ABB PCI2 User Manual

NextMove PCI-2

Contents

Contents

1 General Information
2 Introduction

2.1 NextMove PCI-2 features . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1

2.2 Receiving and inspection. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-3

2.2.1 Identifying the catalog number . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-3

2.3 Units and abbreviations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-4

3 Basic Installation

3.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-1

3.1.1 Location requirements. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-1

3.1.2 Other requirements for installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-2

3.2 Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-3

3.2.1 Installing the NextMove PCI-2 card. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-3

4 Input / Output

4.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-1

4.2 100-pin edge connector. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-1

4.2.1 100-pin edge connector pin assignment . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-2

4.3 Analog I/O . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-4

4.3.1 Analog inputs - X6. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-4

4.3.2 Analog outputs (Demands) - X7 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-6

4.4 Digital I/O. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-8

4.4.1 Digital inputs - overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-8

4.4.2 Digital inputs - X1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-10

4.4.3 Digital inputs - X2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-11

4.4.4 Digital inputs - X3 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-12

4.4.5 Digital outputs - overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-14

4.4.6 Digital outputs - X4 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-14

4.4.7 Digital outputs - X5 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-16

4.5 Other I/O . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-17

4.5.1 Encoder inputs - X12, X13, X14, X15, X16. . . . . . . . . . . . . . . . . . . . . . . . . 4-17

4.5.2 Power - X9 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-19

4.5.3 Relay and CAN power - X8. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-20

4.5.4 Stepper control outputs - X10, X11. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-21

4.5.5 Emulator connection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-21

4.6 CAN . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-22

4.6.1 CANopen connector - X17 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-23

4.6.2 CANopen. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-23

4.6.3 Baldor CAN connector - X18. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-25

MN1933WEN Contents i

4.6.4 Baldor CAN . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4-25

4.6.5 CAN wiring. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4-27

4.7 Reset states . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4-28

4.7.1 System watchdog. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4-28

4.8 Connection summary - minimum system wiring . . . . . . . . . . . . . .4-29

5 Operation

5.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-1

5.1.1 Installing the driver software . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-1

5.1.2 Installing Mint WorkBench . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-1

5.2 Mint Machine Center . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-2

5.2.1 Starting MMC. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-3

5.3 Mint WorkBench . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-5

5.3.1 Help file . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-6

5.3.2 Starting Mint WorkBench . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-7

5.4 Configuring an axis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-10

5.4.1 Selecting the axis type. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-10

5.4.2 Selecting a scale . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-11

5.4.3 Setting the drive enable output . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-12

5.4.4 Testing the drive enable output . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-13

5.5 Servo axis - testing and tuning . . . . . . . . . . . . . . . . . . . . . . . . . . .5-14

5.5.1 Testing the demand output . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-14

5.5.2 An introduction to closed loop control . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-15

5.6 Servo axis - tuning for current control . . . . . . . . . . . . . . . . . . . . . .5-18

5.6.1 Selecting servo loop gains. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-18

5.6.2 Underdamped response. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-20

5.6.3 Overdamped response. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-21

5.6.4 Critically damped response . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-22

5.7 Servo axis - eliminating steady-state errors . . . . . . . . . . . . . . . . .5-23

5.8 Servo axis - tuning for velocity control. . . . . . . . . . . . . . . . . . . . . .5-24

5.8.1 Calculating KVELFF. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-24

5.8.2 Adjusting KPROP. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-27

5.9 Stepper axis - testing. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-29

5.9.1 Testing the output . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-29

5.10 Digital input/output configuration. . . . . . . . . . . . . . . . . . . . . . . . . .5-30

5.10.1 Digital input configuration. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-30

5.10.2 Digital output configuration. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-31

5.11 Saving setup information. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-32

5.11.1 Loading saved information. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-33

6 Troubleshooting

6.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .6-1

6.1.1 Problem diagnosis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .6-1

6.1.2 SupportMe feature . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .6-1

ii Contents MN1933WEN

6.2 NextMove PCI-2 indicators . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-2

6.2.1 Status LEDs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-2

6.2.2 CAN LEDs. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-2

6.2.3 Reset LED. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-2

6.3 Problem solving . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-3

6.3.1 Communication. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-3

6.3.2 Motor control. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-3

7 Specifications

7.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-1

7.1.1 Input power and mechanical specifications. . . . . . . . . . . . . . . . . . . . . . . . . . 7-1

7.1.2 Analog inputs (X6). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-1

7.1.3 Analog outputs (X7) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-2

7.1.4 Digital inputs (X1 & X2). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-2

7.1.5 Digital inputs (X3) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-3

7.1.6 Digital outputs (X4) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-3

7.1.7 Relay output (X8) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-3

7.1.8 Encoder inputs (X12 - X16). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-4

7.1.9 Stepper control outputs (X10 & X11) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-4

7.1.10 CANopen interface (X17) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-4

7.1.11 Baldor CAN interface (X18). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-4

7.1.12 Environmental . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-5

Appendices

A Accessories

A.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-1

A.1.1 NextMove PCI-2 breakout module . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .A-1

A.1.2 NextMove PC system adapter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .A-2

A.1.3 Encoder splitter/buffer board. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-2

A.1.4 Spares. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-2

A.1.5 Feedback cables. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .A-3

A.1.6 Baldor CAN nodes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-4

A.1.7 HMI panels . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .A-5

A.1.8 Mint NC (CAD to motion software) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-5

B Mint Keyword Summary

B.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . B-1

B.1.1 Keyword listing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .B-1

MN1933WEN Contents iii

iv Contents MN1933WEN

General Information

1 General Information

LT0226A05EN Copyright ABB (c) 2012. 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 ABB.
ABB makes no representations or warranties with respect to the contents hereof and specifically
disclaims any implied warranties of fitness for any particular purpose. The information in this
document is subject to change without notice. ABB assumes no responsibility for any errors that may
appear in this document.

Mint™ is a registered trademark of Baldor, a member of the ABB group.
Windows XP, Windows Vista and Windows 7 are registered trademarks of the Microsoft Corporation.

ABB Ltd
Motion Control
6 Bristol Distribution Park
Hawkley Drive
Bristol, BS32 0BF
Telephone: [phone]
Fax: [phone]
E-mail: [e-mail]
Web site: www.abbmotion.com

1

See rear cover for other international offices.

MN1933WEN General Information 1-1

Safety Notice

!

WARNING

!

WARNING

!

WARNING

!

CAUTION

!

CAUTION

NOTICE

i

NOTICE

i

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
connected. Electrical shock can cause serious or fatal injury. Only qualified personnel
should attempt to start-up, program or troubleshoot this equipment.

