41 Introduction This section describes the input and output capabilities of the NextMove ESB The following conventions will be used to refer to the inputs and outputs o raean e Input Output DIN isa see ors e a Digital Input DOUT Digital Output AIN ica ore dy Analog Input BOUT iui Analog Output MN1924 Input Output 4 1 www supportme net 4 1 1 Connector locations 5 DIN19 M 7 A DIN18 2 Serial CAN DIN17 3 DIN16 14 DIN15 5 DIN14 Ie X8 DIN 12 19 X7 Encoder2 DIN13 7 DIN12 18 2 9 Shield 10 DIN11 T 54 DIN10 2 DIN9 3 DINS 4 X6 Encoder1 DIN7 5 gt NEL X9 DIN 4 11 DIN5 7 DIN4 8 CREF1 9 4 Shield 10 DIN3 M Shield 2 X5 Encoder0 CREFO 3 DIN2 4 Shield 5 X10 DIN 0 3 go E fast interrupts 90 CREF2 Shield 8 9 CREF1 CREFO 9 o NC DINO 10 DOUTO 1 6 USR GND DOUT4 2 1 X4 DOUT 8 10 5 USR V DOUT2
68. ons Note The NextMove ESB CAN channel is opto isolated so a voltage in the range 12 24V must be applied to pin 5 of the CAN connector An additional adaptor e g RS Components part 186 3105 or modifications to the cable may be required to facilitate the power connection The configuration and management of a CANopen network must be carried out by a single node acting as the network master This role can be performed by the NextMove ESB when it is configured to be the Network Manager node node ID 1 or by a third party CANopen master device Up to 126 CANopen nodes node 10 2 to 127 can be added to the network by NextMove ESB Manager node using the MintMT NODESCAN keyword If successful the nodes can then be connected to using the MintMT CONNECT keyword Any network and node related events can then be monitored using the MintMT BUS1 event 422 Input Output ss 924 www supportme net Note All CAN related MintMT keywords are referenced to either CANopen or Baldor CAN using the bus dot parameter Although the NextMove ESB has a single physical CAN bus channel that may be used to carry either protocol MintMT distinguishes between the protocols with the bus dot parameter For CANopen the bus dot parameter must be set to 1 Please refer to the MintMT help file for further details on CANopen MintMT keywords and dot parameters 4 5 4 Baldor CAN The NextMove ESB must have the Baldor CAN firmware loaded to use th
69. oot m KVELFF This is a feed forward term and as such has a different effect on the servo system than the previous gains KVELFF is outside the closed loop and therefore does not have an effect on system stability This gain allows a faster response to demand speed changes with lower following errors for example you would increase KVELFF to reduce the following error during the slew section of a trapezoidal move The trapezoidal test move can be used to fine tune this gain This term is especially useful with velocity controlled servos m KACCEL This term is designed to reduce velocity overshoots on high acceleration moves 5 14 Operation MN1924 www supportme net ules Moon i poinseoyy oeqpee ules INDI uonsog E Uol sod JoJeJeuoec PJEMIOJP99H ova dil XVIALLIINITOVG JJ T3AM dwy 1999VM Figure 29 The NextMove ESB servo loop Operation 5 15 MN1924 www supportme net 5 6 Servo axis tuning for current control 5 6 1 Selecting servo loop gains All servo loop parameters default to zero meaning that the demand output will be zero at power up Most drive amplifiers can be set to current torque cont
70. or velocity control 5 22 calculating KVELFF 5 22 critically damped response 5 20 eliminating steady state errors 5 21 overdamped response 5 19 selecting servo loop gains 5 16 underdamped response 5 18 MN1924 Underdamped response 5 18 Units and abbreviations 2 4 USB installing the driver 5 2 port 4 16 MN1924 W Weights and dimensions 7 4 WorkBench v5 5 3 digital input output configuration 5 27 help file 5 3 loading saved information 5 30 saving setup information 5 29 starting 5 4 Index Index MN1924 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 I I 1 I 1 1 I I 1 I 1 1 Manuals Baldor UK Ltd Mint Motion Centre I 1 1 I 1 1 1 I 1 I 1 I 1 1 6 Bristol Distribution Park Hawkley Drive Bristol BS32 OBF United Kingdom Alternatively you can e mail your comments to manuals baldor co uk continued MN1924 Comments Thank you taking the time to help Comments MN1924 BALDOR MOTORS DRIVES amp GENERATORS Baldor Electric Company P O Box 2400 Ft Smith 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 Europe Baldor ASR Gmb
