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NextMove BXII Installation Manual - Q-TECH

1. Sto 1 DINO 2 DING prey 00 2 3 29 3 4 DINN P 20 4 5 DIN12 RES 30 5 E 7 DIN14 8 DIN15 8 DIN7 9 CREF gt lt 3b 9 9 CREF 10 Shield 10 Shield 4 6 8 X3 Analog Inputs NS e X4 Digital Outputs 0 7 1 5 1 DOUTO 2 ie 2 3 AIN2 3 DOUT2 4 AIN3 1 4 DOUT3 5 2 5 x 5 DOUT4 6 AINS n 6 DOUT5 7 AING oe E 8 2 7 DOUT6 8 AIN7 8 8 9 AGND gt 2 8 9 USRV 10 Shield g B 10 9 5 2 10 X5 Relay amp User Power X7 Demands 1 Relay COM g 1 2 Relay NC o 2 CUM 9 Relay NO 5 5 7 AGND 4 Relay COM 9 8 5 USRV 2 5 2 6 USRV 6 AGND 7 CREF i 7 8 CREF gt 8 AGND 9 3 5 9 AGND 10 CGND 4 x 10 Shield 6 5 2 5 X6 Interrupts B 5 X9 Encoder 0 1 FASTINO 9 3 X10 Encoder 1 s 11 Encoder 2 4 FASTIN1 a X12 Encoder 3 5 Shield k C x 6 CREF 13 Aux Encoder 7 FASTIN2 8 8 l on 8 Shield 8 8 9 CREF G E 3 CHZ 10 FASTIN3 Cee 1 2 6 CHA X8 Power 3 E 7 CHB 4 2 5 8 CHZ 1 24 All s 5 9 5V out 2 ov 3 3 Shield 7 Be 4 5 5 5 gt 6 12 10 7 GND 8 12Vout 3 Tightening torque for terminal block 9 Shield 9 g 10 Shield connections is 0 25Nm 2 2 Ib in 4 2 Input Output MN19
2. pended nen BELA 4 22 4 8 1 System watchdog 4 22 4 9 Connection summary minimum system wiring 4 23 5 Operation ut 9 atas a 5 1 Introd ctlon tercer Rs 5 1 5 1 1 Connecting the NextMove to the PC 5 1 5 1 2 Installing the software 5 1 5 1 3 Starting the NextMove 5 1 5 1 4 Preliminary checks 5 1 5 15 s e rnin ea Miwon ieee 5 2 5 2 5 0 5 3 524 t RETE tM Ea eae 5 3 5 22 Starting WorkBench 5 54 5 3 Configuring 5 6 5 3 1 5 6 5 3 2 Setting the drive enable output 5 7 5 3 3 Testing the drive enable output 5 8 5 4 Testing and tuning 5 9 5 4 1 Testing the drive command 5 9 5 5 An introduction to closed loop control 5 11 5 6 Tuning an axis for current control 5 14 5 6 1 Selecting servo loop gains
3. 5 14 5 6 2 response 5 16 5 6 3 Overdamped response 5 17 5 6 4 Critically damped response 5 18 5 7 Eliminating steady state errors 5 19 5 8 Tuning an axis for velocity control 5 20 5 81 Calculating KVELFF e I y ens 5 20 5 82 Adjusting KPROP 0 0 00 cece eee sess ese 5 23 5 9 Digital input output configuration 5 25 5 9 1 Digital input configuration 5 25 5 92 Digital output 5 26 5 10 Saving setup 5 27 5 11 Loading saved information 5 28 ii Contents MN1904 6 Troubleshooting x x RARI et REESE REG 6 1 Gil IntroductlOfi ioo tare dec ae ah aoe 6 1 6 1 1 Problem diagnosis gt 1 6 1 6 1 2 SupportMe 6 1 6 2 NexiMove BX indicators 6 2 6 2 1 Status display arco ae eh er PE hed eases 6 2 6 2 2 Motor Controls ssi etus mb Rer serbe bk d 6 4 6 2 3 COMMUNICATION gt
4. 4 3 4 4 POWER Kars 4 3 4 5 Analog VO ic Ud ae 4 4 4541 3 pits lean ee ees ae ee SS 4 4 4 5 2 Analog outputs Demands X7 4 6 4 6 e oe ect D CRAS 4 7 4 6 1 Digitalinputs X1 EN 4 8 4 62 Digital iInp lS XZ ir acs cca ee ra eee e ea mv wacom ests 4 9 4 6 3 Digital inputs Interrupts X6 4 10 4 6 4 Digital outputs X4 p eik ern IIR 4 11 4 Other ax tate tud Ce ak NE Re OU 4 12 4 7 1 Encoder interfaces X9 X10 X11 X12 X13 4 12 4 7 2 Encoder input frequency 4 13 4 7 3 5 4 14 4 74 IRS232 2X15 4 15 MN1904 Contents i 4 7 5 Connecting Baldor HMI Operator Panels 4 17 416 RS4224 RS485 2X14 ued Po NM NAR beri 4 18 477 connectors X16 amp X17 2 4 20 4 7 8 CANOPEN c Lore IR tees Sees hae trees Nace EP ONU tec ME 4 21 4 7 9 Baldor eee e RR e Bh caste hepsi he A DET 4 21 4 8 Reset states gt
5. 6 1 6 1 1 6 1 2 Troubleshooting 6 Introduction This section explains common problems that may be encountered together with possible solutions Problem diagnosis If you have followed all the instructions in this manual in sequence you should have few problems installing the NextMove BX If you do have a problem read this section first In WorkBench v5 use the Error Log tool to view recent errors and then check the help file If you cannot solve the problem or the problem persists the SupportMe feature can be used SupportMe feature The SupportMe feature on the Help menu can be used to e mail information to the Baldor representative from whom you purchased the equipment If required you can choose to add your program files as attachments WorkBench v5 will automatically start up your e mail program and begin a new message with comprehensive system information and selected attachments already in place You can add any additional message of your own and then send the e mail The PC must have email facilities to use the SupportMe 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 BX Use the Help SupportMe menu item in WorkBench v5 to view details about your system The type of servo amplifier and motor that you are using Give a clear des
6. Input ADC resolution 12 includes sign bit Equivalent resolution 10V input 4 9 Sampling interval variable 0 22 2 MN1904 Specifications 7 1 7 1 3 Analog outputs Demands X7 Description Value Type Bipolar Output voltage range 10 Output current max 1 Output DAC resolution 14 includes sign bit Equivalent resolution 1 22 Update interval 7 1 4 Digital inputs 1 4 X2 Description Immediate Value Type Opto isolated AC inputs Input voltage Active high Nominal Minimum 24 12 Input voltage Active low Nominal Maximum Input current approximate per input Sampling interval 7 1 5 Digital inputs Interrupts X6 Description Value Type Non isolated AC inputs Input voltage Active high Nominal Minimum 24 12 Input voltage Active low Nominal Maximum Input current approximate per input 7 2 Specifications MN1904 7 1 6 Digital outputs X4 Description Output current maximum continuous each output 50 7 1 7 Relay output X5 Update interval Description Immediate Value Contacts Normally closed Contact rating resistive 24VDC or 0 5A 120VAC Maximum carrying current 2 Maximum switching power 60VA 24W Maximum switching voltage 125VAC 60VDC Maximum switchin
7. BALDOR MOTORS AND DRIVES MOTION CONTROL NextMove BX Motion Controller Installation Manual 3 02 MN1904 Contents 1 General 1 1 2 See Ves or Geis 2 1 2 4 NextMove features 2 1 2 2 Receiving and inspection 2 2 2 2 1 Identifying the catalog 2 2 2 3 Units and abbreviations 2 3 3 Basic Installations cess xau ade ees eae Be eae GER 3 1 3 1 INTFOGUCTION ch be ated ea ne vee cade nance 3 1 3 1 1 Power Sourcess ius iua EIER eee RE ER eke ee 3 1 3 1 2 PC Hardware requirements 3 1 3 1 3 Tools and miscellaneous hardware 3 2 3 1 4 Other information needed for installation 3 2 3 2 Mechanical installation and location requirements 3 3 3 2 1 Mounting the NextMove BX 3 4 4 des tad peed QA 4 1 44 croc mot 4 1 4 2 Connector locations top panel 4 1 4 3 Connector locations front panel 4 2 4 4 5
8. Mating connector Weidmuller BL 3 5 10 3 5mm pitch Name Mint keywor d description FASTINO FASTSELECT 0 Shield Shield connection CREF Common connection FASTIN1 FASTSELECT 1 Shield Shield connection CREF Common connection FASTIN2 FASTSELECT 2 Shield Shield connection CREF Common connection gt aj A j N FASTIN3 FASTSELECT 3 Description Four fast position digital inputs Note The fast inputs are particularly sensitive to noise so inputs must use shielded twisted pair cable Do not connect mechanical switches relay contacts or other sources liable to signal bounce directly to the fast inputs This could cause unwanted multiple triggering NextMove BX 2k2 FASTINx AA Mint 100pF LP115 CREF Active high Active low FASTINx 12 24VDC 20 FASTINx CREF 0V CREF 12 24VDC 20 Figure 5 Digital input circuit fast interrupts 4 10 Input Output MN1904 4 6 4 Digital outputs X4 Location Connector X4 Mating connector Weidm ller BL 3 5 10 3 5mm pitch Name Mint keywor d description DOUTO 0 DOUT1 aita L DOUT2 DOUT3 DOUT4 DOUTS5 DOUT6 DOUT7 USR V Customer power supply V gt NI oy BI N CGN
9. AGND Single ended bipolar ADCMODE 2 Each input is a single ended bi polar input with an input range of 5V The input s OV connection is connected to pin 9 AGND Pseudo differential ADCMODE 1 Inputs are used in pairs 0 and 1 2 and 3 4 and 5 6 and 7 to create four differential inputs Within each pair the odd numbered input is the negative input and the even numbered input is the positive input The input range is O 5V 4 4 Input Output MN1904 Pseudo differential bipolar ADCMODE 3 Inputs are used in pairs 0 and 1 2 and 3 4 and 5 6 and 7 to create four differential inputs Within each pair the odd numbered input is the negative input and the even numbered input is the positive input The input range is 2 5V m True differential ADCMODE 5 Inputs are used in pairs 0 and 1 2 and 3 4 and 5 6 and 7 to create four differential inputs Within each pair the odd numbered input is the negative input and the even numbered input is the positive input The input range is 10V When an input is selected to operate in any of the paired modes 1 3 or 5 the other input of the pair is automatically configured to the same mode The differential input is referenced using the name of the odd numbered input ADCMODE 4 can be used to turn off an input When an input is turned off the sampling frequency for the other inputs increases proportionately to a maximum of 4 5kHz for a single active input See t
10. The axis is jogging In the Mint help file see the topics OG J OGCOMVAND and Jog mode Offset move The axis is performing an offset move Positional Move The axis is performing a linear move See the Mint keywords MOVEA and MOVER Stop A STOP command has been issued or the stop input is active Axis disabled The axis drive must be enabled before operation can continue See section 5 3 3 Click the Drive enable button in WorkBench v5 Suspend The SUSPEND command has been issued and is active Motion will be ramped to zero demand whilst active Reverse software or hardware limit A reverse software limit has been activated See AXI SERROR and or AXI SSTATUS to determine which applies Forward software or hardware limit A forward software limit has been activated See AXI SERROR and or AXI SSTATUS to determine which applies Firmware being updated horizontal bars appear sequentially New firmware is being downloaded to the NextMove Initialization error An initialization error has occurred at power on See the Error Log or NI TERRCR topics in the help file Initialization errors should not normally occur User defined symbols be made to appear using the Mint keywords LED and LEDDI SPLAY MN1904 Troubleshooting 6 3 6 2 2 Motor control Symptom Check NextMove BX appears to be working but will not cause motor to turn Check that the connections bet
