Contents 1 General Information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-1 2 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1 2.1 NextMove e100 features . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1 2.2 Receiving and inspection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-3 2.2.1 2.3 3 Units and abbreviations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
.7 CAN interface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-27 4.7.1 4.7.2 4.7.3 5 CAN connector . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . CAN wiring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . CANopen . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-27 4-27 4-28 4.
.10 Local servo axis - eliminating steady-state errors . . . . . . . . . . . . 5-38 5.11 Local digital input/output configuration . . . . . . . . . . . . . . . . . . . . . 5-39 5.11.1 Digital input configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5.11.2 Digital output configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6 Troubleshooting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-1 6.
B CE Guidelines . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . B-1 B.1 Outline . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . B.1.1 B.1.2 B.1.3 B.1.4 B.1.5 iv Contents EMC Conformity and CE marking . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . NextMove e100 compliance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Use of CE compliant components . . . . . . . . . . . . . . . . . .
1 1 www.baldormotion.com General Information LT0231A02 Copyright Baldor (c) 2007. 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.
www.baldormotion.com 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 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 WARNING connected.
2 2 www.baldormotion.com Introduction 2.1 NextMove e100 features NextMove e100 is a high performance multi-axis intelligent controller for servo and stepper motors. NextMove e100 features the Mint motion control language. Mint 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, Mint includes a wide range of powerful commands for complex applications.
www.baldormotion.com Included with NextMove e100 is the Baldor Motion Toolkit CD. This contains a number of utilities and useful resources to get the most from your Mint controller. These include: H Mint WorkBench This is the user interface for communicating with the NextMove e100. Installing Mint WorkBench will also install firmware for NextMove e100. H Mint Machine Center This is used to view and configure a multi-axis network of connected controllers.
www.baldormotion.com 2.2 Receiving and inspection When you receive your NextMove e100, 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 e100. 2. Remove the NextMove e100 from the shipping container and remove all packing material. The container and packing materials may be retained for future shipment. 3.
www.baldormotion.com 2.3 Units and abbreviations The following units and abbreviations may appear in this manual: V ............... W .............. A ............... Ω ............... mΩ . . . . . . . . . . . . . μF . . . . . . . . . . . . . . pF . . . . . . . . . . . . . . mH . . . . . . . . . . . . . Volt (also VAC and VDC) Watt Ampere Ohm milliohm microfarad picofarad millihenry Φ............... ms . . . . . . . . . . . . . . μs . . . . . . . . . . . . . . ns . . . . . . . . . . . . . .
3 3 www.baldormotion.com Basic Installation 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 e100. This section describes the mechanical installation of the NextMove e100. 3.1.1 Location requirements You must read and understand this section before beginning the installation. To prevent equipment damage, be certain that input and output signals are powered and referenced correctly.
www.baldormotion.com 3.1.2 Mounting the NextMove e100 NOTICE 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 e100 using the supplied M4 screws. For effective cooling, the NextMove e100 must be mounted on a smooth non-flammable vertical surface.
www.baldormotion.com 3.1.3 Other requirements for installation H The NextMove e100 requires a 24 VDC power supply capable of supplying 2 A continuously. It is recommended that a separate fused 24 VDC supply is provided for the NextMove e100, with the fuse rated at 4 A maximum. If digital outputs are to be used, a supply will be required to drive them - see section 4.3.2.
www.baldormotion.
4 4 www.baldormotion.com Input / Output 4.1 Introduction This section describes the input and output capabilities of the NextMove e100. The following conventions will be used to refer to the inputs and outputs: I/O . . . . . . . . . . . . . . DIN . . . . . . . . . . . . . DOUT . . . . . . . . . . . AIN . . . . . . . . . . . . . AOUT . . . . . . . . . . . Input / Output Digital Input Digital Output Analog Input Analog Output Common electrical connections use the following abbreviations: AGND . . . . .
www.baldormotion.com 4.1.