71. orrectly check the Fine tuning window See sections 5 5 2 to 5 7 Motor runs uncontrollably Verify that the NextMove ESB and drive are correctly when controller is switched on grounded to a common ground Servo outputs only Check that the correct encoder feedback signal is connected to the encoder input the encoder has power if required see sections 4 4 3 and 7 1 7 and is functioning correctly Check that the drive is connected correctly to the NextMove ESB and that with zero demand there is OV at the drive s demand input See section 5 5 1 Motor runs uncontrollably Servo outputs only Check that the encoder feedback when controller is switched signal s are connected to the correct encoder input s and servo loop gains are Check the demand to the drive is connected with the applied or when a move is set correct polarity in progress Motor then stops after a short time Check that for a positive demand signal a positive increase in axis position is seen The ENCODERMODE keyword can be used to change encoder input direction The DACMODE keyword can be used to reverse DAC output polarity Check that the maximum following error is set to a reasonable value For setting up purposes following error detection may be disabled by setting FOLERRORMODE 0 6 4 Troubleshooting MN1924 www supportme net Motor is under control but Servo outputs only Servo loop gains may be set vibrates or overshoots during a
72. ot scale e Mounting keyhole and slot detail gt lt Os ei E C 11mm gt lt AD lt Figure 1 Package dimensions There must be at least 20mm 0 8 in clearance between the NextMove ESB 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 For example 70mm 2 8 in clearance will be required for connection of the serial port cable 3 2 Basic Installation MN1924 www supportme net 3 1 3 Other requirements for installation m The NextMove ESB requires 24V power supply capable of supplying 2A continuously It is recommended that a separate fused 24V supply is provided for the NextMove ESB with the fuse rated at 4A maximum If digital outputs are to be used a supply will be required to drive them see section 4 3 2 APC that fulfills the following specification ira itor Recomende Serial port USB port or RS232 or RS485 serial port depending on NextMove ESB model Screen 800 x 600 256 colors 1024 x 768 16 bit color Mouse A mouse or similar pointing device Operating Windows 95 Windows NT Windows 98 Windows system Windows NT Windows 2000 or Windows XP For USB support Windows 2000 or Windows XP is required Software installation will be described later in section 5 A serial cable c
73. ot at intermediate points with resistors of a nominal value of 120Q This is to reduce reflections of the electrical signals on the bus which helps a node to interpret the bus voltage levels correctly If the NextMove ESB is at the end of the network then ensure that jumper JP1 located just behind the status display is in position This will connect an internal terminating resistor To access the jumper it will be necessary to remove the top cover from the NextMove ESB Before removing the top cover 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 m All cables and connectors should have a nominal impedance of 1200 Cables should have a length related resistance of 70mQ m and nominal line delay of 5ns m A range of suitable CAN cables are available from Baldor with catalog numbers beginning CBLO004 5 JP1 NS A m The maximum bus length depends on the bit timing CAN Maximum configuration baud rate The table opposite shows Baud Rate Bus Length the approximate maximum bus length worst case assuming 5ns m propagation delay and a total 1Mbit s 25m effective device internal in out delay of 210ns at 500Kbit s 100m 1Mbit s 300ns at 500 250Kbit s 450ns at 125Kbit s 250Kbit s 250m and 1 5ms at 50 10Kbit s 125Kbit s 500 100Kbit s 1 600m 1 baud rate not supported Baldor 50Kbit s 10
74. portme net 2 2 Introduction MN1924 www supportme net 2 2 Receiving and inspection When you receive your NextMove ESB 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 ESB 2 Remove the NextMove ESB from the shipping container and remove all packing material The container and packing materials may be retained for future shipment 3 Verify that the catalog number of the NextMove ESB 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 ESB for external damage during shipment and report any damage to the carrier that delivered it 5 If the NextMove ESB 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 1 Identifying the catalog number Different models of NextMove ESB are available As a reminder of which product has been installed it is a good idea to write the catalog number in the space provided below NextMove ESB catalog number NSBOO 501 or NSBOO 502 Installed in Date A description of the catalog numbers are shown in the following table Catalog Description Stepper output number type NSB002 501 NextMove ESB controller with USB and RS232 Differential NS