11. drag the grey Relay0 icon to the grey X axis icon on the right of the screen To configure multiple axes to use the relay repeat this step for the other axes If you are using a digital output drag the bright blue OUT icon to the grey X axis icon on the right of the screen To configure multiple axes with the same drive enable output repeat this step for the other axes Hoh outo OUTE ES gt sends the output configuration to the NextMove On the main WorkBench v5 toolbar click the Drive enable button Click the button again Each time you click the button the drive enable output is toggled When the button is in the pressed down position the drive should be enabled When the button is in the raised up position the drive should be disabled If this is not working or the action of the button is reversed check the electrical connections between the NextMove BX and the drive If you are using the relay output check that you are using the correct normally open or normally closed connection If you are using a digital output check that it is using the correct high or low output expected by the drive 5 8 Operation MN1904 5 4 Testing and tuning This section describes the method for testing and tuning an axis 5 4 1 Testing the drive command output This section tests the operation and direction of the axis command output It is recommended that the motor is disconnected for
12. tune and program the NextMove BX If you do not have experience of software installation or Windows applications you may need further assistance for this stage of the installation Connecting the NextMove BX to the PC Connect the serial cable between a PC serial port often labeled as COM to the NextMove BX RS232 connector WorkBench v5 can scan all the COM ports so you can use any port Installing the software The CDROM containing the software can be found separately within the packaging 1 Insert the CDROM into the drive 2 After a few seconds the setup wizard should start automatically If the setup wizard does not appear select Run from the Windows Start menu and type d start where d represents the drive letter of the CDROM device use the correct letter for your installation Follow the on screen instructions to install WorkBench v5 The setup wizard will copy the files to appropriate folders on the hard drive The default folder is C Program Files Baldor MintMT although this can be changed during setup Starting the NextMove BX If you have followed the instructions in the previous sections you should have now connected all the power sources your choice of inputs and outputs and the serial cable linking the PC with the NextMove BX 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
13. MA RS nd ha RA YR SY 6 5 6 24 Axis LED is red or Status LED shows a flashing symbol 6 5 To Specifications 7 1 Gel Introduction oi ss ate Dt be ek 7 1 EVA POWER ys cbse nega ADR mp PER ee bA eae ames 7 1 7 1 2 Analog inputs X6 S ze Ram tik kas Bae Ai aes Bee 7 1 7 1 3 Analog outputs Demands X7 7 2 7 1 4 Digital inputs X1 amp X2 2 0 eee 7 2 7 1 5 Digital inputs Interrupts X6 7 2 7 1 6 Digital outputs X4 1 7 3 Relay output X5 cssc me pompe tube ds toes EE TA 7 3 7 1 8 Encoder interfaces X9 X13 7 3 7 1 9 interfaces X16 amp X17 7 3 7 1 10 Erivironimental eror wae brats ern t e rte sees 7 4 7 1 11 Weights and dimensions 7 4 Appendices ACCESSES Si knee oe eset A 1 A W dntroductiom d oe Ur a A 1 Baldor CAN nodes enais nem eens 1 A 1 2 Encoder Splitter Buffer board A 2 MN1904 Contents iii iv Contents MN1904 General Information 1 LT0158A00 Copyright Baldor c 2002 All rights reserved This manual is copyrighted and all r
14. Some countries and U S states do not allow exclusion or limitation of incidental or consequential dam ages so the above exclusion may not apply In any event BALDOR s total liability under all circum stances shall not exceed the full purchase price of the control Claims for purchase price refunds repairs or replacements must be referred to BALDOR with all pertinent data as to the defect the date purchased the task performed by the control and the problem encountered No liability is assumed for expendable items such as fuses Goods may be returned only with written notification including a BALDOR Return Authorization Number and any return shipments must be prepaid Baldor UK Ltd Baldor ASR GmbH Mint Motion Centre Telephone 49 0 89 90508 0 6 Bristol Distribution Park Fax 49 0 89 90508 492 Hawkley Drive Bristol BS32 OBF Baldor ASR AG Telephone 44 0 1454 850000 Telephone 41 0 52 647 4700 Fax 44 0 1454 850001 Fax 41 0 52 659 2394 Email technical support baldor co uk Web site www baldor co uk Australian Baldor Pty Ltd Telephone 61 2 9674 5455 Baldor Electric Company Fax 61 2 9674 2495 Telephone 1 479 646 4711 Fax 1 479 648 5792 Baldor Electric F E Pte Ltd Email sales baldor com Telephone 65 744 2572 Web site www baldor com Fax 65 747 1708 Baldor Italia S R L Telephone 39 0 11 56 24 440 Fax 39 0 11 56 25 660 MN1904 General Information 1 1 Safety Notice Only qualified per
15. effect on the CAN buses If a reset occurs during the transmission of a message CAN errors are likely to occur Digital Outputs All of the digital outputs are inactive on power up regardless of their polarity They will return to the inactive state whenever a reset occurs Analog Outputs All analog outputs are set to OV by hardware during power up and will return to OV on a reset Encoders The encoder interfaces will not register any encoder input during reset If the unit goes into reset all position data will be lost 4 8 1 System watchdog The system watchdog provides hardware protection in the event of a firmware or C program malfunction If the system watchdog is not updated the controller will be reset 4 22 Input Output MN1904 4 9 Connection summary minimum system wiring As a guide Figure 14 shows an example of the typical minimum wiring required to allow the NextMove BX and a single servo amplifier motor drive to work together Servo amplifier axis 0 Serial NextMove BX communication Encoder output from drive or motor Status om Error out Ves 38 Demand Demand gt lt 2 5 Enable 5 Gnd 7 E S m J Digital Outputs x4 B99uooromw Encoder X10 1 2 3 8 ha m 5 ng dl 5 5 2 g 5 5 5 9 g an Common earth ground Encoder 3 X12 Enco
16. enter a value that is approximately one quarter of the value of KDERIV If the motor begins to vibrate decrease the value of KPROP or increase the value of KDERIV until the vibration stops Small changes may be all that is necessary 5 14 Operation MN1904 4 n the Move Type drop down box check that the move type is set to Step 5 Click in the Distance box and enter a distance for the step move It is recommended to set a value that will cause the motor to turn a short distance for example one revolution Note The distance depends on the scale set in section 5 3 1 If you set a scale so that units could be expressed in revolutions or other unit of your choice then those are the units that will be used here If you did not set a scale the amount you enter will be in encoder quadrature counts 6 Click in the Duration box and enter a duration for the move in seconds This should be a short duration for example 0 15 seconds 7T Click Go The NextMove BX will perform the move and the motor will turn As the soon as the move is completed WorkBench v5 will download captured data from the NextMove BX The data will then be displayed in the Capture window as a graph Note The graphs that you see will not look exactly the same as the graphs shown here Remember that each motor has a slightly different response 8 Usingthe check boxes below the graph select the traces you require for example Demand p
17. position is seen The Mint DACMODE keyword can be used to reverse DAC output polarity Check that the maximum following error is set to a reasonable value For setting up purposes following error detection may be disabled by setting FOLERRORMODE 0 Motor is under control but vibrates or overshoots during a move Servo loop gains may be set incorrectly See sections 5 5 to 6 4 Troubleshooting MN1904 Symptom Check Motor is under control but Using an oscilloscope check when moved to a position and then back to the start all encoder channels are clear signals and free from it does not return to the electrical noise same position 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 lead uses shielded twisted pair cable and that the shield is attached to the shield connection only at the NextMove BX end Verify that the NextMove and drive are correctly grounded to a common earth point 6 2 3 Communication If the problem is not listed below please contact Baldor Technical Support An oscilloscope will be useful for many of the electrical tests described below Symptom Check Cannot detect NextMove BX Check that NextMove BX is powered and the serial lead is properly connected Cannot communicate with the Verify that WorkBench v5 is loaded an
18. section describes the mechanical installation and power requirements of the NextMove BX Power sources An external customer supplied 24VDC logic supply is required This must be a regulated power supply capable of providing m 24VDC 20 at approximately 700mA max for the logic power supply m 12 to 24VDC 20 at approximately 400mA max for the isolated outputs m 12 to 24VDC 20 at approximately 200mA for the isolated digital inputs and fast interrupts A 24V filter may be required to comply with the CE directive for which the NextMove BX was tested PC Hardware requirements A PC that fulfills the following specification will be required Minimum specification Recommended specification Processor Intel Pentium 133MHz Intel Pentium 200MHz or faster RAM 32MB 64MB Hard disk space 40MB 60MB CD ROM A CD ROM drive Screen 800 x 600 256 colors 1024 x 768 256 colors Mouse A mouse or similar pointing device Operating system Windows 95 Windows 98 Windows ME Windows NT Windows 2000 or Windows XP MN1904 Basic Installation 3 1 3 1 3 Tools and miscellaneous hardware m Your PC operating system user manual might be useful if you are not familiar with Windows A small screwdriver supplied with a blade width less than 2 5mm 1 10 in 5 screws or bolts for mounting the NextMove BX Crimping tool A connector kit is supplied with your NextMove BX containing a number of use
19. the following table Catalog number Description NMX004 501 NextMove BXZ for control of 2 axes NMX004 502 NextMove BX for control of 3 axes NMX004 503 NextMove for control of 4 axes 2 2 Introduction MN1904 2 3 Units and abbreviations The following units and abbreviations may appear in this manual Volt also VAC and VDC Wed os ERR Y Watt E Ampere o DEREN Ohm HE microfarad picofarad mill millihenry Ere neh phase MS EET millisecond microsecond hee nanosecond Kbaud kilobaud the same as Kbit s in most applications MB megabytes CDROM Compact Disc Read Only Memory CTRL 4E on the PC keyboard press Ctrl then E at the same time eye p millimeter UL EP E ES meter inis esee inch jp PUR feet Ib I ores pound inch torque NIM sub Newton meter torque DAG LED Digital to Analog Converter ADO Analog to Digital Converter American Wire Gauge ceca Not Connected Personal Computer IBM compatible MN1904 Introduction 2 3 2 4 Introduction MN1904 3 1 3 1 1 3 1 2 Basic Installation 3 Introduction You should read all the sections in Basic Installation It is important that the correct steps are followed when installing the NextMove BX This