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.

MEDICAL DEVICE / PACEMAKE R DANGER: Magnetic and electromagnetic fields in the
vicinity of current carrying conductors and industrial motors can result in a serious health
hazard to persons with cardiac pacemakers, internal cardiac defibrillators,
neurostimulators, metal implants, cochlear implants, hearing aids, and other medical
devices. To avoid risk, stay away from the area surrounding a motor and its current
carrying conductors.

The stop input to this equipment should not be used as the single means of achieving a
safety critical stop. Drive disable, motor disconnect, motor brake and other means
should be used as appropriate.

Improper operation or programming may cause violent motion of the motor shaft and
driven equipment. Be certain that unexpected 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.

The safe integration of this equipment into a machine system is the responsibility of the
machine designer. Be sure to comply with the local safety requirements at the place
where the machine is to be used. In Europe these are the Machinery Directive, the
ElectroMagnetic Compatibility Directive and the Low Voltage Directive. In the United
States this is the National Electrical code and local codes.

Electrical components can be damaged by static electricity. Use ESD (electrostatic
discharge) procedures when handling this equipment.

1-2 General Information MN1933WEN

Introduction

2 Introduction

2.1 NextMove PCI-2 features

NextMove PCI-2 is a high speed multi-axis intelligent motion controller for use in PCI bus
based PC systems.

2

NextMove PCI-2 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.

Standard features include:

 Control of up to eight axes.
 Point to point moves, software cams and gearing.
 20 opto-isolated digital inputs, software configurable as level or edge triggered.
 12 opto-isolated digital outputs. Models with PNP or NPN outputs are available.
 4 differential analog inputs with 12-bit resolution.
 4 single-ended analog drive demand outputs with 16-bit resolution.
 CANopen or proprietary Baldor CAN protocol for communication with Mint controllers

and other third party devices.

 Programmable in Mint.

MN1933WEN Introduction 2-1

The Mint WorkBench software application can be installed from the Mint Motion Toolkit CD
(OPT-SW-001), or downloaded from www.abbmotion.com. Mint WorkBench provides:

 Mint WorkBench

Provides everything you need to quickly get your NextMove PCI-2 up and running. Mint
WorkBench allows configuration, commissioning, parameterisation, programming,
debugging and monitoring capabilities.

 Mint Machine Center

Provides a network view of all connected controllers and allows quick access to Mint
WorkBench for a selected device.

 ActiveX control

The ActiveX control allows PC applications to communicate with the NextMove PCI-2.

This manual is intended to guide you through the installation of NextMove PCI-2.

The chapters should be read in sequence.

The Basic Installation section describes the mechanical installation of the NextMove PCI-2.
The following sections require knowledge of the low level input/output requirements of the
installation and an understanding of computer software installation. If you are not qualified in
these areas you should seek assistance before proceeding.

2-2 Introduction MN1933WEN

2.2 Receiving and inspection

Catalog number: PCI201- _____________________________
Installed in: ______________________________________ Date: _____________

When you receive your NextMove PCI-2, 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 PCI-2.

2. Remove the NextMove PCI-2 from the shipping container but do not remove its anti­static bag until you are ready to install it. The packing materials may be retained for
future shipment.

3. Verify that the catalog number of the NextMove PCI-2 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 PCI-2 for external damage during shipment and report any
damage to the carrier that delivered it.

5. If the NextMove PCI-2 is to be stored for several weeks before use, be sure that it is
stored in a location that conforms to the storage humidity and temperature specifications
shown in section 3.1.1.

2.2.1 Identifying the catalog number

NextMove PCI-2 cards are available with different specifications. As a reminder of which
card has been installed, it is a good idea to write the catalog number in the space provided
below.

A description of a catalog number is shown here, using the example PCI201-504:

Catalog
number

PCI201 NextMove PCI-2 family

50 PNP digital outputs; 51 indicates NPN digital outputs.

4 Number of physical axes (up to a maximum of 8).

MN1933WEN Introduction 2-3

Meaning

2.3 Units and abbreviations

The following units and abbreviations are used in this manual:

V. . . . . . . . . . . . . . . . Volt (also VAC and V DC)

W . . . . . . . . . . . . . . . Watt

A. . . . . . . . . . . . . . . . Ampere

Ω . . . . . . . . . . . . . . . Ohm

mΩ . . . . . . . . . . . . . . milliohm

μF. . . . . . . . . . . . . . . microfarad

pF. . . . . . . . . . . . . . . picofarad

mH . . . . . . . . . . . . . . millihenry

Φ . . . . . . . . . . . . . . . phase

ms . . . . . . . . . . . . . . millisecond

μs. . . . . . . . . . . . . . . microsecond

ns. . . . . . . . . . . . . . . nanosecond

mm. . . . . . . . . . . . . . millimeter

m . . . . . . . . . . . . . . . meter

in . . . . . . . . . . . . . . . inch

ft. . . . . . . . . . . . . . . . feet

lbf-in. . . . . . . . . . . . . pound force inch (torque)

N·m . . . . . . . . . . . . . Newton meter (torque)

ADC . . . . . . . . . . . . . Analog to Digital Converter

ASCII . . . . . . . . . . . . American Standard Code for Information Interchange

AWG . . . . . . . . . . . . American Wire Gauge

CAL . . . . . . . . . . . . . CAN Application Layer

CAN . . . . . . . . . . . . . Controller Area Network

CDROM . . . . . . . . . . Compact Disc Read Only Memory

CiA. . . . . . . . . . . . . . CAN in Automation International Users and Manufacturers Group e.V.

CTRL+E. . . . . . . . . . on the PC keyboard, press Ctrl then E at the same time.

DAC . . . . . . . . . . . . . Digital to Analog Converter

DS301 . . . . . . . . . . . CiA CANopen Application Layer and Communication Profile

DS401 . . . . . . . . . . . CiA Device Profile for Generic I/O Devices

DS403 . . . . . . . . . . . CiA Device Profile for HMIs

EDS . . . . . . . . . . . . . Electronic Data Sheet

EMC. . . . . . . . . . . . . Electromagnetic Compatibility

HMI . . . . . . . . . . . . . Human Machine Interface

ISO. . . . . . . . . . . . . . International Standards Organization

Kbaud. . . . . . . . . . . . kilobaud (the same as Kbit/s in most applications)

LCD . . . . . . . . . . . . . Liquid Crystal Display

MB . . . . . . . . . . . . . . megabytes

Mbps . . . . . . . . . . . . megabits/s

(NC) . . . . . . . . . . . . . Not Connected

RF . . . . . . . . . . . . . . Radio Frequency

2-4 Introduction MN1933WEN

Basic Installation

NOTICE

i

NOTICE

i

NOTICE

i

NOTICE

i

3 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 PCI-2. This
section describes the mechanical and electrical installation of the NextMove PCI-2.