75. put can either be the relay or a digital output A 1 In the Toolbox click the Digital I O icon 2 Atthe bottom of the Digital I O screen click the Digital Outputs tab The left of the screen shows yellow High and Low icons These describe how the output should behave when activated to enable the axis 3 If you are going to use the relay ignore this step and go straight to step 4 If you are going to use a digital output drag the appropriate yellow icon to the grey OUT icon that will be used as the drive enable output In this example OUT1 is being used The icon s color will change to bright blue 4 If you are going to use the relay drag the l Digital 0 IN 7 15 Digital Outputs 7 N anges Suggested Settings Output im Nout m 5 A Low QUT 1 lt Aus 0 Relay0 icon to the grey Man Drive Enable OP icon on the right of the B screen e sin lt Ans 1 To configure multiple axes to use the error output repeat this step for the other axes 5 8 Operation MN1924 www supportme net If you are going to use digital output drag the bright blue OUT icon to the grey Drive Enable OP axis icon on the right of the screen tow BENI To configure multiple axes with the same drive enable output repeat this step for the other axes Click Apply at the bottom of the screen This sends the out
76. put configuration to the NextMove ESB See section 5 10 for details about saving configuration parameters 5 3 4 Testing the drive enable output 1 MN1924 On the main WorkBench v5 toolbar click the Axis 0 7 button In the Select Default Axes dialog select the axes to be controlled Click OK to close the dialog On the main WorkBench v5 toolbar click the Drive enable button Click the button again Each time you click the button the drive enable output s for the selected axes are toggled When the button is in the pressed down position the drive amplifier should be enabled When the button is in the raised up position the drive amplifier should be disabled If this is not working or the action of the button is reversed check the electrical connections between the NextMove ESB and drive amplifier If you are using the relay check that you are using the correct normally open REL NO or normally closed REL NC connections you are using a digital output check that it is using the correct high or low triggering method expected by the drive amplifier Operation 5 9 www supportme net 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 with the motor sh
77. put for a servo axis The example assumes that axis 4 has already been configured as a servo axis using the default hardware channel 0 see section 5 3 1 It is recommended that the motor is disconnected from the load for this test 1 Check that the Drive enable button is E pressed down ES 2 Inthe Toolbox click the Edit amp Debug icon E dit amp Debug 3 Click in the Command window 4 Type TORQUE 4 5 where 4 is the axis to be tested In this example this should cause a demand of 5 of maximum output 0 5V to be produced at the DEMANDO output connector X13 pin 1 In WorkBench v5 look at the Spy window located on the right of the screen In the Axis selection box at the top select Axis 4 Command The Spy window s Command display should show 5 percent approximately If there seems to be no demand output check the electrical connections to X13 The Spy window s Velocity display should show a positive value If the value is negative check that the DEMANDO output and the Encoder0 A and channels have been wired correctly If necessary the ENCODERMODE keyword can be used to swap the encoder A and channels thus reversing the encoder count see the MintMT help file See section 4 2 2 for details of the demand outputs MN1924 Operation 5 11 www supportme net 5 repeat the tests for negative reverse demands type TORQUE 4 5 This should cause a demand of 5
78. rol mode or velocity control mode check that the drive amplifier will operate in the correct mode The procedure for setting system gains differs slightly for each To tune an axis for velocity control go straight to section 5 8 It is recommended that the system is initially tested and tuned with the motor shaft disconnected from other machinery Confirm that the encoder feedback signals from the motor or drive amplifier have been connected and that a positive demand causes a positive feedback signal Note The method explained in this section should allow you to gain good control of the motor but will not necessarily provide the optimum response without further fine tuning Unavoidably this requires a good understanding of the effect of the gain terms 1 In the Toolbox click the Fine tuning icon The Fine tuning window is displayed at the right of the screen The main area of the WorkBench v5 window displays the Capture Fine tuning window When tuning tests are performed this will display a graph representing the E response 2 n the Fine tuning window click in the Axis selection box at the top and select Axis 4 ms assuming axis 4 has already been Axis 4 42 configured as a servo axis see section 5 3 1 Position Control Terms KPROP 0 00 Click in the KDERIV box and enter a starting value of 1 KINTMODE Always Click Apply and then turn the motor shaft b ina Apply and then turn the motor shaft