www.baldormotion.com 4.2 Analog I/O The NextMove e100 provides: H Two 12-bit resolution analog inputs. H Four 12-bit resolution analog outputs. 4.2.1 Analog inputs The analog inputs are available on connector X12, pins 1 & 2 (AIN0) and 4 & 5 (AIN1). H Differential inputs. H Voltage range: ±10 V. H Resolution: 12-bit with sign. H Input impedance: 120 kΩ. H Sampling frequency: 4 kHz maximum, 2 kHz if both inputs are enabled.
www.baldormotion.com X12 AIN0+ 1 AIN0- 2 X12 AIN0+ 1 AIN0 ADC(0) 2 GND 3 Differential connection AIN0 ADC(0) 3 Single ended connection Figure 3 - AIN0 analog input wiring +24 VDC 1.5 kΩ, 0.25 W X12 1 kΩ, 0.25 W potentiometer 0V 1 2 AIN0 ADC(0) 3 Figure 4 - Typical input circuit to provide 0-10 V (approx.
www.baldormotion.com 4.2.2 Analog outputs The four analog outputs are available on connector X13, as shown in section 4.1.1. H Four independent bipolar analog outputs. H Output range: ±10 VDC (±0.1%). H Resolution: 12-bit. H Output current: 10 mA maximum. H Update frequency: 1 kHz. Mint and the Mint Motion Library use analog outputs Demand0 to Demand2 to control local drive amplifiers. Demand outputs 0 to 2 are used by axes configured as servo (see section 5.5.3).
www.baldormotion.
www.baldormotion.com 4.3 Digital I/O The NextMove e100 provides: H 20 general purpose digital inputs. H 12 general purpose digital outputs. H 1 general purpose relay output. 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 (using the Mint INPUTMODE keyword).
www.baldormotion.com 4.3.1.2 DIN4 - DIN11 Digital inputs DIN4 to DIN11 have a common specification: H Opto-isolated digital inputs. H Sampling frequency: 1 kHz. Digital inputs DIN4 to DIN11 use CREF1 as their common connection.
www.baldormotion.com 4.3.1.4 Typical digital input wiring User supply 24 V NextMove e100 ‘X9’ 100R DIN4 6k2 8 CREF1 9 TLP281 User supply GND Figure 11 - Digital input - typical ‘active high’ input connection using a switch NextMove e100 ‘X9’ User supply 24 V DIN4 CREF1 100R 6k2 8 9 TLP281 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 DIN0 to DIN3.
www.baldormotion.
www.baldormotion.com 4.3.2 Digital outputs and relay The digital outputs are available on connectors X4 and X11, as shown in section 4.1.1. A digital output can be configured in Mint as a general purpose output, a drive enable output or a global error output. Outputs can be controlled directly from Mint WorkBench, or by the Mint OUT and OUTX keywords. Outputs can be shared between axes and can be configured using Mint WorkBench (or the OUTPUTACTIVELEVEL keyword) to determine their active level. 4.3.2.
www.baldormotion.com 4.3.2.3 DOUT12 (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 in the NextMove e100. 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.
www.baldormotion.com 4.3.3 Stepper control outputs - models NXE100-16xx 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 60 Hz to 5 MHz. Each of the step (pulse) and direction signals from the NextMove e100 is driven by DS26LS31 line drivers, providing RS422 differential outputs. It is recommended to use separate shielded cables for the step outputs.
www.baldormotion.com 4.3.4 Stepper control outputs - models NXE100-16xxS 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 60 Hz to 500 kHz. Each of the step (pulse) and direction signals from the NextMove e100 is driven by a ULN2803 open collector Darlington output device. The STEPPERDELAY keyword allows a 0 - 4.
www.baldormotion.com 4.4 Other I/O 4.4.
www.baldormotion.com NextMove e100 MicroFlex FlexDrive II Flex+Drive II MintDrive II encoder output CHA+ ‘X5’ ‘X7’ Vcc 10k 1 1 CHA+ to CPU 120R CHA- 6 Twisted pair 6 MAX3096 CHAVcc 10k CHB+ 2 2 CHB+ 120R CHB- 7 Twisted pair 7 MAX3096 to CPU CHBVcc 10k CHZ+ 3 3 CHZ+ 120R CHZ- 8 Twisted pair 8 MAX3096 to CPU CHZ- 5 DGND 4 Shield Connect internal shield to DGND. Do not connect other end. Connect overall shield to connector backshells / shield connections.