3.1.1 Location requirements

It is essential that you 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.

To ensure reliable performance of this equipment be cer tain that all signals to/
from the NextMove PCI-2 are shielded correctly.

Avoid locating the NextMove PCI-2 or host PC immediately above or beside heat
generating equipment, or directly below water steam pipes.

Avoid locating the NextMove PCI-2 or host PC in the vicinity of corrosive
substances or vapors, metal particles and dust.

3

The safe operation of this equipment depends upon its use in the appropriate environment.
The following points must be considered:

 The NextMove PCI-2 must be installed in an enclosed cabinet located so that it can only

be accessed by service personnel using tools.

 The maximum suggested operating altitude is 2000 m (6560 ft).
 The NextMove PCI-2 must be installed in an ambient temperature of 0 °C to 45 °C (32 °F

to 113°F).

 The NextMove PCI-2 must be installed in relative humidity levels of less than 93% for

temperatures up to 31 °C (87 °F) decreasing linearly to 50% relative humidity at 45 °C
(113 °F) (non-condensing).

 The NextMove PCI-2 must be installed where the pollution degree according to IEC664

shall not exceed 2.

 Power is supplied to the card from the host PC power supply bus.
 The atmosphere shall not contain flammable gases or vapors.
 There shall not be abnormal levels of nuclear radiation or X-rays.

MN1933WEN Basic Installation 3-1

3.1.2 Other requirements for installation

The components you will need to complete the basic installation are described below:

 A PC that fulfills the following specification:

Minimum specification

Processor 1GHz

RAM 512 MB

Hard disk space 2 GB

CD-ROM A CD-ROM drive

PCI slot One spare PCI slot

Screen 1024 x 768, 16-bit color

Mouse A mouse or similar pointing device

Operating

system

Windows XP or newer, 32-bit or 64-bit

3-2 Basic Installation MN1933WEN

3.2 Installation

NOTICE

i

NextMove PCI-2 can be installed into an AT style personal computer that has a free 7 inch
PCI card slot. You will need a small cross-head screwdriver to fit the card.

3.2.1 Installing the NextMove PCI-2 card

Before touching the card, 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 card.

1. Exit any applications that are running and close all windows. Shutdown Windows.

2. Turn off the power (if not automatically done by Windows) and unplug all power cords.

3. Remove the cover from the computer system unit.

4. Locate an unused PCI slot.

5. Remove the backplate cover from the slot, and save the screw for later use.

6. Discharge any static electricity from your body and clothing.

7. Remove the card from its protective wrapper. Do not touch the gold contacts at the
bottom of the card.

8. Align the bottom of the card (gold contacts) with the slot and press the card firmly into the
socket. When correctly installed, the card locks into place.

9. Make sure that the top of the card is level (not slanted) and that the slot on top of the
card’s metal bracket lines up with the screw hole in the PC case.

10. Insert the screw and tighten to secure the card.

11. Replace the computer cover and screws.

12. Reconnect any cables and power cords that were disconnected or unplugged.

13. Attach the optional 100-pin cable assembly to the NextMove PCI-2. It is advisable to
provide additional support for the cable to prevent mechanical forces on the connector.

MN1933WEN Basic Installation 3-3

3-4 Basic Installation MN1933WEN

Input / Output

51 1

100 50

The pin assignment for the 100-pin D-type connector is
shown in Table 1.

4 Input / Output

4.1 Introduction

This section describes the digital and analog input and output capabilities of the
NextMove PCI-2.

The following conventions will be used to refer to the inputs and outputs:

I/O. . . . . . . . . . . . . .Input / Output

DIN . . . . . . . . . . . . . Digital Input

DOUT . . . . . . . . . . . Digital Output

AIN . . . . . . . . . . . . .Analog Input

AOUT . . . . . . . . . . .Analog Output

Connections to the NextMove PCI-2 card are made using the 100-way cable assembly
and DIN rail mounted NextMove PCI-2 breakout module (supplied as options, see
Appendix A ). All connector numbers in the following sections refer to the breakout
module. It is advisable to provide additional support for the cable to prevent
mechanical forces on the connector.

4.2 100-pin edge connector

4

MN1933WEN Input / Output 4-1

4.2.1 100-pin edge connector pin assignment

Pin Signal Pin Signal

100 Relay NO 50 Relay COM
99 Relay NC 49 Common1
98 DIN0 48 DIN2
97 DIN1 47 DIN3
96 DIN4 46 DIN6
95 DIN5 45 DIN7
94 DIN8 44 DIN10
93 DIN9 43 DIN11
92 DIN12 42 DIN14
91 DIN13 41 DIN15
90 DIN16 40 DIN18
89 DIN17 39 DIN19
88 Common2 38 DOUT0
87 CGND 37 DOUT1
86 DOUT2 36 DOUT3
85 CGND 35 DOUT4
84 DOUT5 34 DOUT6
83 USR V+ 33 DOUT7
82 DOUT8 32 DOUT9
81 USR V+ 31 DOUT10
80 DOUT11 30 STEP3
79 DIR3 29 DIR1
78 DIR2 28 STEP1
77 DIR0 27 STEP2
76 +5 V out 26 STEP0
75 Master encoder CHZ+ 25 Master encoder CHZ­74 Master encoder CHB+ 24 Master encoder CHA+
73 Master encoder CHB- 23 Master encoder CHA­72 Encoder 1 CHZ+ 22 Encoder 3 CHZ+
71 Encoder 1 CHZ- 21 Encoder 3 CHZ­70 Encoder 1 CHB+ 20 Encoder 3 CHB+
69 Encoder 1 CHB- 19 Encoder 3 CHB-

4-2 Input / Output MN1933WEN

Pin Signal Pin Signal

68 Encoder 1 CHA+ 18 Encoder 3 CHA+
67 Encoder 1 CHA- 17 Encoder 3 CHA­66 Encoder 0 CHZ+ 16 Encoder 2 CHZ+
65 Encoder 0 CHZ- 15 Encoder 2 CHZ­64 Encoder 0 CHB+ 14 Encoder 2 CHB+
63 Encoder 0 CHB- 13 Encoder 2 CHB­62 Encoder 0 CHA+ 12 Encoder 2 CHA+
61 Encoder 0 CHA- 11 Encoder 2 CHA­60 CAN2 receive 10 CAN1 receive
59 CAN2 transmit 9 CAN1 transmit
58 +5 V out 8 GND
57 GND 7 Analog GND
56 Demand3 6 Demand2
55 Demand1 5 Demand0
54 AIN3- 4 AIN2­53 AIN3+ 3 AIN2+
52 AIN1- 2 AIN0­51 AIN1+ 1 AIN0+

Table 1: 100-pin edge connector pin assignment

MN1933WEN Input / Output 4-3

4.3 Analog I/O

1

12

The NextMove PCI-2 provides:

 Two 12-bit resolution analog inputs.
 Four 16-bit resolution analog outputs.