20. this test 1 Check that the Drive enable button is pressed down Workbench v5 Mew Prajex 2 Inthe Toolbox click Application then click the Edit amp Debug icon 3 Click in the Command window 4 Type TORQUE 0 5 where 0 15 the axis demand output to be tested In this example this should cause a demand of 5 of maximum output 0 5V to be produced at the output connector X7 pin 1 See section 4 5 2 for details of the demand outputs In WorkBench V5 look at the Spy window located on the right of the screen The virtual LED Command display should show 5 approximately If there seems to be no command output check the electrical connections between the NextMove BX and the drive 5 repeat the tests for negative reverse demands type TORQUE 0 5 This should cause a demand of 5 of maximum output 0 5V to be produced at the output MN1904 Operation 5 9 6 Toremove the demand and stop the test type STOP 0 This should cause the demand produced at the output to become OV 5 10 Operation MN1904 5 5 An introduction to closed loop control This section describes the basic principles of closed loop control If you are familiar with closed loop control go straight to section 5 6 1 When there is a requirement to move an axis the NextMove BX control software translates this into a demand output voltage This is used to co
21. to apply a load Inspect all power connections for accuracy workmanship and tightness Verify that all wiring conforms to applicable codes Verify that NextMove BX is properly earthed grounded Check all signal wiring for accuracy MN1904 Operation 5 1 5 1 5 Power on checks If at any time one of the Axis LEDs is illuminated red this indicates that NextMove BX has detected a fault see section 6 1 Turn on the 24VDC supply 2 After a brief test sequence the Status display should show the node number for example e the factory preset If the display is not lit then re check the power supply connections The NextMove BX is now ready to be configured using WorkBench v5 5 2 Operation MN1904 5 2 5 2 1 WorkBench v5 WorkBench v5 is a fully featured application for programming and controlling the NextMove BX The main WorkBench v5 window contains a menu system the Toolbox and other toolbars Many functions can be accessed from the menu or by clicking a button use whichever you prefer Most buttons include a tool tip hold the mouse pointer over the button don t click and its description will appear Help file WorkBench v5 includes a comprehensive help file that contains information about every Mint keyword how to use WorkBench v5 and background information on motion control topics The help file can be displayed at any time by pressing F1 On the left of the help window the Conte
22. v5 WorkBench v5 WorkBench v5 will start and the Tip of the Day dialog will be displayed You can prevent the Tip of the Day dialog appearing next time by removing the check mark next to Show tips at startup Click Close to continue 2 Inthe opening dialog box click Start New Project 5 4 Operation MN1904 3 Inthe Select Controller dialog go to the drop down box near the top and select the PC serial port to which the NextMove BX is connected If you are unsure which PC serial port is connected to the NextMove BX select Scan all serial ports During the detection process a dialog box may be displayed to tell you that WorkBench v5 has detected new firmware Click OK to continue Click Scan to search for the NextMove BX When the search is complete click on NextMove in the list to highlight it and click the Select button Note If the NextMove BX is not listed check the serial lead between the NextMove and the PC Check that the NextMove BX is powered correctly Click Scan to re scan the ports When detection is complete Fine tuning mode will be displayed MN1904 Operation 5 5 5 3 5 3 1 Configuring an axis The NextMove BX is capable of controlling up to 4 servo axes depending on model Axis numbering always begin at 0 For example a four axis model has axes numbered 0 1 2 and 3 This section describes the basic setup for a single axis Not
23. 04 4 4 4 4 1 Power connections A 24VDC 2A supply must be provided to power the control electronics It is recommended that a separate fused 24V supply is provided for the NextMove BX If other devices are likely to be powered from the same 24V supply then a filter Baldor catalog number FI0014A00 should be installed to isolate the NextMove BX from the rest of the system Power X8 Location Connector 8 Mating connector Weidm ller BL 3 5 10 3 5mm pitch Name Description 24V GND 24V logic supply input 18 30V Shield Shield connection 5V GND 5V output 12V GND 12V output 12V Shield Shield connection 2 3 4 5 6 7 8 9 0 Shield Shield connection Description Connection point for 24V logic power supply input 5V output and 12V output Tightening torque for terminal block connections is 0 25Nm 2 2 Ib in The power connector X8 provides a connection point for the main customer supplied 24V logic power supply From this supply the NextMove BX creates 5V and 12V supplies for internal and external use The 5V supply can be used to supply encoders and external circuits to a maximum of 650mA The 5V and GND connections on pins 4 and 5 are connected internally to the 5V and GND pins on connectors X9 to X13 N CAUTION Encoder power must be connected before operating the system If the encoders are not powered when the system is
24. 1904 5 6 Tuning an axis for current control 5 6 1 Selecting servo loop gains All servo loop parameters default to zero meaning that the demand output will be zero at power up Most servo amplifiers can be set to current torque control mode or velocity control mode check that the servo amplifier will operate in the correct mode The procedure for setting system gains differs slightly for each To tune an axis for velocity control go straight to section 5 8 It is recommended that the system is initially tested and tuned with the motor shaft disconnected from other machinery Note The method explained in this section should allow you to gain good control of the motor but will not necessarily provide the optimum response without further fine tuning Unavoidably this requires a good understanding of the effect of the gain terms 1 Inthe Toolbox click the Fine tuning icon The Fine tuning window is displayed at the right of the screen The main area of the WorkBench v5 window displays the Capture window When tuning tests are performed this will display a graph representing the response 2 Inthe Fine tuning window click in the KDERIV box and enter a starting value of 1 Click Apply and then turn the motor shaft by hand Repeat this process slowly increasing the value of KDERIV until you begin to feel some resistance in the motor shaft The exact value of KDERIV is not critical at this stage 3 Click in the KPROP box and
25. 4 7 8 CANopen 4 7 9 CANopen is a networking system based on the serial bus CAN It uses the international CAN standard ISO 11898 as the basis for communication The Mint firmware implements a CANopen protocol on CAN bus 1 based on the Communication Profile DS 301 which supports both direct access to device parameters and time critical process data communication This provides support for a range of Baldor and third party devices The CANopen channel is available on both CAN connectors The default baud rate is 500Kbit s but this can be changed using the Mint keyword CANBAUD It is stored in EEPROM and restored at power up CAN1 must be terminated by a 1200 resistor connected between CAN1 and CAN1 at both ends of the network and nowhere else If the NextMove BX is at the end of the network then ensure that CAN jumper 1 accessible on the top panel is fitted Baldor CAN Baldor CAN is also a networking system based on the serial bus CAN It uses the international CAN standard ISO 11898 as the basis for communication The Mint firmware implements a proprietary Baldor protocol on CAN bus 2 based on CAL which supports both direct access to device parameters and time critical process data communication This provides support for the full range of Baldor ioNode CAN peripherals The Baldor CAN channel is available on both CAN connectors The default baud rate is 125Kbit s but this can be changed using the Mint keyword CA
26. ACTI VELEVEL to determine their active level The outputs are driven by a current sourcing PNP Darlington type driver with overcurrent and short circuit protection Power for the outputs is derived from a customer supplied 12 24V supply MN1904 Input Output 4 7 4 6 1 Digital inputs X1 Location Connector X1 Mating connector Weidm ller BL 3 5 10 3 5mm pitch Name Mint keywor d description DIN8 I NX 8 DIN9 NX 9 DIN10 NX 10 DIN11 NX 11 DIN12 NX 12 DIN13 NX 13 DIN14 I NX 14 DIN15 I NX 15 CREF Common connection 2 3 4 5 6 7 8 9 0 Shield Shield connection Description Eight general purpose optically isolated AC digital inputs Sampling interval 1ms NextMove Vee 2k2 p Ee Mint DINx t gt gt I NX x x CREF TLP120 Active high Active low DINx 12 24VDC 20 DINx CREF 0V CREF 12 24VDC 20 Figure 4 Digital input circuit 4 8 Input Output MN1904 The inputs are conditioned using Schmitt trigger buffers If an input is configured as edge triggered the triggering pulse must have a duration of at least 1ms one software scan to guarantee acceptance by Mint The use of shielded cable for inputs is recommended Active high connect 24VDC to the input and OV to pin 9 CREF The digital inputs will be active wh
27. D Customer power supply ground Description Eight general purpose optically isolated digital outputs Output current 50mA maximum continuous each output Update interval Immediate Each optically isolated output is designed to source current from the customer supplied 12 24V supply USR V as shown in Figure 6 The outputs can be written to directly using the Mint keyword OUTX for example OUTX 2 1 The sense of the outputs can be configured in WorkBench v5 and their states are displayed in the Spy window The use of shielded cable is recommended NextMove BX gt USRV OUTX x V UDN2987 DOUTx Output module TLP121 Output CGND Figure 6 Digital output circuit The USR V and CGND connections on pins 9 and 10 are connected internally to the USR V and CGND pins on connector X5 See section 4 7 3 MN1904 Input Output 4 11 4 7 Other I O 4 7 1 Encoder interfaces X9 X10 X11 X12 X13 Location Connectors X9 X11 X11 X12 X13 Pin Name Description Channel A signal CHB Channel B signal CHZ Index channel signal NC Not connected DGND Power supply ground CHA Channel A signal complement CHB Channel B signal complement CHZ Index channel signal complement o om A 5V out Power supply to encoder Description Five identic