www.baldormotion.com 4.4.2 Node ID selector switches The NextMove e100 has two selector switches which determine the unit’s node ID on EPL networks. Each switch has 16 positions, allowing selection of the hexadecimal values 0 - F. In combination, the two switches allow values of 0 - 255 (hexadecimal FF) to be selected. The switch labeled ‘HI’ sets the high nibble (half byte), and the switch labeled ‘LO’ sets the low nibble.
www.baldormotion.
www.baldormotion.com In many networking environments, the node ID may also be referred to as the address. On EPL networks, limitations apply to the node IDs that may be selected: H Node ID 0 (00) is reserved for special purposes and cannot be used. H Node IDs 1 - 239 (01 - EF) cause the node to become a ‘controlled node’, a node that will accept commands from the manager node.
www.baldormotion.com 4.5 USB and serial communication 4.5.1 USB port Location 2 1 3 4 USB Mating connector: USB Type B (downstream) plug Pin Name Description 1 VBUS USB +5 V 2 D- Data- 3 D+ Data+ 4 GND Ground The USB connector is used to connect the NextMove e100 to a PC running Mint WorkBench. The NextMove e100 is a self-powered, USB 1.1 (12 Mbps) 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.
www.baldormotion.com 4.5.
www.baldormotion.com Serial NextMove e100 (DTE) COM RXD 2 2 RXD TXD 3 3 TXD GND 5 5 GND RTS 7 7 RTS CTS 8 8 CTS 9-pin Computer COM Port (DTE) Connect overall shield to connector backshell. Figure 22 - RS232 serial port connections 4.5.4 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.
www.baldormotion.com (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. 4.5.
www.baldormotion.com 4.6 Ethernet interface The Ethernet interface provides TCP/IP and ETHERNET Powerlink networking capabilities. 4.6.1 TCP/IP Transmission Control Protocol / Internet Protocol (TCP/IP) is a common set of protocols used to transfer information between devices over a network, including the internet. TCP enables two devices to establish a connection, and guarantees the delivery of packets (datagrams) of information in the correct order.
www.baldormotion.com 4.6.2 ETHERNET Powerlink NextMove e100 supports the deterministic ETHERNET Powerlink (EPL) protocol. This protocol provides very precise and predictable ‘real-time’ communication over a 100 Mbit/s (100Base-T) Fast Ethernet (IEEE 802.3u) connection. This makes it suitable for the transmission of control and feedback signals between the NextMove e100 and other EPL enabled controllers such as MicroFlex e100.
www.baldormotion.com 4.6.3 Ethernet connectors Ethernet connections are made using the identical RJ45 Ethernet receptacles. Location E1 & E2 Pin Name 8 1 Description 1 TX+ Transmit+ 2 TX- Transmit- 3 RX+ Receive+ 4 - (NC) 5 - (NC) 6 RX- Receive- 7 (NC) - 8 Shield Shield connection To connect the NextMove e100 to other EPL devices, ordinary shielded CAT5e Ethernet cables are used. Cables may be up to 100 m (328 ft) long.
www.baldormotion.com 4.7 CAN interface 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 4.7x10-11. It is optimized for the transmission of small data packets and therefore offers fast update of I/O devices (peripheral devices) connected to the bus.
www.baldormotion.com H All cables and connectors should have a nominal impedance of 120 Ω. Cables should have a length related resistance of 70 mΩ/m and a nominal line delay of 5 ns/m. H The maximum bus length depends on the bit-timing configuration (baud rate). The table opposite shows the approximate maximum bus length (worst-case), assuming 5 ns/m propagation delay and a total effective device internal in-out delay of 210 ns at 1 Mbit/s, 300 ns at 500 - 250 Kbit/s, 450 ns at 125 Kbit/s and 1.
www.baldormotion.
www.baldormotion.com 4.8 Connection summary - minimum wiring (local axis) As a guide, Figure 31 shows an example of the typical minimum wiring required to allow the NextMove e100 and a single axis servo amplifier to work together. Details of the connector pins are shown in Table 2.
www.baldormotion.
www.baldormotion.com 4.9 Connection summary - minimum wiring (remote axis) As a guide, Figure 32 shows an example of the typical minimum wiring required to allow the NextMove e100 and a single axis EPL servo amplifier (e.g. MicroFlex e100) to work together. Details of the connector pins are shown in Table 3.
www.baldormotion.
www.baldormotion.