79. rom the NextMove ESB The data will then be displayed in the Capture window as a graph Note The graphs that you see will not look exactly the same as the graphs shown here Remember that each motor has a different response Using the check boxes below the graph select the traces you require for example Demand position and Measured position Operation 5 17 www supportme net 5 6 2 Underdamped response If the graph shows that the response is underdamped it overshoots the demand as shown in Figure 30 then the value for KDERIV should be increased to add extra damping to the move If the overshoot is excessive or oscillation has occurred it may be necessary to reduce the value of KPROP Measured position III m Ww wmwm mwuwmm mi d 7774 Demand position Se eer 0 0 50 100 150 200 250 Time ms Figure 30 Underdamped response 9 Click in the KDERIV and or KPROP boxes and make the required changes The ideal response is shown in section 5 6 4 Axis 4 Fine tuning 5 18 Operation MN1924 www supportme net 5 6 3 Overdamped response If the graph shows that the response is overdamped it reaches the demand too slowly as shown in Figure 31 then the value for KDERIV should be decreased to reduce the damping of the move If the overdamping is excessive it may be necessary to increase the value
80. rrent available on DOUT8 DOUT10 is increased m A total of 500mA may be sourced by DOUT8 DOUT10 providing an average 166mA per output when all outputs are on 10096 duty cycle 24V supply m An individual output can provide a maximum continuous current of 350mA but if other outputs are being used the total current must not exceed 500mA m maximum allowable power dissipation for the UDN2982 driver is 1 5W MN1924 Input Output 4 11 www supportme net 4 4 Other I O 4 4 1 Stepper control outputs models NSB002 501 502 The stepper control outputs are available on connectors X2 and X3 as shown in section 4 1 1 There are four sets of stepper motor control outputs operating in the range OHz to 500kHz Each of the step pulse and direction signals from the NextMove ESB is driven by DS26LS31 line drivers providing RS422 differential outputs It is recommended to use separate shielded cables for the step outputs The shield should be connected at one end only The STEPPERDELAY keyword allows a 0 4 25us delay to be introduced between state changes of the step and direction outputs The FREQ keyword can be used to directly control the output frequency between 60Hz and 500kHz see the MintMT help file CAUTION The DS26LS31 drivers are static sensitive devices Take appropriate ESD precautions when handling the NextMove ESB When connecting the outputs to single ended inputs as shown in Figures 16 and 17 do not connect the
81. s 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 GND connections are required for communication but since many devices will check the RTS and CTS lines these must also be connected Pins 4 and 6 are linked on the NextMove ESB The maximum recommended cable length is 3m 10ft at 57 6 Kbaud the factory preset rate When using lower baud rates longer cable lengths may be used up to maximum of 15m 498 at 9600 baud 4 4 8 Multidrop using RS485 RS422 Multidrop systems allow one device to act as a network master controlling and interacting with the other slave devices on the network The network master can be a controller such as NextMove ESB a host application such as WorkBench 5 or other custom application or a programmable logic controller PLC RS422 may be used for multi drop applications as shown in Figure 22 Four wire RS485 may be used for single point to point applications involving only one Baldor controller If firmware is updated over RS485 RS422 it can only be downloaded to the controller that was chosen in the Select Controller dialog in WorkBench v5 Network master Network slave Twisted pairs Network slave Master and final slave are shown with terminating resistors typical value 1200
82. s power cycle the controller after downloading controller remove 24V power and then reconnect firmware WorkBench v5 loses contact Check that the NextMove ESB is powered with NextMove ESB while Check that a USB Motion Controller device is listed in connected using USB Windows Device Manager If not there could be a problem with the PC s USB interface MN1924 Troubleshooting 6 5 www supportme net 6 2 5 CANopen The CANopen bus is passive This means that the internal CAN controller in the NextMove ESB is experiencing a number of Tx and or Rx errors greater than the passive threshold of 127 Check 12 24V is being applied to pin 5 of the RJ45 CAN connector to power the opto isolators There is at least one other CANopen node in the network The network is terminated only at the ends not at intermediate nodes All nodes on the network are running at the same baud rate All nodes have been assigned a unique node ID The integrity of the CAN cables The NextMove ESB should recover from the passive state once the problem has been rectified this may take several seconds The CANopen bus is off This means that the internal CAN controller in the NextMove ESB has experienced a fatal number of Tx and or Rx errors greater than the off threshold of 255 At this point the node will have switched itself to a state whereby it cannot influence the bus Check 12 24V is being applied to pin 5 of the RJ45