28. I M T keyword which limits the effect of KINT to a given percentage of the demand output Another keyword called KI NTIMODE can even turn off integral action when it s not needed The remaining gain terms are Velocity Feed forward KVELFF and Acceleration Feed forward KACCEL MN1904 Operation 5 11 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 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 can be used to reduce any steady state errors By default KINTMODE is set so that the KINT term is either ignored or is only applied during periods of constant velocity 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 The Derivative action has the same effect as t
29. Mount the NextMove on its rear side the side opposite the front panel The NextMove BX must be mounted upright to ensure adequate cooling M5 bolts or screws should be used 194 7 6 585 23 All dimensions shown as mm inches 302 11 9 312 12 3 D 203 8 0 Allow additional depth to accommodate wiring Figure 1 Package dimensions This completes the basic installation You should read the following sections in sequence before using the NextMove BX 3 4 Basic Installation MN1904 4 1 Input Output 4 Outline This section describes the location and purpose of each connector on the NextMove BX The following conventions will be used to refer to the inputs and outputs jor Input Output DIN Digital Input DOUT iiri Digital Output AIN iab Analog Input AOUT Analog Output 4 2 Connector locations top panel Jumpers X15 RS232 P Power 1 Shield 1 2 RXD 2 CAN2 3 4 DTR 5 0VGND 6 DSR 28 RTS 8 CIS 3 9 0VGND X16 X17 CAN AT 1 CAN1 x 2 X14 RS485 3 NC gt 4 CANOV 5 CANV 9 6 x DO 7 CAN2 8 2 NC lt 2 X14 X15 RS422 RS485 5232 MN1904 Input Output 4 1 4 3 Connector locations front panel X1 Digital Inputs 8 15 X2 Digital Inputs 0 7
30. NBAUD It is stored in EEPROM and restored at power up CAN2 must be terminated by a 1200 resistor connected between CAN2 and 2 at both ends of the network and nowhere else If the NextMove BX is at the end of the network then ensure that the CAN jumper 2 accessible on the top panel is fitted On the ioNode peripheral jumpers JP1 and JP2 must be in the CAN Bus 2 position to select pins 7 amp 8 for CAN traffic MN1904 Input Output 4 21 4 8 Reset states During power up NextMove BX is held in a safe non operational state known as hardware reset It will also go into hardware reset if the 24V logic supply drops below approximately 18V This prevents uncontrolled operation due to the electronics losing power When NextMove is in hardware reset for any reason most of the controlled interfaces fall into known states It is also possible for NextMove BX to be in a state known as software reset This is a safe operational state where only the bootloader present on NextMove BX is running because valid firmware has been found This can happen if a firmware download is cancelled before it has finished Use WorkBench v5 to download new firmware allowing the process to finish This might take 1 2 minutes Hardware and software reset states should not be confused with the Mint keyword RESET which is used to clear axis errors Communications At power up the CAN controllers will be held in reset and will have no
31. ability of an undetected error is 4 7 10 11 CAN also offers high speed data transfer up to 1Mbit s dependent on bus length and low cost multiplex wiring schemes CAN is optimized for the transmission of small data packets and therefore offers fast update of I O devices peripherals connected to the bus The CAN network allows several CAN peripheral devices to be attached to the same controller The CAN connectors provide access to CANopen CAN1 and Baldor CAN CAN2 busses on two separate connectors Both busses are available on both connectors to simplify daisy chaining of peripherals Location Top panel connectors X16 amp X17 Pin Name Description CAN1 CANopen CAN1 CANopen NC Not connected CAN 0V Ground earth reference for CAN signals CAN V CAN remote node power V 12 24V NC Not connected CAN2 Baldor CAN CAN2 Baldor CAN Description CAN interfaces using RJ45 connectors Correct operation of CAN can only be achieved with screened shielded twisted pair cabling CAN1 CAN1 CAN2 CAN2 must form twisted pairs with the shield connected to the connector backshell as shown in Figure 13 A range of suitable CAN cables are available from Baldor with catalog numbers beginning CBL004 5 Baldor HMI NextMove BX NextMove BX Operator Panel 1 2 End node Twisted pair Twisted pairs Figure 13 Typical CAN network connections 4 20 Input Output MN1904
32. al encoder inputs each with complementary A B and Z channel inputs on a 9 pin female D type connector Up to five incremental encoders may be connected to NextMove BX The auxiliary master encoder X13 is labeled Aux Encoder Each input channel enters an AM26LS32AM differential line receiver with pull up resistors and terminators Encoders must provide 5V single ended or differential signals or RS422 RS485 differential signals The use of individually shielded twisted pair cable is recommended See section 4 4 1 for details of the encoder power supply NextMove BX Vcc 2k2 22R Pin 1 x AM26LS32 120R Differential to CPU 22R line receiver CHA Pin 6 in x 2k2 t Figure 7 Encoder channel input circuit Channel A shown 4 12 Input Output MN1904 4 7 2 Encoder input frequency The maximum encoder input frequency is affected by the length of the encoder cables The theoretical maximum frequency is 7 5 million quadrature counts per second This is equivalent to a maximum frequency for the A and B signals of 1 87MHz However the effect of cable length is shown in the Table 1 Encoder Maximum cable length Frequency meters 1 3MHz 2 500kHz 10 250kHz 20 100kHz 50 50kHz 20kHz 10kHz 7kHz Table 1 Effect of cable length on maximum encoder frequency The maximum recommended cable
33. calculate how many quadrature encoder counts there are per revolution The NextMove BX counts both edges of both pulse trains CHA and CHB coming from the encoder so for every encoder line there are 4 quadrature counts With a 1000 line encoder Quadrature counts per revolution 1000 x 4 4000 4 Finally calculate how many quadrature counts there are per servo loop Quadrature counts per servo loop 4000 x 0 05 200 5 20 Operation MN1904 The analog demand output is controlled by a 12 bit DAC which can create output voltages in the range 10V to 10V This means a maximum output of 10V corresponds to a DAC value of 2048 The value of KVELFF is calculated by dividing 2048 by the number of quadrature counts per servo loop so KVELFF 2048 200 10 24 5 Click in the KVELFF box and enter the value The calculated value should give zero following error in normal operation Using values greater than the calculated value will cause the controller to have a following error ahead of the desired position Using values less than the calculated value will cause the controller to have following error behind the desired position 0 000 m F 6 In the Move Type drop down box check that the move type is set to Trapezoid a 7 Click the Distance box and enter a distance for the step move It is recommended to set a value that will cause the motor to make a few revolution
34. ch axis can have a different scale if required 5 6 Operation MN1904 4 Click in the Scale box and type a value 4000 counts tot User Postion Unit 5 Click Apply This immediately sets the scaling factor for the It selected axis will remain in the NextMove BX until another scale is defined or power is removed 5 3 2 Setting the drive enable output The drive enable output allows NextMove BX to disable the drive in the event of an error Each axis can be configured with its own drive enable output or can share an output with other axes If an output is shared an error on any of the axes sharing the output will cause all of them to be disabled The drive enable output can either be a digital output or the relay 1 Inthe 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 two yellow icons High and Low These describe how the output should behave when activated to enable the axis 3 Ifyou are going to use the relay ignore this step and go straight to step 4 If you are going to use a digital output drag the appropriate yellow icon to the grey OUT icon that will be used as the drive enable output Its color will change to bright blue MN1904 Operation 5 7 5 Click Apply at the bottom of the screen This 5 3 3 Testing the drive enable output 1 If you are going to use the relay
35. cription of what you are trying to do for example trying to establish communications with WorkBench v5 or trying to perform fine tuning Give a clear description of the symptoms that you can observe for example the Status display error messages displayed in WorkBench v5 or the current value of any of the Mint error keywords SERROR SSTATUS NI TERROR and M SCERROR m The type of motion generated in the motor shaft Give a list of any parameters that you have setup for example the gain settings you have entered MN1904 Troubleshooting 6 1 6 2 6 2 1 NextMove BX indicators Status display The Status LED normally displays the units node number To display information about a specific axis use the LEDkeyword see the MintMT help file When a specific axis is selected its LED numbered 0 3 will be illuminated and the following symbols may be displayed by the Status LED Some characters will flash to indicate an error e Spline A spline move is being performed See the Mint keyword SPLI NE and related commands 8 Axis enabled q Torque mode The NextMove BX is in Torque mode See the Mint keyword TORQUE and related commands H Hold to Analog The axis is in Hold To Analog mode See the Mint keyword HTA and related commands a 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 off
36. d that controller NextMove BX is the currently selected controller 6 2 4 Axis LED is red or Status LED shows a flashing symbol If an axis LED is illuminated red and or the Status display shows a flashing symbol use the Error Log tool in WorkBench v5 to view a list of recent errors Alternatively type PRI NT AXI SERROR and PRI NT M SCERRCR as separate commands in the WorkBench v5 Command window Each of these commands will return an error code a description of which can be found in the help file Press F1 and locate the AXI SERROR and M SCERROR keywords The Error Handling book contains topics listing the Status display indicators and basic error codes Remember that many error codes are the sum of a bit pattern so may not be listed individually For help on understanding bit pattern values see the Bit pattern values topic in the Keywords book MN1904 Troubleshooting 6 5 6 6 Troubleshooting MN1904 Specifications 7 1 Introduction This section provides technical specifications of the NextMove BX 7 1 1 Input power Logic supply input voltage Minimum input voltage Maximum input voltage Logic supply input current maximum User supply input voltage User supply input current maximum 7 1 2 Analog inputs X6 Description Value Type Single ended or differential software selectable Common mode voltage range 10 software selectable Input impedance gt 20