5 5 www.baldormotion.com Operation 5.1 Introduction Before powering the NextMove e100 you will need to connect it to the PC using a USB or Ethernet cable and install the supplied Mint Machine Center software. This software includes a number of applications and utilities to allow you to configure and program the NextMove e100. If you do not have experience of software installation or Windows applications you may need further assistance for this stage of the installation.
www.baldormotion.com 5.1.2 Installing Mint Machine Center and Mint WorkBench You need to install the Mint Machine Center (MMC) and Mint WorkBench. Any previous versions of MMC or Mint WorkBench 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.
www.baldormotion.com 5.2 Starting the NextMove e100 If you have followed the instructions in the previous sections, you should have now connected the power sources, inputs and outputs and the USB, serial, or Ethernet cable linking the PC to the NextMove e100. 5.2.1 Preliminary checks Before you apply power for the first time, it is very important to verify the following: H Disconnect the load from the motor until instructed to apply a load.
www.baldormotion.com 5.2.4 Configuring the TCP/IP connection (optional) If you have connected the NextMove e100 to the PC using the Ethernet connection, it will be necessary to alter the PC’s Ethernet adapter configuration to operate correctly with the NextMove e100. NOTICE You cannot connect an ordinary office PC to the NextMove e100 without first altering the PC’s Ethernet adapter configuration.
www.baldormotion.com 5.3 Mint Machine Center The Mint Machine Center (MMC) is used to view the network of connected controllers in a system. Individual controllers and drives are configured using Mint WorkBench. Note: If you have only a single NextMove e100 connected to your PC, then MMC is probably not required. Use Mint WorkBench (see section 5.4) to configure the NextMove e100.
www.baldormotion.
www.baldormotion.com 5.3.1 Starting MMC 1. On the Windows Start menu, select Programs, Mint Machine Center, Mint Machine Center. 2. In the controller pane, ensure that Host is selected. In the information pane, click Scan. 3. When the search is complete, click once on ‘NextMove ES’ in the controller pane to select it, then double click to open an instance of Mint WorkBench. The NextMove ES will be already connected to the instance of Mint WorkBench, ready to configure. Go straight to section 5.
www.baldormotion.com 5.3.2 Viewing remote nodes connected over Ethernet (optional) When a remote node such as MicroFlex e100 is connected to the NextMove e100 using Ethernet, it is possible to view the connection in MMC. The PC is able to connect to the remote node, even though the PC only has a physical USB connection to the NextMove e100. This feature is known as ‘redirection’, and simplifies configuration of multiple controllers on an Ethernet / EPL network.
www.baldormotion.com 5.4 Mint WorkBench Mint WorkBench is a fully featured application for programming and controlling the NextMove e100. The main Mint WorkBench window contains a menu system, the Toolbox and other toolbars. Many functions can be accessed from the menu or by clicking a button - use whichever you prefer. Most buttons include a ‘tool-tip’; hold the mouse pointer over the button (don’t click) and its description will appear.
www.baldormotion.com 5.4.1 Help file Mint WorkBench includes a comprehensive help file that contains information about every Mint keyword, how to use MMC and Mint 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 .
www.baldormotion.com 5.4.2 Starting Mint WorkBench Note: If you have already used MMC to start an instance of Mint WorkBench then the following steps are unnecessary. Go to section 5.5 to continue configuration. 1. On the Windows Start menu, select Programs, Mint Machine Center, Mint WorkBench. 2. In the opening dialog box, click Start New Project...