83. t or USB all models To use RS232 or RS485 connect an appropriate serial cable between a PC serial port often labeled as and the NextMove ESB Serial connector If you are using an intermediate RS232 to RS485 converter connect this as specified by the manufacturer WorkBench v5 can scan all the PC s 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 21 in section 4 4 7 To use USB connect a USB cable between a PC USB port and the NextMove ESB USB connector Your PC must be using Windows 2000 or Windows Installing WorkBench v5 You will need to install WorkBench v5 to configure and tune the NextMove ESB Any previous version of WorkBench v5 must be uninstalled before proceeding with this installation 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 WorkBench v5 although this can be changed during setup Starting the NextMove ESB If you have followed the instructions in the previous sections you should have now connected the power sources your c
84. tuning parameters is lost You should therefore save this information in a file which can be loaded when the unit is next used 1 Inthe Toolbox click the Edit 4 Debug icon ER ZJE Edit amp Debug 2 main menu choose File New File A new program editing window will appear File 3 the menu choose Tools Upload Configuration Parameters WorkBench v5 will read all the configuration information from the Vowmoad FRSA Firmware NextMove ESB and place it in a Startup r block For details of the Startup block see the MintMT help file 1 Upload Configuration ers MN1924 Operation 5 29 www supportme net 4 Onthe main menu choose File Save File Locate a folder enter a filename and click Save Mint files mnt 5 10 1 Loading saved information 1 In the Toolbox click the Edit amp Debug icon L3 JE Edit amp Debug 2 On the main menu choose File Open File Locate the file and click Open Myconfigl mnt Mint files mt E P A Startup block should be included in every Mint program so that whenever a program is loaded and run the NextMove ESB will be correctly configured Remember that every drive motor combination has a different response If the same program is used on a different NextMove ESB installation the Startup block will need to be changed 5 30 Operation MN1924 6 1 6 1 1 6 1 2 Tro
85. turn off integral action when it s not needed The 1ms sampling interval can be changed using the LOOPTI ME keyword to either 2ms 500ys 200ys 100us MN1924 Operation 5 13 www supportme net The remaining gain terms are Velocity Feed forward KVELFF and Acceleration Feed forward KACCEL described below In summary the following rules can be used as a guide KPROP Increasing KPROP will speed up the response and reduce the effect of disturbances and load variations The side effect of increasing KPROP is that it also increases the overshoot and if set too high it will cause the system to become unstable The aim is to set the Proportional gain as high as possible without getting overshoot instability or hunting on an encoder edge when stationary the motor will buzz m KVEL This gain has a damping effect on the whole response and can be increased to reduce any overshoot If KVEL becomes too large it will amplify any noise on the velocity measurement and introduce oscillations m KINT This gain has a de stabilizing effect but a small amount be used to reduce any steady state errors By default KINTMODE is always on mode 1 m KINTLIMIT The integration limit determines the maximum value of the effect of integral action This is specified as a percentage of the full scale demand KDERIV This gain has a damping effect dependent on the rate of change of error and so is particularly useful for removing oversh
86. ubleshooting 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 ESB 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 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 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 The serial number of your NextMove ESB if known Use the Help SupportMe menu item in WorkBench v5 to view details about your system The type of drive amplifier and motor that you are using A clear description of what you are trying to do for example performing fine tuning 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 Mi