37. der 2 X11 24V suppl dc Note This diagram shows the relay contacts being used as a switch across the servo amplifier s enable input Out In 4 Power X8 Aux Encoder X13 BALDOF If the servo amplifier requires a 24V enable signal then use the relay to switch 24V from either the logic supply or user supply Ti Figure 14 Example minimum system wiring Axis 0 Each connection is described in Table 2 MN1904 Input Output 4 23 NextMove BX connector Name of signal Function Servo amplifier connection Note drive may be labelled differently DIN8 Error input Error output Relay COM Common connection of relay Enable input Relay NC Normally closed connection of relay Ground DemandO Command signal for axis 0 Demand input AGND Reference for analog signals Demand input Shield Cable shield Not connected Encoder 0 Position feedback for axis 0 Encoder out or direct from motor 24V Logic supply 24V ov Logic supply OV Table 2 Minimum system wiring connections 4 24 Input Output MN1904 5 1 5 1 1 5 1 2 5 1 3 5 1 4 Operation 5 Introduction Before powering the NextMove BX you will need to connect it to the PC using a serial cable and install the supplied PC software WorkBench v5 This software includes a number of tools to allow you to configure
38. e The NextMove BX is also capable of controlling up to 4 virtual axes A virtual axis allows most Mint commands to be executed as normal with the virtual axis simulating position and velocity information for any motion performed No physical axes are moved Selecting a scale Mint defines all positional and speed related motion keywords in terms of encoder quadrature counts for servo motors The number of quadrature counts is divided by the SCALE factor allowing you to use units more suitable for your application The unit defined by setting a value for scale is called the user unit uu Consider a motor with a 1000 line encoder This provides 4000 quadrature counts for each revolution If SCALE is not set a Mint command that involves distance speed or acceleration may need to use a large number to specify a significant move For example MOVER 16000 Move Relative would rotate the motor by 16000 quadrature counts only four revolutions By setting a SCALE factor of 4000 the user unit becomes revolutions The more understandable command MOVER 4 could now be used to move the motor four revolutions In applications involving linear motion a suitable value for SCALE would allow commands to express values in linear distance for example inches feet or millimetres 1 Inthe Toolbox click Setup then click the Parameters icon Setup 2 Click the Scale tab 3 Click in the Axis drop down box to select the axis Ea
39. e this information in a file which can be loaded after the unit is started Alternatively the information can be included in program files as part of the Startup block Program files are stored when power is removed so the Startup block can be used to restore configuration and tuning parameters automatically whenever a program is run 1 In the Toolbox click the Edit amp Debug icon 2 Onthe main menu choose File New File A new program editing window will appear 3 On the main menu choose Tools Upload Configuration Parameters WorkBench v5 will read all the configuration information from the NextMove BX and place it in a Startup block For details of the Startup block see the Mint help file MN1904 Operation 5 27 4 Onthe main menu choose File Save File Locate a folder enter a filename and click Save 5 11 Loading saved information 1 Inthe Toolbox click the Edit amp Debug icon 2 Onthe main menu choose File Open File Locate the file and click Open WorkBench v5 will open a new editing window to display the file A Startup block should be included in every Mint program so that whenever a program is loaded and run the NextMove BX will be correctly configured Remember that every drive motor combination has a slightly different response If the same program is used on a different NextMove BX installation the Startup block will need to be changed 5 28 Operation MN1904
40. eater The outputs are referenced to the internal ground and are not opto isolated Shielded twisted pair cable should be used The shield connection should be made at one end only NextMove BX nF 14k7 Demand 1 ep ty 100 12k A TLOS DemandO t Pin 1 A 12V AGND Figure 3 Analog output circuit Demand0 shown 4 6 Input Output MN1904 4 6 Digital There are a total of 20 digital inputs Inputs DINO to DIN15 are general purpose inputs which can be configured in Mint for any of the following functions forward limit end of travel input on any axis reverse limit end of travel input on any axis a a m home input on any axis m drive error input on any axis a controlled stop input on any axis Inputs DIN16 to DIN19 are known as fast position interrrupts and can only be used to latch position They cannot be used as general purpose inputs and their states cannot be read in Mint Inputs can be shared between axes and are programmable in Mint using the keywords NPUTACTI VELEVEL NPUTMODE NPUTPOSTRI GGER and NPUTNEGTRI GGER to determine their active level and if they should be edge triggered There are a 8 general purpose digital outputs An output can be configured in Mint as a general purpose output a drive enable output or a general error output Outputs can be shared between axes and are programmable using the Mint keyword OUTPUT
41. ections require knowledge of the low level input output requirements of the installation and an understanding of computer software installation If you are not qualified in these areas you should seek assistance before proceeding MN1904 Introduction 2 1 2 2 Receiving and inspection When you receive your NextMove BX there are several things you should do immediately 1 Check the condition of the packaging and report any damage immediately to the carrier that delivered your NextMove BX 2 Remove the NextMove BX from the shipping container The packing materials may be retained for future shipment 3 Verify that the catalog number of the NextMove BX you received is the same as the catalog number listed on your purchase order The catalog part number is described in the next section 4 Inspect the NextMove BX for external damage during shipment and report any damage to the carrier that delivered it 5 If the NextMove BX is to be stored for several weeks before use be sure that it is stored in a location that conforms to the storage humidity and temperature specifications shown in section 7 1 10 2 2 1 Identifying the catalog number NextMove BX is available with different specifications As a reminder of which model has been installed it is a good idea to write the catalog number in the space provided below Catalog number NMX004 Installed in Date A description of the catalog numbers are shown in
42. en a voltage of 24VDC greater than 12VDC is applied to them and will sink a current of approximately 11mA each Active low connect 24VDC to pin 9 CREF and OV to the input The digital inputs will be active when grounded lt 2V and will source a maximum of 11mA each Note Sustained input voltages above 28V will damage the inputs 4 6 2 Digital inputs X2 Location Connector X2 Mating connector Weidm ller BL 3 5 10 3 5mm pitch Pin Name Mint keywor d description DINO NX 0 DIN1 NX DIN2 NX DIN3 NX DIN4 NX DIN5 NX DING NX DIN7 NX Common Common connection 2 3 4 5 6 7 8 9 0 Shield Shield connection Description Eight general purpose optically isolated AC digital inputs Sampling interval 1ms The inputs are electrically identical to inputs DIN8 to DIN15 described in section 4 6 1 MN1904 Input Output 4 9 4 6 3 Digital inputs Interrupts X6 Digital inputs FASTINO to FASTIN3 can be used as high speed position latches allowing any combination of axes to be captured by the hardware Using FASTINO the latency between input triggering and capture is 30us Using FASTIN1 to FASTINS latency is 1ms Special Mint keywords beginning with the letters FAST allow specific functions to be performed as a result of fast position inputs becoming active See the Mint help file for details Location Connector X6
43. enabled there will be no position feedback This could cause violent motion of the motor shaft The 12V supply can be used to power external circuits to a maximum of 200mA However this supply must not be used to provide power for the digital outputs For this a separate supply must be used see sections 4 6 4 and 4 7 3 MN1904 Input Output 4 3 4 5 Analog I O The NextMove BX provides m Eight 12 bit resolution analog inputs available on connector m Four 14 bit resolution analog outputs available on connector X7 Sections 4 5 1 to 4 5 2 describe each analog input and output 4 5 1 Analog inputs X3 Location Connector X6 Mating connector Weidm ller BL 3 5 10 3 5mm pitch Name MintMT keywor d description AINO ADC 0 AIN1 ADC AIN2 ADC AIN3 AIN4 AINS AING ADC AIN7 ADC AGND Analog ground 2 3 4 5 6 7 8 9 0 1 Shield Shield connection Description Single ended or differential inputs Voltage range software selectable 0 5V 2 5V 10V Resolution 12 bit with sign accuracy 4 9mV 10V input Input impedance gt 20kQ Sampling interval 22215 2ms The Mint keyword ADCMODE can be used to setup various configurations for the analog inputs Single ended ADCMODE 0 This is the default configuration Each input behaves as a single ended unipolar input with an input range of 0 5V The input s OV connection is connected to pin 9
44. es a wide range of powerful commands for complex applications Standard features of the NextMove BX include Control of up to four axes Point to point moves software cams and gearing 16 general purpose digital inputs software configurable as level or edge triggered 4 fast position latch inputs 8 digital outputs 8 analog inputs with 12 bit resolution configurable as single ended inputs or differential pairs wm CANopen protocol for peer to peer communications with Mint controllers and other third party devices Proprietary CAN protocol for control of Baldor remote I O devices Programmable in Mint Included with NextMove BX is the Baldor Motion Tookit CD This contains a number of utilities and useful resources to get the most from your Mint controller These include m Mint WorkBench v5 This is the user interface for communicating with the NextMove Installing WorkBench v5 will also install firmware for NextMove m Developer Libraries These include ActiveX interfaces that allow PC applications to be written that communicate with the NextMove m Embedded Developer Libraries Allows embedded C31 applications to be developed using the Texas Instruments TMS320C3x compiler This manual is intended to guide you through the installation of NextMove BX The chapters should be read in sequence The Basic Installation section describes the mechanical installation of the NextMove BX The following s