www.baldormotion.com 3. In the Select Controller dialog, go to the drop down box near the top and select the PC serial port to which the NextMove e100 is connected. If you are unsure which PC serial port is connected to the NextMove e100, increase the value in the Search up to serial node address box. If the NextMove e100 is connected using USB, it will be scanned automatically. Click Scan to search for the NextMove e100.
www.baldormotion.com 5.5 Configuring axes The NextMove e100 is capable of controlling its own 4 stepper and 3 servo axes, plus further ‘remote’ axes over ETHERNET Powerlink (EPL). Each axis must be assigned a unique axis number. The axis number is used throughout Mint WorkBench and the NextMove e100’s Mint programs to identify a particular axis. This section describes how to configure each type of axis. 5.5.
www.baldormotion.com 5.5.2 Configuring remote axes When configuring a remote axis on the NextMove e100, there is no requirement to determine the type of axis, for example servo or stepper. Basic configuration requires only a node ID and an axis number to be selected. In Mint WorkBench, the System Configuration Wizard is used to assign the node IDs and axis numbers. 1. In the Toolbox, click Configuration icon. the System 2. On the EPL Devices page, click Add Device... . 3.
www.baldormotion.com 5. In the Map to manager resource drop down box, select one of the available axis numbers and click OK. This is the axis number that NextMove e100 will use to reference the EPL device’s axis hardware. The three radio button options refer to the way the remote axis will be controlled - see section 5.5.1. In this example, the remote axis has been assigned axis number 5.
www.baldormotion.com 5.5.3 Configuring local axes A local axis can be configured as either a servo, stepper or virtual axis. The factory preset configuration sets all axes as unassigned (off), so it is necessary to configure an axis as either stepper, servo or virtual before it can be used. The number of servo and stepper hardware channels defines how many servo and stepper axes may be configured. The Control Rate defines the accuracy with which moves on the axis will be performed.
www.baldormotion.com 5.5.4 Selecting a scale Mint 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 SCALEFACTOR allowing you to use units more suitable for your application. The unit defined by setting a value for SCALEFACTOR is called the user unit (uu). Consider a servo motor with a 1000 line encoder.
www.baldormotion.com Click in the Active column and enter a value for the scale factor. This immediately sets the scaling factor for the selected axis, which will remain in the NextMove e100 until another scale is defined or power is removed. A yellow ‘C’ icon will appear to the left of the ScaleFactor entry to indicate that the value has been changed.
www.baldormotion.com 5.5.5 Setting the drive enable output (optional) Note: In many applications, a drive amplifier will have its drive enable input activated by other circuitry (often including an emergency stop switch) so a physical drive enable signal from the NextMove e100 is not required. A drive enable output allows NextMove e100 to enable the external drive amplifier to allow motion, or disable it in the event of an error.
www.baldormotion.com 4. If you are going to use the relay, drag the OUT12 icon (the relay output) to the grey Drive Enable OP icon on the right of the screen. To configure multiple axes to use the relay output, repeat this step for the other axes. If you are going to use a digital output, drag the bright blue OUT icon to the grey Drive Enable OP axis icon on the right of the screen. To configure multiple axes with the same drive enable output, repeat this step for the other axes. 5.
www.baldormotion.com 5.5.6 Testing the drive enable output 1. On the main Mint WorkBench toolbar, click the Axes button. In the Select Default Axes dialog, select the axes to be controlled. Click OK to close the dialog. 2. On the main Mint WorkBench 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.
www.baldormotion.com 5.6 Local stepper axis - testing This section describes the method for testing a local stepper axis. The stepper control is an open loop system so no tuning is necessary. See section 5.5.3 for details about creating a stepper axis. 5.6.1 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 shaft disconnected from other machinery. 1. Check that the Drive enable button is pressed (down). 2.
www.baldormotion.com 5.7 Local servo axis - testing and tuning This section describes the method for testing and tuning a local servo axis. The drive amplifier must already have been tuned for basic current or velocity control of the motor. See section 5.5.3 for details about creating a servo axis. 5.7.1 Testing the demand output This section tests the operation and direction of the demand output for axis 0.