4.3.1 Analog inputs - X6

Location Breakout module, connector X6

Pin Name Description

1 AGND Analog ground
2AIN0+
3AIN0­4AIN1+
5AIN1-

Analog input 0

Analog input 1

6 Shield Shield connection
7 AGND Analog ground
8AIN2+

9AIN2­10 AIN3+
11 AIN3-

Analog input 2

Analog input 3

12 Shield Shield connection

The analog inputs are available on breakout module connector X6. Shielded twisted pairs
should be used and connected as shown in Figure 1. The shield connection should be made
at one end only.

 Single ended or differential inputs.
 Voltage range: software selectable 0-5 V, ± 5 V, 0-10 V, ±10 V
 Resolution: 12-bit with sign (accuracy ±4.9 mV @ ±10 V input).
 Input impedance: >5 kΩ.
 Sampling frequency: 2.5 kHz

The analog inputs pass through a differential buffer and second order low-pass filter with a
cut-off frequency of approximately 1 kHz. Four input voltage ranges can be selected in Mint
using the ADCMODE keyword. Analog inputs can be read using the ADC keyword. See the
Mint help file for full details of ADC, ADCMODE and other related ADC... keywords.

4-4 Input / Output MN1933WEN

Figure 1: Analog input wiring, AIN0 shown

NextMove PCI-2

-

+

-

+

120k

120k

+12V

-12V

10k

10k

TL084

3

1

2

‘X6’

AIN0+

AIN0-

AGND

Mint
ADC(0)

100 way

cable

Breakout

module

3

2

X6

0V

+24 V DC

1

AIN0

(ADC(0)

1.5 kΩ, 0.25 W

1 kΩ, 0.25 W

potentiometer

For differential inputs connect input lines to AIN+ and AIN-. Leave AGND unconnected.
For single ended inputs, connect signal to AIN+. Connect signal ground to AIN- and AGND.

Figure 2: Typical input circuit to provide 0-10 V (approx.) input from a 24 V source

MN1933WEN Input / Output 4-5

4.3.2 Analog outputs (Demands) - X7

1

12

Location Breakout module, connector X7

Pin Name Description

1 Demand0 Demand output signal 0

2 AGND Analog ground

3 Shield Shield connection

4 Demand1 Demand output signal 1

5 AGND Analog ground

6 Shield Shield connection

7 Demand2 Demand output signal 2

8 AGND Analog ground

9 Shield Shield connection
10 Demand3 Demand output signal 3
11 AGND Analog ground
12 Shield Shield connection

The analog outputs are available on breakout module connector X7.

 Four independent demand outputs.
 Output range: ±10 V DC (±0.1%).
 Resolution: 12-bit, 14-bit or 16-bit (software selectable).
 Output current: 1 mA maximum.
 Update frequency: 200 μs - 2000 ms (determined by LOOPTIME).

Mint uses the analog outputs Demand0 to Demand3 to control drive amplifiers. The Mint
WorkBench Axis Config Wizard (or Mint CONFIG and AXISCHANNEL keywords) can be used
to assign outputs to axes; see section 5.4.1). The output resolution can be selected as either
12-bit, 14-bit or 16-bit using the Mint DACMODE keyword. The analog outputs may be used to
drive loads of 10 kΩ or greater. The outputs are referenced to PC system ground.

Shielded twisted pair cable should be used. The shield connection should be made at one
end only.

4-6 Input / Output MN1933WEN

Figure 3: Analog output circuit - Demand0 shown

NextMove PCI-2

-

+

TL084

47R

+12 V

-12 V

Demand0

AGND

2

1

‘X7’

Demand

±100%

Breakout
module

100
way

cable

Demand0

AGND

2

1

‘X7’

13

12

AIN0+

AIN0-

‘X3’

3

Connect overall shield

at one end only

Drive
amplifier
±10 VDC
demand
Input

MicroFlex / drive amplifier

100

way

cable

Breakout module

Shield

Demand0

AGND

2

1

‘X7’

1

2

AIN0+

AIN0-

‘X1’

3

Connect overall shield

at one end only

Drive
amplifier
±10 VDC
demand
Input

FlexDriveII / drive amplifier

100
way

cable

Breakout module

Shield

Figure 4: Analog output - typical connection to an ABB MicroFlex

Figure 5: Analog output - typical connection to a Baldor FlexDrive

MN1933WEN Input / Output 4-7

MintDrive

II

II

, Flex+DriveII or

4.4 Digital I/O

The NextMove PCI-2 provides:

 20 general purpose digital inputs.
 12 general purpose digital outputs.

4.4.1 Digital inputs - overview

There are a total of 20 general purpose digital inputs. Inputs 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.
 Home input on any axis.
 Drive error input on any axis.

Inputs can be shared between axes, and are programmable in Mint (using the keywords

INPUTACTIVELEVEL, INPUTDEBOUNCE, INPUTMODE, INPUTNEGTRIGGER and
INPUTPOSTRIGGER) to determine their active level and if they should be edge triggered.

Four of the inputs, DIN0-DIN3, are fast position latch inputs.
The inputs use two separate common connections. This can be useful for separating inputs

which are active low from others which are active high. If all inputs are similar then the
commons can be connected together to form one common connection. The arrangement of
the inputs, their common power connection and the connectors on which they are available
are described in Table 2 :

4-8 Input / Output MN1933WEN

Input Common Breakout module connector

DIN0
DIN1
DIN2
DIN3
DIN4
DIN5
DIN6
DIN7
DIN8

DIN9
DIN10
DIN11
DIN12
DIN13
DIN14
DIN15
DIN16
DIN17
DIN18
DIN19

Common1

Common2

Table 2: Digital input arrangement

X3 - Fast position inputs

X2 - General purpose inputs

X1 - General purpose inputs

MN1933WEN Input / Output 4-9

4.4.2 Digital inputs - X1

1

12

Location Breakout module, connector X1

Pin Name Mint keyword / description Common

1 Shield Shield connection
2DIN12 INX(12)
3DIN13 INX(13)
4DIN14 INX(14)
5DIN15 INX(15)
6DIN16 INX(16)
7DIN17 INX(17)
8DIN18 INX(18)

9DIN19 INX(19)
10 Shield Shield connection
11 - (NC)
12 Common2 Common connection

Digital inputs DIN12 to DIN19 have a common specification:

 General purpose opto-isolated digital inputs.
 Sampling frequency 1 kHz.