45. flying out when the shaft rotates 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 To prevent equipment damage be certain that the input power has correctly sized protective devices installed To prevent equipment damage be certain that input and output signals are powered and referenced correctly To ensure reliable performance of this equipment be certain that all signals to from the NextMove BX are shielded correctly Avoid locating this equipment immediately above or beside heat generating equipment or directly below water or steam pipes Avoid locating this equipment in the vicinity of corrosive substances or vapors metal particles and dust 1 2 General Information MN1904 2 1 Introduction 2 NextMove BX features NextMove is a high speed multi axis intelligent motion controller supporting to four servo axes NextMove BX features the Mint motion control language Mint is a structured form of Basic custom designed for motion control applications It allows you to get started very quickly with simple motion control programs In addition Mint includ
46. ful connectors and accessories 3 1 4 Other information needed for installation This information is useful but not essential to complete the installation m data sheet or manual provided with the servo drive controlling the motor describing the wiring information of the cables connectors m Knowledge of which digital inputs outputs will be Active Low Active High or edge triggered 3 2 Basic Installation MN1904 3 2 Mechanical installation and location requirements It is essential that you read and understand this section before beginning the installation The safe operation of this equipment depends upon its use in the appropriate environment The following points must be considered The NextMove BX must be installed indoors permanently fixed and located so that it can only be accessed by service personnel using tools The maximum suggested operating altitude is 2000m 65621 The NextMove BX must operate in an ambient temperature of 0 C to 40 C 32 F to 104 F NextMove BX must operate in relative humidity levels of less than 80 for temperatures up to 31 C 87 F decreasing linearly to 50 relative humidity at 40 C 104 F non condensing The NextMove BX must be installed where the pollution degree according to IEC664 shall not exceed 2 The external customer supplied 24VDC for the logic supply must be installed so that 24VDC supplied to the unit is isola
47. g current 1 Contact resistance maximum 100 Update interval 7 1 8 Encoder interfaces X9 X13 Description Immediate Value Encoder input Differential Z index Maximum input frequency 1 87 Output power supply to encoders total 5V 650mA max Maximum recommended cable length 30 5m 100ft 7 1 9 CAN interfaces X16 amp X17 Description Value Channels CANopen Baldor CAN Bit rate Kbit s 10 20 50 100 125 250 500 800 1000 MN1904 Specifications 7 3 7 1 10 Environmental Description Operating temperature range Max 0 40 32 104 Maximum humidity 80 for temperatures up to 87 F 31 C decreasingly linearly to 50 relative humidity at 104 F 40 C non condensing according to DIN40 040 IEC 144 Maximum installation altitude above m s l See also section 3 2 7 1 11 Weights and dimensions 2000 6560 Tw _ Dimensions H x W x 0 312mm x 58 5mm x 194mm 12 3in x 2 3in x 7 6in Weight 1 86kg 4 110 7 4 Specifications MN1904 Accessories A A 1 Introduction The capabilities of the NextMove BX can be expanded using additional peripheral devices A 1 1 Baldor CAN nodes Digital I O can be expanded easily on NextMove BX using the Baldor CAN CAN2 connection This provides a high speed serial bus interface to a range of I O devices including jin
48. he velocity feedback if the velocity feedback and feedforward terms are equal 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 Due to the quantization of the positional data and the speed of the servo loop for the acceleration feed forward term to affect the servo loop the acceleration of the axis must exceed 1 000 000 encoder counts per second 5 12 Operation MN1904 ules NYIA panses yoeqpes 4 Ay90 9A ueg uonisog TAM ues jndino 412 XVIALLIWITOVO Jd 3 M JOJO dwy uoneiejeoov 7HOOVM uonelajsooy uonisod o joJd Figure 16 The NextMove servo loop Operation 5 13 MN
49. he Digital I O window can be used to setup other digital inputs and outputs 5 9 1 Digital input configuration The Digital Inputs tab allows you to define how each digital input will be triggered and optionally if it is to be allocated to a special function for example the Forward Limit In the following example digital input 1 will be set to trigger on a falling edge and allocated to the forward limit input of axis 0 1 Inthe Toolbox click the Digital I O icon 2 Atthe bottom of the Digital I O screen click the trash can Inf IN 19 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 iHi MN1904 Operation 5 25 4 Now drag the IN1 icon i onto the Fwd Limit icon This will setup IN1 as the Forward Limit input of axis O 5 Click Apply to send the changes to the NextMove BX EE Note If required multiple inputs can be configured before clicking Apply 5 9 2 Digital output configuration The Digital Outputs tab allows you to define how each digital output will operate and if it is to be allocated to a drive enable output see section 5 3 2 Remember to click Apply to send the changes to the NextMove BX 5 26 Operation MN1904 5 10 Saving setup information When power is removed from the NextMove BX configuration and tuning parameters are lost You should therefore sav
50. he Mint help file for full information about ADCMODE and analog input configuration NextMove 20k 10k 4 10k x Mint 1 0 12V NU AA 14k 10k 10k AINO 56k Pin 1 p E Mint 0 E ink differential AINA i 56k mode Pin 2 14K AA iv 12V 20k 10k 10k 3 S Mint ___ ADC 1 m Figure 2 Analog input circuit AINO AIN1 pair shown MN1904 Input Output 4 5 4 5 2 Analog outputs Demands X7 Location Connector X7 Mating connector Weidm ller BL 3 5 10 3 5mm pitch Name MintMT keywor d description DemandO DAC 0 AGND Analog ground Demand1 DAC 1 AGND Analog ground Demand2 DAC 2 AGND Analog ground Demand3 DAC 3 AGND Analog ground AGND Analog ground 2 3 4 5 6 7 8 9 0 1 Shield Shield connection Description Four independent command outputs Output range 10VDC 10mV Resolution 14 bit accuracy 1 22mV Output current 1mA maximum Update interval Immediate Mint and the Mint Motion Library use the analog outputs to control servo drives Demand outputs 0 to 3 correspond to axes 0 to 3 The analog outputs may be used to drive loads of 10kQ or gr
51. ights are reserved This document or attached software may not in whole or in part be copied or reproduced in any form without the prior written consent of BALDOR BALDOR makes no representations or warranties with respect to the contents hereof and specifically dis claims any implied warranties of fitness for any particular purpose The information in this document is subject to change without notice BALDOR assumes no responsibility for any errors that may appear in this document 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 UL and cUL are registered trademarks of Underwriters Laboratories Limited Warranty For a period of two 2 years from the date of original purchase BALDOR will repair or replace without charge controls and accessories which our examination proves to be defective in material or workman ship This warranty is valid if the unit has not been tampered with by unauthorized persons misused abused or improperly installed and has been used in accordance with the instructions and or ratings sup plied This warranty is in lieu of any other warranty or guarantee expressed or implied BALDOR shall not be held responsible for any expense including installation and removal inconvenience or conse quential damage including injury to any person or property caused by items of our manufacture or sale
52. length is 30 5m 100ft MN1904 Input Output 4 13 4 7 3 Relay and user power X5 Location Connector X5 Mating connector Weidm ller BL 3 5 10 3 5mm pitch Name Description Relay COM Common relay connection Relay NC Normally closed relay connection cm Relay NO Normally open relay connection Relay COM Common relay connection USR V Digital output customer power supply USR V Digital output customer power supply CREF Digital input common connection CREF Digital input common connection CGND Digital output customer power supply ground CGND Digital output customer power supply ground Description Connection point for the digital outputs customer power supply and the relay contacts Relay rated at 1A 24VDC The relay and user power connector X5 provides a connection point for the internal relay the customer power supply used to power the digital outputs and the digital input s common connection Power connections are assigned two pins to provide increased wiring capacity The USR V and CGND connections on pins 5 6 and 9 10 are connected internally to the USR V and CGND pins on connector X4 see section 4 6 4 The relay outputs are isolated from any internal circuits the NextMove BX The relay is controlled by a latch which is cleared when the NextMove BX resets Reset can occur due to power down a watchdog error or when deliberately caused by the h
53. n in section 5 6 4 MN1904 Operation 5 17 5 6 4 Critically damped response If the graph shows that the response reaches the demand quickly and only overshoots the demand by a small amount this can be considered an ideal response for most systems See Figure 19 Vac Demand position aii EE position LC So M Cis LR ie mno x Lr SEN iD Vira pu rd Figure 19 Critically damped ideal response 5 18 Operation MN1904 5 7 Eliminating steady state errors In systems where precise positioning accuracy is required it is often necessary to position within one encoder count The proportional gain KPROP is not normally able to achieve this because a very small following error will only produce a small demand for the drive which may not be enough to overcome mechanical friction this is particularly true in current controlled Systems This error can be overcome by applying integral gain The integral gain KINT works by accumulating following error over time to produce a demand sufficient to move the motor into the required position with zero following error KINT can therefore overcome errors caused by gravitational effects such as vertically moving linear tables With current controlled drives a non zero demand output is required to hold the load in the correct position to achieve zero following error Care is required when setting KINT since a high value will cause instability during moves A t