www.baldormotion.com 5. To repeat the tests for negative (reverse) demands, type: TORQUEREF(0)=-5 This should cause a demand of -5% of maximum output (-0.5 V) to be produced at the DEMAND0 output. Correspondingly, the Spy window’s Velocity display should show a negative value. 6. To remove the demand and stop the test, type: STOP(0) This should cause the demand produced at the DEMAND0 output to become 0 V.
www.baldormotion.com 5.7.2 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 5.8.1. When there is a requirement to move an axis, the NextMove e100 control software translates this into a demand output voltage (or just a numerical value over EPL). This is used to control the drive amplifier which powers the motor.
www.baldormotion.com 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: H KPROP: Increasing KPROP will speed up the response and reduce the effect of disturbances and load variations. The side effect of increasing KPROP is that it also increases the overshoot, and if set too high it will cause the system to become unstable.
www.baldormotion.
www.baldormotion.com 5.8 Local servo axis - tuning for current control 5.8.1 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) control 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 5.9.
www.baldormotion.com 3. Click in the KPROP box and enter a value that is approximately one quarter of the value of KDERIV. If the motor begins to vibrate, decrease the value of KPROP or increase the value of KDERIV until the vibration stops. Small changes may be all that is necessary. 4. In the Move Type drop down box, check that the move type is set to Step. 5. Click in the Distance box and enter a distance for the step move.
www.baldormotion.com 5.8.2 Underdamped response If the graph shows that the response is underdamped (it overshoots the demand, as shown in Figure 38) then the value for KDERIV should be increased to add extra damping to the move. If the overshoot is excessive or oscillation has occurred, it may be necessary to reduce the value of KPROP. Measured position Demand position Figure 38 - Underdamped response 9. Click in the KDERIV and/or KPROP boxes and make the required changes.
www.baldormotion.com 5.8.3 Overdamped response If the graph shows that the response is overdamped (it reaches the demand too slowly, as shown in Figure 39) then the value for KDERIV should be decreased to reduce the damping of the move. If the overdamping is excessive, it may be necessary to increase the value of KPROP. Demand position Measured position Figure 39 - Overdamped response 10. Click in the KDERIV and/or KPROP boxes and make the required changes. The ideal response is shown in section 5.8.4.
www.baldormotion.com 5.8.4 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 40.
www.baldormotion.com 5.9 Local 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.
www.baldormotion.com The analog demand output is controlled by a 12-bit DAC, which can create output voltages in the range -10 V to +10 V. This means a maximum output of +10 V 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 at constant velocity.
www.baldormotion.com 9. Using the check boxes below the graph, select the Measured velocity and Demand velocity traces. Demand velocity Measured velocity Figure 41 - 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.
www.baldormotion.com 5.9.2 Adjusting KPROP The KPROP term can be used to reduce following error. Its value will usually be much smaller than the value used for an equivalent current controlled system. A fractional value, for example 0.1, will probably be a good starting figure which can then be increased slowly. 1. Click in the KPROP box and enter a starting value of 0.1. 2. Click Go. The NextMove e100 will perform the move and the motor will turn.
www.baldormotion.com Demand position Measured position Figure 42 - 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 42. Note: MN1941 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.
www.baldormotion.com 5.10 Local servo axis - eliminating steady-state errors In systems where precise and accurate positioning 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 will 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).
www.baldormotion.com 5.11 Local digital input/output configuration The Digital I/O window can be used to setup other digital I/O on the NextMove e100. 5.11.1 Digital input configuration The Digital Inputs tab allows you to define how each digital input will be triggered, and if it should be assigned to a special purpose function such as a Home or Limit input. There is one <- Axis x row for each local axis configured in section 5.5.3.
www.baldormotion.com 4. Now drag the IN1 icon onto the Fwd Limit icon . This will setup IN1 as the Forward Limit input of axis 0. 5. Click Apply to send the changes to the NextMove e100. Note: If required, multiple inputs can be configured before clicking Apply. 5.11.2 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 5.5.5).