The inputs are conditioned using low pass RC filters and 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. Voltages below 2V are considered as 0 V.
The use of shielded cable for inputs is recommended.

Common2

Active high: The digital inputs will be active when a voltage of +24 V DC (±20%) is applied
to them and will sink a maximum of 8 mA each.

Active low: The digital inputs will be active when grounded (< 2 V) and will source a
maximum of 8 mA each.

Note: Sustained input voltages above 30 V will damage the inputs.

4-10 Input / Output MN1933WEN

4.4.3 Digital inputs - X2

3k3

TLP280

DGND

Vcc

Common2

DIN12

2

12

‘X1’

Mint

INX(12)

Breakout
module

NextMove PCI-2

Active high:

DINx = 12-24 V DC (±20%)
Common2 = 0V

Active low:

DINx = 0 V
Common2 = 12-24 V DC (±20%)

100
way

cable

1

12

Digital inputs DIN4 to DIN11 are electrically identical to inputs DIN12 to DIN19, described in
section 4.4.2.

Figure 6: Digital input circuit - DIN12 shown

Location Breakout module, connector X2

Pin Name Mint keyword / description Common

1 Shield Shield connection
2DIN4 INX(4)
3DIN5 INX(5)
4DIN6 INX(6)
5DIN7 INX(7)
6DIN8 INX(8)
7DIN9 INX(9)
8DIN10 INX(10)

9DIN11 INX(11)
10 Shield Shield connection
11 Common1 Common connection
12 Common2 Common connection

Common1

Common2

MN1933WEN Input / Output 4-11

4.4.4 Digital inputs - X3

1

12

Location Breakout module, connector X3

Pin Name Mint keyword / description

1DIN0 INX(0)
2 Common1 Common connection
3 Shield Shield connection
4DIN1 INX(1)
5 Common1 Common connection
6 Shield Shield connection
7DIN2 INX(2)
8 Common1 Common connection
9 Shield Shield connection

10 DIN3 INX(3)
11 Common1 Common connection
12 Shield Shield connection

Digital inputs DIN0 to DIN3 have a common specification:

 Opto-isolated high-speed digital inputs.
 Sampling frequency 1 kHz.

Note: Digital inputs DIN0 to DIN3 are particularly sensitive to noise, so inputs must use

shielded twisted pair cable.

Digital inputs DIN0 to DIN3 can be used as high speed position latches. A fast position input
can cause the position of any combination of axes to be captured (by the hardware) w ithin
1 μs. Special Mint keywords (beginning with the letters FAST...) allow specific functions to be
performed as a result of fast position inputs becoming active.

Active high: The high speed digital inputs will be active when a voltage of +24 V DC (±20%)
is applied to them and will sink a maximum of 7 mA each.

Active low: The digital inputs will be active when grounded (< 2 V) and will source a
maximum of 7 mA each.

Note: Sustained input voltages above 30 V will damage the inputs.

4-12 Input / Output MN1933WEN

Figure 7: Digital input circuit - fast interrupts - DIN0 shown

3k3

TLP115A

DGND

Vcc

DIN0 1

2

‘X3’

Common1

Mint

INX(0)

Breakout
module

NextMove PCI-2

Active high:

DINx = 12-24 V DC (±20%)
Common1 = 0V

Active low:

DINx = 0 V
Common1 = 12-24 V DC (±20%)

100
way

cable

MN1933WEN Input / Output 4-13

4.4.5 Digital outputs - overview

1

12

There are a total of 12 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
OUTPUTACTIVELEVEL, to determine their active level.

Two types of output are available, depending on the NextMove PCI-2 model:

 Current sourcing PNP (PCI201-50x).
 Current sinking NPN (PCI201-51x).

On all models, the entire group of outputs is protected by a 1.5 A self resetting fuse. The fuse
may take a few seconds to reset after the load has been removed.

Unused stepper channels can have their pulse and direction output pins used as outputs.
See the Mint keywords CONFIG and STEPPERIO.

4.4.6 Digital outputs - X4

Location Breakout module, connector X4

Pin Name Mint keyword / description

1 Shield Shield connection
2DOUT6 OUTX(6)
3DOUT7 OUTX(7)
4DOUT8 OUTX(8)
5DOUT9 OUTX(9)
6DOUT10 OUTX(10)
7DOUT11 OUTX(11)
8- (NC)
9- (NC)

10 Shield Shield connection
11 USR V+ Customer power supply

Digital outputs DOUT6 to DOUT11 have a common specification:

12 CGND Customer power supply ground

 General purpose opto-isolated digital outputs.
 Output current: 50 mA maximum each output.
 Update frequency: Immediate.

4-14 Input / Output MN1933WEN

Each opto-isolated output is designed to source current from the customer supplied 12-24 V

TLP281

NextMove PCI-2

UDN2982

1.5 A

USR V+

DOUT6

CGND

2

11

12

‘X4’

User
supply
24V

User
supply
GND

Output
load

Mint

OUTX(6)

Breakout

module

100
way

cable

Voltage

regulator

Fuse

DOUT6

CGND

2

11

12

‘X4’

TLP281

NextMove PCI-2

1.5 A

ULN2003

USR V+

User
supply
24V

User
supply
GND

Output
load

Mint

OUTX(6)

Breakout

module

100

way

cable

Voltage

regulator

Fuse

supply (USR V+) as shown in Figure 8. The use of shielded cable is recommended. The
CGND must be connected to the host PC’s GND. See section 4.5.2 for details about
connecting the USR V+ supply.

Figure 8: Digital output circuit with standard ‘PNP’ current sourcing outputs - DOUT6 shown

Figure 9: Digital output circuit with optional ‘NPN’ current sinking outputs - DOUT6 shown

MN1933WEN Input / Output 4-15

4.4.7 Digital outputs - X5

1

12

Location Breakout module, connector X5

Pin Name Mint keyword / description

1 Shield Shield connection
2DOUT0 OUTX(0)
3DOUT1 OUTX(1)
4DOUT2 OUTX(2)
5DOUT3 OUTX(3)
6DOUT4 OUTX(4)
7DOUT5 OUTX(5)
8- (NC)
9- (NC)

10 Shield Shield connection
11 USR V+ Customer power supply
12 CGND Customer power supply ground

Digital outputs DOUT0 to DOUT5 are electrically identical to outputs DOUT6 to DOUT11,
described in section 4.4.6.