54. ntrol the drive servo amplifier which powers the motor An encoder or resolver on the motor is used to measure the motor s position Every 1ms adjustable using the LOOPTI ME keyword the NextMove BX compares the demanded and measured positions It then calculates the demand needed to minimize the difference between them known as the following error This system of constant measurement and correction is known as closed loop control Forthe 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 BX is to stay exactly level with Demand looking out of the window to measure your position The main term that NextMove BX uses to correct the error is called Proportional gain KPROP A very simple proportional controller would simply multiply the amount of error by the Proportional gain and apply the result to the motor the further Demand gets ahead or behind you the more you press or release the gas pedal If the Proportional gain is set too high overshoot will occur resulting in the motor vibrating back and forth around the desired position before it settles you press the gas pedal so hard you go right past Demand To try and stay level you ease off the gas but end up falling behind a little You keep repeating this and afte
55. nts tab shows the tree structure of the help file Each book lir 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 ADCMAX ap AMPIA See Uo ABCEERIM AZISEROUR ADONIH APOUMUTIE 1 Alea eee ene lisa Bete the ana ing bm aus ferc fra epe lied anain chansal Conte Suppi ARRAJAR nea Cl Boor Pimat AMAY climate paa jini DENTAIRE ADAR channel ASCEFESETERIBURCTT EMT Cie Apih erri Contmiles Read k calet pen ALJTOHOMEMDDE Figure 15 The WorkBench v5 help file For help on using WorkBench v5 click the Contents tab then click the small plus sign beside the WorkBench v5 book icon Double click a 2 topic name to display it MN1904 Operation 5 3 5 2 2 Starting WorkBench v5 1 On the Windows Start menu select Programs WorkBench
56. or communication although hardware handshaking will not be supported unless the other connections are made Both the output and input circuitry are single ended and operate between 12V The port is capable of operation at up to 57 6Kbaud MN1904 Input Output 4 15 RS232 COM RXD 2 N N 2 RXD TXD3 3 TXD 9 pin NextMove BX Computer DTE CNDS mE COM Port RTS 7 7RTS DCE DTE CTS8 8CTS eee n MM Connect overall shield to connector backshell Figure 9 RS232 serial port connections The maximum recommended cable length is 3m 10ft at 57 6Kbaud When using lower baud rates longer cable lengths may be used up to maximum of 15m 49ft at 9600 baud 4 16 Input Output MN1904 4 7 5 Connecting Baldor HMI Operator Panels Baldor HMI Operator Panels use a 15 pin male D type connector marked PLC PORT but the NextMove BX RS232 connector is a 9 pin male D type connector If you do not require hardware handshaking then use the connections shown in Figure 10 Baldor HMI NextMove BX PLC PORT RS232 Figure 10 Cable wiring if hardware handshaking is not required If hardware handshaking is required then use the connections shown in Figure 11 Baldor HMI NextMove BX PLC PORT N Twisted pair RS232 Figure 11 Cable wiring if hardware handshaking is required MN1904 Input Output 4 17 4 7 6 RS422 RS485 X14 If you will be using RS422 RS485 and
57. osition and Measured position MN1904 Operation 5 15 5 6 2 Underdamped response If the graph shows that the response is underdamped it overshoots the demand as shown in Figure 17 then the value for KDERIV should be increased to add extra damping to the move If the overshoot is excessive or oscillation has occurred it may be necessary to reduce the value of KPROP i sl Demand creen position _ Figure 17 Underdamped response 9 Clickinthe KDERIV and or KPROP boxes and make the required changes The ideal response is shown in section 5 6 4 5 16 Operation MN1904 5 6 3 Overdamped response If the graph shows that the response is overdamped it reaches the demand too slowly as shown in Figure 18 then the value for KDERIV should be decreased to reduce the damping of the move If the overdamping is excessive it may be necessary to increase the value of KPROP 1 3 i i Demand M sd l 1 pi CETUR E position 1 1 a position 1 i 1 i 1 I 1 i i 1 E 3 T i 1 t 1 E 1 i 1 i i i j TS M i i i i i i 1 1 a Figure 18 Overdamped response 10 Click inthe KDERIV and or KPROP boxes and make the required changes The ideal response is show
58. ost PC In normal operation the relay is energized and the Relay NC contact is connected to Relay COM In the event of an error or power loss the relay is de energized and the Relay NO contact is connected to Relay COM The relay can be configured as a global error output using the Mint keyword GLOBALERROROUTPUT Il NextMove BX Relay Relay NC Pin 2 Relay NO Pin 3 Relay COM Pin 1 Figure 8 Relay connections 4 14 Input Output MN1904 4 7 4 RS232 X15 Location Top panel connector X15 Pin Name Shield RXD TXD DTR internally connected to pin 6 DSR internally connected to pin 4 RTS CTS 2 3 4 5 6 7 8 9 Description RS232 connections on a single 9 pin male D type connector The NextMove BX has a full duplex RS232 serial port with the following preset configuration 9600 baud 1 start bit 8 data bits 1 stop bit No parity Hardware handshaking lines RS232 RTS and CTS must be connected The configuration can be changed using the Mint keyword SERI ALBAUD It is stored in EEPROM and restored at power up The port is configured as a DTE Data Terminal Equipment unit so it is possible to operate the controller with any DCE Data Communications Equipment or DTE equipment Full duplex transmission with hardware handshaking is supported Only the TXD RXD and OV GND connections are essential f
59. putNode 8 8 opto isolated digital inputs relayNode 8 8 relay outputs wm outputNode 8 8 opto isolated digital outputs with short circuit and over current protection joNode 24 24 24 opto isolated input and 24 opto isolated outputs keypadNode General purpose operator panel 3 and 4 axis versions Catalog number Description ION001 503 8 digital inputs ION002 503 8 relay outputs IONO003 503 8 digital outputs 10 004 503 24 digital inputs and 24 digital outputs KPD002 502 27 key keypad and 4 line LCD display KPD002 505 41 key keypad and 4 line LCD display MN1904 Accessories A 1 A 1 2 Encoder Splitter Buffer board This is a stand alone PCB that takes an encoder signal either single ended or differential and gives differential outputs This is useful for daisy chaining an encoder signal from a master across a number of controllers Catalog number Description 2 way encoder splitter allows a single ended or differential encoder OPT008 501 pulse train to be shared between two devices 4 way encoder splitter allows a single ended or differential encoder pulse train to be shared between four devices OPT029 501 A 2 Accessories MN1904 BALDOR MOTORS AND DRIVES Baldor Electric Company P O Box 2400 Ft Smith AR 72902 2400 Tel 479 646 4711 Fax 479 648 5792 www baldor com Il Printed in UK LT0158A00 Baldor UK Ltd
60. r Its value will usually be much smaller than the value used for an equivalent current controlled system A fractional value for example 0 1 will probably give the best response 1 Click in the KPROP box and enter a starting value of 0 1 2 Click Go The NextMove will perform the move and the motor will turn As the soon as the move is completed WorkBench v5 will download captured data from the NextMove BX The data will then be displayed in the Capture window as a graph Note The graph that you see will not look exactly the same as the graph shown here Remember that each motor has a slightly different response 3 Usingthe check boxes below the graph select the Measured position and Demand position traces m MN1904 Operation 5 23 pete eee a i ae rg amm LED ELE 144 E poje L EE PO ra Le EE RESSTE Demand position M E Pur NR Measured position E 1JI A FR E ert ie MM PUR iat FREUEN mri d E 2 i a LI sai Tarren tree Figure 21 Correct value of KPROP The two traces will probably appear with a small offset from each other Adjust KPROP by small amounts until the two traces appear on top of each other approximately as shown in Figure 21 5 24 Operation MN1904 5 9 Digital input output configuration T
61. r a few tries you end up level with Demand travelling at a steady speed This is what you wanted to do but it has taken you a long time Ifthe 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 NextMove BX tries to correct the error but because the error is so small the amount of torque demanded might not be enough to overcome friction In this situation a term called Integral gain KINT can be used This sums the error over time so that the motor torque is gradually increased until the positional error is reduced to zero like a person gradually pushing harder and harder on your car until they ve pushed it level with Demand However if there is large load on the motor it is supporting a heavy suspended weight for example it is possible for the output to increase to 100 demand This effect can be limited using the KI NTL
62. s for example 10 Note The distance depends on the scale set in section 5 3 1 If you set a scale so that units could be expressed in revolutions or other unit of your choice then those are the units that will be used here If you did not set a scale the amount you enter will be in encoder counts The NextMove BX will perform the move and the motor will turn As the soon as the move is completed WorkBench v5 will download captured data from the NextMove BX The data will then be displayed in the Capture window as a graph Note The graph that you see will not look exactly the same as the graph shown here Remember that each motor has a slightly different response 9 Using the check boxes below the graph select the Measured velocity and Demand velocity traces MN1904 Operation 5 21 52020 Figure 20 Correct value of KVELFF It may be necessary to make changes to the calculated value of KVELFF If the trace for Measured velocity appears above the trace for Demand velocity reduce the value of KVELFF If the trace for Measured velocity appears below the trace for Demand velocity increase the value of KVELFF Repeat the test after each change When the two traces appear on top of each other approximately the correct value for KVELFF has been found as shown in Figure 5 22 Operation MN1904 5 8 2 Adjusting KPROP The KPROP term can be used to reduce following erro