6 6 www.baldormotion.com Troubleshooting 6.1 Introduction This section explains common problems and their solutions. If you want to know the meaning of the LED indicators, see section 6.2. 6.1.1 Problem diagnosis If you have followed all the instructions in this manual in sequence, you should have few problems installing the NextMove e100. If you do have a problem, read this section first. In Mint WorkBench, use the Error Log tool to view recent errors and then check the help file.
www.baldormotion.com 6.2 NextMove e100 indicators 6.2.1 STATUS LED STATUS The STATUS LED displays the overall condition of the NextMove e100. Further details about error codes can be found in the Mint WorkBench help file. Press F1 and locate the Error Handling book. Solid green: Initialization OK, controller enabled (normal operation). Flickering green (very fast flashing): Firmware download in progress. Solid red: Initialization in progress. Flashing red: Initialization error.
www.baldormotion.com 6.2.3 ETHERNET LEDs ETHERNET The ETHERNET LEDs display the overall condition of the Ethernet interface once the startup sequence has completed. The LED codes conform to the ETHERNET Powerlink Standardization Group (EPSG) standard at the time of production. Green (status) X Off: Node in NOT ACTIVE state. If the NextMove e100 is the manager node, it is checking there is no other EPL manager node already operating.
www.baldormotion.com 6.2.4 Communication If the problem is not listed below please contact Baldor technical support. Status LED is off: H Check that the 24 VDC control circuit supply is connected correctly to connector X1 and is switched on. Mint WorkBench fails to detect the detect NextMove e100: H Ensure that the NextMove e100 is powered and the Status LED is illuminated (see section 6.2). H Check that the Ethernet or USB cable is connected between the PC and NextMove e100.
www.baldormotion.com 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: H (Local servo outputs only) Check that the encoder feedback signal(s) are connected to the correct encoder input(s). Check the demand to the drive is connected with the correct polarity. H Check that for a positive demand signal, a positive increase in axis position is seen.
www.baldormotion.com 6.2.7 Ethernet Cannot connect to the controller over TCP/IP: H H Check that there is not an EPL manager node (for example NextMove e100 with node ID 240) on the network. If there is a manager node on the network, then an EPL compatible router must be used to allow TCP/IP communication on the EPL network. Check that the PC’s Ethernet adapter has been correctly configured, as described in section 5.2.4.
www.baldormotion.com The Manager node cannot scan/recognize a node on the network using the Mint NODESCAN keyword: Assuming that the network is working correctly (see previous symptoms) and the bus is in an ‘Operational’ state, check: H Only nodes that conform to DS401, DS403 and other Baldor CANopen nodes are recognized by the Mint NODESCAN keyword. Other types of node will be identified with a type “unknown” (255) when using the Mint NODETYPE keyword.
www.baldormotion.
7 7 www.baldormotion.com Specifications 7.1 Introduction This section provides technical specifications of the NextMove e100. 7.1.1 Input power Description Value Input power Nominal input voltage Power consumption 24 VDC (±20%) 50 W (2 A @24 V) 7.1.2 Analog inputs Description Unit Type Common mode voltage range Value Differential VDC ±10 kΩ 120 Input ADC resolution bits 12 (includes sign bit) Equivalent resolution (±10 V input) mV ±4.
www.baldormotion.com 7.1.4 Digital inputs Description Unit Type Value Opto-isolated USR V+ supply voltage VDC Nominal Minimum Maximum Input voltage 24 12 30 VDC Active Inactive > 12 <2 Input current (maximum per input, USR V+ = 24 V) mA 7 Sampling interval ms 1 Unit Value 7.1.5 Digital outputs Description USR V+ supply voltage VDC Nominal Minimum Maximum Output current Max. source per output, one output on Max.
www.baldormotion.com 7.1.7 Stepper control outputs Description Unit Output type Maximum output frequency Output current NXE100-16xx NXE100-16xxS RS422 differential outputs Darlington step (pulse) and direction 5 MHz 500 kHz 20 μA (typical) 50 mA (maximum sink, per output) 7.1.
www.baldormotion.com 7.1.11 CAN interface Description Unit Value Signal 2-wire, isolated Channels 1 Protocol CANopen Bit rates Kbit/s 10, 20, 50, 100, 125, 250, 500, 1000 7.1.12 Environmental Description Unit Operating temperature range Min Max °C 0 +45 °F +32 +113 Maximum humidity % 80% for temperatures up to 31 °C (87 °F) decreasingly linearly to 50% relative humidity at 45 °C (113 °F), non-condensing (according to DIN40 040 / IEC144) Maximum installation altitude (above m.s.l.