4-16 Input / Output MN1933WEN

4.5 Other I/O

15

69

CHA-

CHA+

Vcc

MAX3096

150R 3k3

3k3

5

9

‘X12’

Encoder
input
circuit

Breakout

module

100
way

cable

NextMove PCI-2

4.5.1 Encoder inputs - X12, X13, X14, X15, X16

Location Breakout module, connectors X12, X13, X14, X15, X16

Pin Name Description

1 Encoder V+ Power supply to encoder

2 CHZ+ Index channel signal

3 CHB- Channel B signal complement

4 Shield Shield connection

5 CHA+ Channel A signal

6 CHZ- Index channel signal complement

7 GND Power supply ground

8 CHB+ Channel B signal

9 CHA- Channel A signal complement

Up to five incremental encoders may be connected to NextMove PCI-2. Each encoder input
comprises complementary A, B and Z channel inputs on a 9-pin female D-type connector.
Each channel uses a MAX3096 differential line receiver with pull up resistors and
terminators. Encoders must provide either 5 V differential signals or RS422/RS485
differential signals. The maximum input frequency is 10 million quadrature counts per
second. This is equivalent to a maximum frequency for the A and B signals of 2.5 MHz. The
shell of the connector is connected to pin 4. The use of individually shielded twisted pair
cable is recommended. See section 4.5.2 for details of the encoder power supply.

Figure 10: Encoder channel input circuit - Encoder C, Channel A shown

MN1933WEN Input / Output 4-17

4.5.1.1 Encoder input frequency

CHA-

CHA+

5

9

4

7 DGND

CHA-

CHA+ 1

6

‘X7’

CHB-

CHB+

8

3

CHB-

CHB+ 2

7

CHZ-

CHZ+

2

6

CHZ-

CHZ+ 3

8

‘X12’

NextMove PCI-2

Twisted pair

Twisted pair

Twisted pair

MicroFlex
FlexDrive

II

Flex+Drive

II

MintDrive

II

encoder output

Connect overall shield to

connector backshells /

shield connections

Shield

Connect internal
shield to DGND.
Do not connect
other end.

Breakout module

100
way

cable

The maximum encoder input frequency is approximately 10 million quadrature counts per
second. This is equivalent to a frequency for the A and B signals of 2.5 MHz. However, the
maximum achievable frequency is affected by the length of the encoder cables, as shown in
Table 3:

Frequency

meters feet

Maximum cable length

1.3 MHz 26.56
500 kHz 10 32.8
250 kHz 20 65.6
100 kHz 50 164.0

50 kHz 100 328.1
20 kHz 300 984.2
10 kHz 700 2296.6

7 kHz 1000 3280.8

Table 3: Effect of cable length on maximum encoder frequency

The maximum recommended cable length is 30.5 m (100 ft).

4-18 Input / Output MN1933WEN

Figure 11: Encoder input C - typical connection from a drive amplifier

(e.g. ABB MicroFlex, FlexDrive

II

, Flex+DriveII or MintDriveII)

4.5.2 Power - X9

1

10

!

CAUTION

Location Breakout module, connector X9

Pin Name Description

1Vcc
2Vcc
3 Encoder V+
4 Encoder V+
5GND
6GND
7 USR V+
8 USR V+
9CGND

10 CGND

The power connector X9 provides a single connection point for external power supplies.
Access is also provided to the host PC’s 5 V supply. Each connection is assigned two pins on
X9 to provide increased wiring capacity. Use wire links to connect power as required.

The Encoder V+ and GND connections on X9 are connected internally to the Encoder V+
and GND pins on connectors X12 to X16. The host PC’s +5 V supply can be used to power
the encoders by connecting pin 1 or 2 to pin 3 or 4. A link is provided for this purpose. The
total current requirement of the encoders must not exceed 500 mA. Check that the PC’s
power supply is capable of supplying this extra current.

+5 V supply source from the host PC

Power to the encoder connectors

Digital ground from the host PC

Customer power supply

Customer power supply ground

Alternatively, a further external supply (or the USR V+ supply, see below) can be connected
to pins 3 or 4. Remove any existing links to pin 1 or 2 before connecting an external supply
This supply must not exceed the PCB track rating of the breakout module which is 3 A at
30 V. Check that the encoders have a suitable voltage rating before connecting them to USR
V+ or other external supply.

Encoder power must be connected before operating the system. If the encoders
are not powered when the system is enabled, there will be no position feedback
which could cause violent motion of the motor shaft.

sections 4.4.6 and 4.4.7). The USR V+ and CGND connections on connector X9 are
connected internally to the USR V+ and CGND pins on connectors X4, X5 and X8.

The customer supplied USR V+ is used as the supply for the digital outputs (see

Note: The CGND (pin 9 or 10) must be connected to the host PC’s GND (pin 5 or 6).

MN1933WEN Input / Output 4-19

.

4.5.3 Relay and CAN power - X8

1

10

Mint

NextMove PCI-2

5

7

6

‘X4’

Relay

Breakout
module

Relay NC

Relay NO

Relay COM

Location Breakout module, connector X8

Pin Name Description

1 CAN1 V+ Power input for CAN1 (CANopen)

network (12-24 V DC)
2 CAN1 GND Ground for CAN1 (CANopen) network
3 CAN2 V+ Power input for CAN2 (Baldor CAN)

4 CAN2 GND Ground for CAN2 (Baldor CAN) net-

5 Relay NC Normally closed relay connection
6 Relay NO Normally open relay connection
7 Relay COM Common relay connection
8 USR V+ Customer power supply
9 CGND Customer power supply ground

10 Shield Shield connection

Connector X8 provides a connection point for CAN power supply and relay contacts. The
CANopen (CAN1) channel is isolated and requires a 12-24 V DC, 60 mA supply (pins 1
and 2). These pins are connected internally to pins 9 and 3 of connector X17 (see section

4.6.1).
The Baldor CAN channel (CAN2) is normally non-isolated and therefore does not need a

power supply. However, it may be necessary for some Baldor CAN nodes to derive a 12-24 V
supply from the CAN cable. For this reason, X8 provides a convenient connection point for
the supply (pins 3 and 4). These pins are connected internally to pins 5 and 4 of connector
X18 (see section 4.6.3).

network (12-24 V DC)

work

The relay pins are isolated from any internal circuits on the NextMove PCI-2. The relay is
controlled by a latch, which is cleared when the NextMove PCI-2 resets. Reset can occur
due to power-down, a watchdog error or when deliberately caused by the host PC. In normal
operation the Relay NO contact is connected to Relay COM. The relay is energized in normal
use and is the factory preset global error output channel. In the event of an error or power
loss to the card, the relay is de-energized and the Relay NC contact is connected to Relay
common.