63. s not have an effect on system stability This means that the term can be increased to maximum without causing the motor to oscillate provided that other terms are setup correctly When setup correctly KVELFF will cause the motor to move at the speed demanded by the profile generator This is true without the other terms in the closed loop doing anything except compensating for small errors in the position of the motor This gives faster response to changes in demand speed with reduced following error 5 8 1 Calculating KVELFF To calculate the correct value for KVELFF you will need to know m speed in revolutions per minute produced by the motor when a maximum demand 10V is applied to the drive The setting for LOOPTI ME The factory preset setting is 1ms The number of encoder lines for the attached motor Baldor BSM motors use either 1000 or 2500 line encoders The servo loop formula uses speed values expressed in quadrature counts per servo loop To calculate this figure 1 First divide the speed of the motor in revolutions per minute by 60 to give the number of revolutions per second For example if the motor speed is 3000rpm when a maximum demand 10V is applied to the drive Revolutions per second 3000 60 50 2 Next calculate how many revolutions will occur during one servo loop The factory preset servo loop time is 1ms 0 001 seconds so Revolutions per servo loop 50 x 0 001 seconds 0 05 3 Now
64. set move is performed in parallel with the follow See the Mint keywords FOLLOWand CFFSET Circle A circle move is being performed See the Mint keywords Cl RCLEA or RCLER Cam A Cam profile is being profiled See the Mint keyword CAM General error See AXI SERROR The motion toolbar displays the status of AXI SERROR which is a bit pattern of all latched errors See also the Error Log topics in the help file Error input The ERRORI NPUT has been activated and generated an error Flying shear A flying shear is being profiled See the Mint keyword FLY Position following error A following error has occurred See the Mint keyword AXI SERROR and associated keywords Following errors could be caused by a badly tuned drive motor At higher acceleration and deceleration rates the following error will typically be greater Ensure that the drive motor is adequately tuned to cope with these acceleration rates The following error limit can be adjusted to suite your application see Mint keywords FOLERRORFATAL and VELFATAL Following error could also be the cause of encoder resolver loss see also Mint keyword FEEDBACKF AULTENABLE Follow mode The axis is in Follow mode See the Mint keyword FOLLOW Homing The axis is currently homing See the Mint keyword HOME Incremental move An incremental move is being profiled See the Mint keywords NCA and NCR 6 2 Troubleshooting MN1904 Jog
65. sonnel should attempt the start up procedure or troubleshoot this equipment This equipment may be connected to other machines that have rotating parts or parts that are controlled by this equipment Improper use can cause serious or fatal injury Only qualified personnel should attempt to start up program or troubleshoot this equipment WARNING AN WARNING AN WARNING AN WARNING AN CAUTION Precautions Be sure that you are completely familiar with the safe operation and programming of this equipment This equipment may be connected to other machines that have rotating parts or parts that are controlled by this equipment Improper use can cause serious or fatal injury Only qualified personnel should attempt to program start up or troubleshoot this equipment The stop input to this equipment should not be used as the single means of achieving a safety critical stop Drive disable motor disconnect motor brake and other means should be used as appropriate Only qualified personnel should attempt to program start up or troubleshoot this equipment Improper operation or programming may cause violent motion of the motor shaft and driven equipment Be certain that unexpected motor shaft movement will not cause injury to personnel or damage to equipment Peak torque of several times the rated motor torque can occur during control failure When operating a motor with no load coupled to its shaft remove the shaft key to prevent it
66. ted from the AC supply using double or reinforced insulation inputs and outputs of the control circuit must be limited to Safety Extra Low Voltage circuits The atmosphere must not contain flammable gases or vapors There must not be abnormal levels of nuclear radiation or X rays The NextMove BX must be secured by the slots in the flange with the protective earth ground stud bonded to a safety earth ground by a 25A conductor The external customer supplied 24VDC logic supply might require a 24V filter Each D type connector on the front panel of the NextMove is secured using two hexagonal jack screws sometimes known as screwlocks If a jack screw is removed accidentally or lost it must be replaced with an identical jack screw with an external male threaded section of 5mm 0 2 in Jack screws with longer threads might result in loose connections two D type connectors on the top panel of the NextMove BX are each secured using two hexagonal jack screws sometimes known as screwlocks If a jack screw is removed accidentally or lost it must be replaced with an identical jack screw with an external male threaded section of 7mm 0 28 in Jack screws with shorter threads might result in loose connections See also page 1 2 MN1904 Basic Installation 3 3 3 2 1 Mounting the NextMove BX Ensure you have read and understood the Mechanical installation and location requirements in section 3 2
67. uniquely identify it on the network The address of the NextMove BX can be configured using the Mint keyword NODE It is stored in EEPROM and restored at power up 4 18 Input Output MN1904 Network master Twisted pairs Network slave Final slave shown with terminating resistor typical value 1200 Connect overall shield to connector backshell Figure 12 4 wire RS485 multi drop connections Each TX RX network requires a termination resistor at the final RX connection but intermediate devices must not be fitted with termination resistors An exception is where repeaters are being used which may correctly contain termination resistors Termination resistors are used to match the impedance of the load to the impedance of the transmission line cable being used Unmatched impedance causes the transmitted signal to not be fully absorbed by the load This causes a portion of the signal to be reflected back into the transmission line as noise If the source impedance transmission line impedance and load impedance are all equal the reflections noise are eliminated Termination resistors increase the load current and sometimes change the bias requirements and increase the complexity of the system MN1904 Input Output 4 19 4 7 7 CAN connectors X16 amp X17 CAN Controller Area Network offers very reliable serial communications over a two wire twisted pair cable In an industrial environment the prob
68. ween motor and drive are correct Use WorkBench v5 to perform the basic system tests see section 5 4 Ensure that while the NextMove BX is not in error the drive is enabled and working When the NextMove BX is first powered up the drive should be disabled if there is no program running there is often an LED on the front of the drive to indicate status Check that the servo loop gains are setup correctly check the Fine tuning window See sections 5 5 to 5 7 Motor runs uncontrollably when controller is Switched on Check that the encoders are connected they have power through Encoder V if required see sections 4 4 1 and 4 7 1 and are functioning correctly Use a dual trace oscilloscope to display both channels of the encoder and or the complement signals simultaneously Check that the drive is connected correctly and that with zero demand from the NextMove BX there is OV at the drive demand input See section 5 4 1 Verify that the NextMove and drive are correctly grounded to a common earth point Motor runs uncontrollably when controller is Switched on and servo loop gains are applied or when a move is set in progress Motor then stops after a short time Check that the axis corresponding encoder and demand signals are connected to the same axes of motion Check the demand to the drive is connected with the correct polarity Check that for a positive demand signal a positive increase in axis
69. your PC does not have RS422 RS485 connector an RS232 to 4 wire RS422 RS485 converter will be required These commercially available devices convert the signals from the PC RS232 port to the signals necessary for RS422 RS485 communications Special care must be taken with the pin assignment on all RS422 RS485 devices as this can differ between products Connectors might need to be rewired to provide the correct pin assignment Location Top panel connector X14 Pin Name Shield RX input TX output NC GND NC TX output RX input GND 2 3 4 5 6 7 8 9 Description RS422 RS485 connections on a 9 pin male D type connector This port provides 4 wire RS422 RS485 connections The port can be used for multidrop applications operating at 9600 or 19200 baud The configuration can be changed using the Mint keyword SERI ALBAUD It is stored in EEPROM and restored at power up Both the output and input circuitry are differential and operate between 0 and 5V Multidrop systems allow one device to act as a network master controlling and interacting with the other slave devices on the network The network master can be a controller such as NextMove BX a host application such as WorkBench v5 or other custom application or a programmable logic controller PLC The NextMove BX supports up to 15 devices each having its own address node number to
70. ypical value for KINT would be 0 1 The effect of KINT should also be limited by setting the integration limit KINTLIMIT to the smallest possible value that is sufficient to overcome friction or static loads for example 5 This will limit the contribution of the integral term to 5 of the full DAC output range 1 Clickinthe KINT box and enter a small starting Premin ___________ 3 value for example 0 1 TUUS gt Ade D 2 Click in the KINTLIMIT box and enter a value a Position Control Terms 15 KINTMODE KINT 01 UNTLIMIT 5 KDERIV x EVEL 000 With NextMove BX the action of KINT and KINTLIMIT can be set to operate in various modes Never the KINT term is never applied Always the KINT term is always applied m Smar the KINT term is only applied when the demand is zero or constant This function can be selected using the KINTMODE drop down box MN1904 Operation 5 19 5 8 Tuning an axis for velocity control Drives designed for velocity control incorporate their own velocity feedback term to provide system damping For this reason KDERIV and KVEL can be set to zero Correct setting of the velocity feed forward gain KVELFF is important to get the optimum response from the system The velocity feed forward term takes the instantaneous velocity demand from the profile generator and adds this to the output block see Figure 16 KVELFF is outside the closed loop and therefore doe

NextMove BXII Installation Manual - Q-TECH

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