87. ure window as a graph Note The graph that you see will not look exactly the same as the graph shown here Remember that each motor has a different response MN1924 Operation 5 23 www supportme net 9 Using the check boxes below the graph Asis 4 Measured velocity uus select the Measured velocity and Demand Asis 4 Demand velocity uu s 11081 E M Demand velocity ie on pasti pie Measured velocity i JUS e E 3 1 i i i 1500 Time ms Figure 33 Correct value of KVELFF It may be necessary to make changes to the calculated value of KVELFF If the trace for Measured velocity appears above the trace for Demand velocity reduce the value of KVELFF If the trace for Measured velocity appears below the trace for Demand velocity increase the value of KVELFF Repeat the test after each change When the two traces appear on top of each other approximately the correct value for KVELFF has been found as shown in Figure 33 5 24 Operation MN1924 www supportme net 5 8 2 Adjusting KPROP The KPROP term can be used to reduce following error Its value will usually be much smaller than the value used for an equivalent current controlled system A fractional value for example 0 1 1 2 MN1924 Click in the KPROP box and enter a starting
88. ution 12 bit with sign Input impedance 120kQ Sampling frequency 4kHz maximum 2kHz if both inputs are enabled The analog inputs pass through a differential buffer and second order low pass 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 ADCMODE and other related ADC keywords NextMove ESB 12 MintMT ADC 0 Figure 2 Analog input AINO shown For differential inputs connect input lines to AIN and AIN Leave AGND unconnected MN1924 Input Output 4 3 www supportme net Differential connection Single ended connection Figure 3 AINO analog input wiring 24VDC 1 5 0 25W 1kQ 0 25W potentiometer OV Figure 4 Typical input circuit to provide 0 10V approx input from a 24V source 44 Input Output 924 www supportme net 4 2 2 Analog outputs The four analog outputs are available on connector X13 as shown in section 4 1 1 Four independent bipolar analog outputs Output range 10VDC 0 1 Resolution 12 bit Output current 10mA maximum Update frequency
89. which PC serial port is connected to the NextMove ESB select Scan all serial ports If the NextMove ESB is connected using USB it will be scanned automatically Click Scan to search for the NextMove ESB When the search is complete click NextMove ESB in the list to select it and then click Select Select Controller A on USE e TI l nm Babes E AT Note NextMove ESB is not listed check the serial or USB cable between the NextMove ESB and the PC Check that the NextMove ESB is powered correctly Click Scan to re scan the ports 4 Adialog 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 ESB When this is complete Edit amp Debug mode is displayed This completes the software installation MN1924 Operation 5 5 www supportme net 5 3 Configuring an axis The NextMove ESB is capable of controlling 4 stepper and 3 servo axes This section describes how to configure both types of axis 5 3 1 Selecting the axis type An axis can be configured as either a servo axis or a stepper axis The factory preset configuration sets all axes as unassigned off so it is necessary to configure an axis as either stepper or servo before it can be used The number of servo and stepper hardware channels defines how many axes of each type may be configured In the following
90. ys applied Smart the KINT term is only applied when the demand speed is zero or constant Steady State the KINT term is only applied when the demand speed is zero This function can be selected using the KINTMODE drop down box MN1924 Operation 5 21 www supportme net 5 8 Servo axis tuning for velocity control Drive amplifiers designed for velocity control incorporate their own velocity feedback term to provide system damping For this reason KDERIV and KVEL can often be set to zero Correct setting of the velocity feed forward gain KVELFF is important to get the optimum response from the system The velocity feed forward term takes the instantaneous velocity demand from the profile generator and adds this to the output block see Figure 29 KVELFF is outside the closed loop and therefore does not have an effect on system stability This means that the term can be increased to maximum without causing the motor to oscillate provided that other terms are setup correctly When setup correctly KVELFF will cause the motor to move at the speed demanded by the profile generator This is true without the other terms in the closed loop doing anything except compensating for small errors in the position of the motor This gives faster response to changes in demand speed with reduced following error Before proceeding confirm that the encoder feedback signals from the motor or drive amplifier have been connected and that a positive de

NextMove ESB Motion Controller

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