Figure 12: Relay connections

4-20 Input / Output MN1933WEN

4.5.4 Stepper control outputs - X10, X11

1 5

6 9

Location Breakout module, connector X8

Pin X10 Name X11 Name Description

1 STEP0+ STEP2+ Step signal
2 DIR0+ DIR2+ Direction signal
3 GND GND Signal ground
4 DIR1+ DIR3+ Direction signal
5 STEP1+ STEP3+ Step signal
6 STEP0- STEP2- Step signal complement
7 DIR0- DIR2- Direction signal complement
8 DIR1- DIR3- Direction signal complement
9 STEP1- STEP3- Step signal complement

Four sets of stepper control outputs are provided on two 9-pin female D-type connectors.
The stepper control outputs can operate at up to 3 MHz. The 9-pin D-type connectors
provide 360° shielding when using high step rates.

The signals from the NextMove PCI-2 are at TTL levels but are converted to 5 V differential
drive signals by a circuit board mounted on the breakout module. However, the outputs can
be connected directly to drives with single ended logic inputs by connecting only the positive
outputs (STEPx+, DIRx+) and GND to the drive. The complements (STEPx-, DIRx-) must be
left unconnected. The outputs may be programmed in Mint for the following functions:

 Step and direction for controlling stepper motor drives. The Mint WorkBench Axis Config

Wizard (or Mint CONFIG and AXISCHANNEL keywords) are used to assign stepper
channels to axes.

 Digital outputs for general purpose use. See the Mint keyword STEPPERIO for details.

The FREQ keyword can be used to directly control the output frequency - see the Mint help
file.

4.5.5 Emulator connection

An 11-pin footprint on the rear of the card marked ‘ICE’ provides access to the processor for
boundary scan emulation. To connect the Texas Instruments emulator pod, a two row 12-pin

0.1 in pitch surface mount pin header with pin 8 missing must be fitted. The connections are
those specified by Texas Instruments. See the ‘MintMT Embedded Programming Guide’ for
details on emulator based system debugging.

MN1933WEN Input / Output 4-21

4.6 CAN

The CAN bus is a serial based network originally developed for automotive applications, but
now used for a wide range of industrial applications. It offers low-cost serial communications
with very high reliability in an industrial environment; the probability of an undetected error is

-11

4.7x10
update of I/O devices (peripheral devices) connected to the bus.

The CAN protocol only defines the physical attributes of the network, i.e. the electrical,
mechanical, functional and procedural parameters of the physical connection between
devices. The higher level network functionality is defined by a number of standards and
proprietary protocols; CANopen is one of the most used standards for machine control within
industries such as printing and packaging machines.

In addition to supporting CANopen, Baldor has developed a proprietary protocol called
Baldor CAN. Both protocols are supported by NextMove PCI-2, but both cannot be
supported at the same time. This is because NextMove PCI-2 only has a single hardware
CAN channel. Separate firmware builds are available to support each of the protocols.

To determine which firmware is currently installed, start Mint WorkBench and connect to the
NextMove PCI-2 (see section 5 ). At the bottom of the Mint WorkBench window, the status
bar will show the name of the controller, followed by ‘CANopen’ or ‘Baldor CAN’. If the correct
option is not shown, it will be necessary to download alternative firmware by using the Install
System File and/or Download Firmware menu items in Mint WorkBench. The firmware file
can be found on the Mint Motion Toolkit CD (OPT-SW-001), or downloaded from
www.abbmotion.com. See the Mint help file for details about downloading firmware.

. It is optimized for the transmission of small data packets and therefore offers fast

4-22 Input / Output MN1933WEN

4.6.1 CANopen connector - X17

1 5

6 9

Location Breakout module, connector X17

Pin Name Description

1 Shield Cable shield
2 CAN1_L CAN channel 1 negative
3 CAN1 GND CAN1 Ground / earth reference
4- (NC)
5- (NC)
6- (NC)
7 CAN1_H CAN channel 1 positive
8- (NC)
9 CAN1 V+ CAN1 power (12-24 V DC)

CANopen connections are made using the breakout module connector X17. This is a 9-pin
male D-type connector with CiA standard DS102 pin configuration. The maximum (default)
transmission rate on NextMove PCI-2 is 500 Kbit/s.

4.6.2 CANopen

The NextMove PCI-2 must have the CANopen firmware loaded to use this protocol.
Baldor has implemented a CANopen protocol in Mint (based on the ‘Communication Profile’

CiA DS-301) which supports both direct access to device parameters and time-critical
process data communication. The NextMove PCI-2 design does not comply with a specific
CANopen device profile (DS4xx), although it is able to support and communicate with the
following devices:

 Any third party digital and analog I/O device that is compliant with the ‘Device Profile for

Generic I/O Modules’ (CiA DS-401).

 Baldor HMI (Human Machine Interface) operator panels, which are based on the ‘Device

Profile for Human Machine Interfaces’ (DS403).

 Other ABB controllers with CANopen support for peer-to-peer access using extensions

to the CiA specifications (DS301 and DS302).

The functionality and characteristics of all Baldor CANopen devices are defined in individual
standardized (ASCII format) Electronic Data Sheets (EDS) which can be found on the Mint
Motion Toolkit CD (OPT-SW-001) or downloaded from www.abbmotion.com.

Figure 13 shows a typical CANopen network with two NextMove PCI-2 units and a Baldor
HMI operator panel:

MN1933WEN Input / Output 4-23

7

2

3

9

7

2

T

R

T

R

7

2

3

9

7

2

3

9

24V

0V

6

5

1

2

24V

0V

CAN1_H

CAN1_L

Breakout module

X17

Breakout module

X17

End

node

Twisted pairs

Twisted pairs

Baldor HMI

Operator Panel

Power

supply

terminal

block

CANopen

D-type

Figure 13: Typical CANopen network connections

Note: The NextMove PCI-2 CAN channel is opto-isolated, so a voltage in the range

12-24 V DC must be applied to pin 5 of the CAN connector.