A A www.baldormotion.com Accessories A.1 Cables A.1.1 Feedback cables The Baldor cables listed in Table 4 connect the ‘Encoder Out’ signal from a drive amplifier (for example MicroFlex, FlexDriveII, Flex+DriveII or MintDriveII), to the ‘Enc0’, ‘Enc1’ and ‘Enc2’ encoder input connectors on the NextMove e100. One cable is required for each servo axis. See section 4.4.1 for the connector pin configuration.
www.baldormotion.com A.1.3 24 V power supplies A range of compact 24 V DIN rail mounting power supplies are available. The supplies include short circuit, overload, over-voltage and thermal protection. Baldor catalog number Input voltage Output voltage DR-75-24 DR-120-24 Output rating 75 W (3.
B B www.baldormotion.com 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 e100 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.
www.baldormotion.com B.1.3 Use of CE compliant components The following points should be considered: H Using CE approved components will not guarantee a CE compliant system! H The components used in the controller, installation methods used, materials selected for interconnection of components are important. H The installation methods, interconnection materials, shielding, filtering and earthing / grounding of the system as a whole will determine CE compliance.
Index A Abbreviations, 2-4 Analog I/O, 4-3 analog inputs, 4-3 analog outputs, 4-5 B Basic Installation, 3-1 location requirements, 3-1 mounting, 3-2 C Calculating KVELFF, 5-33 CAN interface CANopen, 4-28 connector, 4-27 LEDs, 6-2 opto-isolation, 4-28 specifications, 7-4 wiring, 4-27 Catalog number, identifying, 2-3 CE Guidelines, B-1 Closed loop control, an introduction, 5-25 Command outputs.
I O Indicators, 6-2 CAN LEDs, 6-2 ETHERNET LEDs, 6-3 STATUS LED, 6-2 Input / Output, 4-1 analog inputs, 4-3, 7-1 analog outputs, 4-5, 7-1 CAN interface, 4-27 connection summary, 4-30, 4-32 connector locations, 4-2 digital inputs, 4-7, 7-2 digital outputs, 4-11, 7-2 encoder inputs, 4-15, 7-3 Ethernet, 4-24 node ID selector switches, 4-17 relay, 4-12 serial port, 4-21 multidrop using RS485/RS422, 4-22 using RS232, 4-21 stepper control outputs, 4-13, 4-14, 7-3 USB port, 4-20 Installation, 3-1 Mint Machine Ce
digital outputs, 7-2 encoder inputs, 7-3 environmental, 7-4 Ethernet interface, 7-3 input power, 7-1 relay output, 7-2 serial port, 7-3 stepper control outputs, 7-3 weights and dimensions, 7-4 Status LED, 6-2 Stepper axis, 5-22 control outputs, 4-13, 4-14 testing the output, 5-22 SupportMe feature, 6-1 T TCP/IP, description, 4-24 Testing demand output, 5-23 drive enable output, 5-21 servo axis, 5-23 stepper axis, 5-22 stepper output, 5-22 Troubleshooting, 6-1 CAN LEDs, 6-2 MN1941 CANopen, 6-6 communicati
Index MN1941
Comments If you have any suggestions for improvements to this manual, please let us know. Write your comments in the space provided below, remove this page from the manual and mail it to: Manuals Baldor UK Ltd Mint Motion Centre 6 Bristol Distribution Park Hawkley Drive Bristol BS32 0BF United Kingdom. Alternatively, you can e-mail your comments to: manuals@baldor.co.uk Comment: continued...
Thank you for taking the time to help us.