The configuration and management of a CANopen network must be carried out by a single
node acting as the network master. This role can be performed by the NextMove PCI-2 when
it is configured to be the Network Manager node (node ID 1), or by a third party CANopen
master device.

Up to 126 CANopen nodes (node IDs 2 to 127) can be added to the network by a
NextMove PCI-2 Manager node using the Mint NODESCAN keyword. If successful, the nodes
can then be connected to using the Mint CONNECT keyword. Any network and node related
events can then be monitored using the Mint BUS1 event.

Note: All CAN related Mint keywords are referenced to either CANopen or Baldor CAN

using the ‘bus’ dot parameter. Although the NextMove PCI-2 has a single
physical CAN bus channel that may be used to carry either protocol, Mint
distinguishes between the protocols with the ‘bus’ dot parameter. For CANopen
the ‘bus’ dot parameter must be set to 1.

Please refer to the Mint help file for further details on CANopen, Mint keywords and dot
parameters.

4-24 Input / Output MN1933WEN

4.6.3 Baldor CAN connector - X18

1 8

Location Breakout module, connector X18

Pin Name Description

1- (NC)
2- (NC)
3- (NC)
4 CAN2 0V Ground/earth reference for CAN signal
5 CAN2 V+ CAN remote node power V+

(12-24 V DC)
6- (NC)
7 CAN2_H CAN channel 2 positive
8 CAN2_L CAN channel 2 negative

Baldor CAN connections are made using the RJ45 breakout module connector X18. If
NextMove PCI-2 is at the end of the Baldor CAN network a termination resistor must be
connected by fitting the termination jumper J7, labelled ‘BC Term’, on the breakout module.

4.6.4 Baldor CAN

The NextMove PCI-2 must have the Baldor CAN firmware loaded to use this protocol.
Baldor CAN is a proprietary CAN protocol based on CAL. It supports only the following range

of Baldor CAN specific I/O nodes and operator panels:

 InputNode 8 (part ION001-503) - an 8 x digital input CAN node.
 OutputNode 8 (part ION003-503) - an 8 x digital output CAN node.
 RelayNode 8 (part ION002-503) - an 8 x relay CAN node.
 IoNode 24/24 (part ION004-503) - a 24 x digital input and 24 x digital output CAN node.
 KeypadNode (part KPD002-501) - an operator panel CAN node with 4 x 20 LCD display

and 27 key membrane labeled for control of 3 axes (X, Y, Z).

 KeypadNode 4 (part KPD002-505 ) - an operator panel CAN node with 4 x 20 LCD

display and 41 key membrane labeled for control of 4 axes (1, 2, 3, 4).

A typical Baldor CAN network with a NextMove PCI-2 and a Baldor CAN operator panel is
shown in Figure 18.

MN1933WEN Input / Output 4-25

Figure 14: Baldor CAN operator panel connections

J1 / J2

24V

0V

T

R

24V

0V

J3

CAN2_L

CAN2_H

1

2

4

5

4

3

2

1

7

8

4

5

JP3 T

R

‘X18’

Breakout module

Twisted pair

Baldor CAN Operator Panel

Operator

Panel

supply

The NextMove PCI-2 CAN channel is opto-isolated, so a voltage in the range 12-24 V DC
must be applied to pin 5 of the CAN connector. From this supply , an internal volt age regulator
provides the 5 V DC required for the isolated CAN circuit. The required 12-24 V DC can be
sourced from the Baldor CAN I/O node or operator panel’s supply, which is internally
connected to the CAN connector as shown in Figure 14.

On Baldor CAN I/O nodes and operator panels, jumpers JP1 and JP2 must be set to position
‘1’ (the lower position) for the network to operate correctly. This configures the node’s CAN
channel to operate on pins 1 and 2 of the RJ45 connectors. On the Baldor CAN node, jumper
JP3 can be used to connect an internal 120 Ω terminating resistor, provided the node is at
the end of the network. Jumpers JP4 and JP5 can be used to configure the node ID and
baud rate.

Up to 63 Baldor I/O nodes (including no more than 4 operator panels) can be added to the
network by the NextMove PCI-2 using the Mint NODETYPE keyword. Any network and node
related events can then be monitored using the Mint BUS2 event.

Note: All CAN related Mint keywords are referenced to either CANopen or Baldor CAN

using the ‘bus’ dot parameter. Although the NextMove PCI-2 has a single
physical CAN bus channel that may be used to carry either protocol, Mint
distinguishes between the protocols with the ‘bus’ dot parameter. For Baldor
CAN the ‘bus’ dot parameter must be set to 2.

Please refer to the Mint help file for further details on Baldor CAN, Mint keywords and dot
parameters.

4-26 Input / Output MN1933WEN

4.6.5 CAN wiring

CAN
Baud Rate

Maximum
BUS Length

1 Mbit/s
500 Kbit/s
250 Kbit/s
125 Kbit/s
100 Kbit/s

(1)

50 Kbit/s
20 Kbit/s
10 Kbit/s

25 m
100 m
250 m
500 m
600 m
1000 m
2500 m

(2)

5000 m

(2)

A very low error bit rate over CAN can only be achieved with a suitable wiring scheme, so the
following points should be observed:

 The two-wire data bus line may be routed parallel, twisted and/or shielded, depending on

EMC requirements. ABB recommends a twisted pair cable with the shield/screen
connected to the connector backshell, in order to reduce RF emissions and provide
immunity to conducted interference.

 The bus must be terminated at both ends only (not at intermediate points) with resistors

of a nominal value of 120 Ω. This is to reduce reflections of the electrical signals on the
bus, which helps a node to interpret the bus voltage levels correctly. If the NextMove
PCI-2 is at the end of the network then ensure that the appropriate jumper on the
breakout board is fitted. These will connect an internal terminating resistor. For the
CANopen bus, jumper J8 labelled ‘CO Term’ must be fitted. For the Baldor CAN bus,
jumper J7 labelled ‘BC Term’ must be fitted.



All cables and connectors should have a nominal impedance of 120 Ω. Cables should
have a length related resistance of 70 mΩ/m an d a nominal line de lay of 5 ns/m. A range of

suitable CAN cables are available from ABB, with part numbers beginning CBL004-5... .

 The maximum bus length depends on the bit-timing

configuration (baud rate). The table opposite shows the
approximate maximum bus length (worst-case),
assuming 5ns/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 1.5 ms at
50 - 10 Kbit/s.

(1)

CAN baud rate not supported on Baldor CAN.

(2)

For bus lengths greater than about 1000m, bridge or
repeater devices may be needed.

 The compromise between bus length and CAN baud rate must be determined for each

application. The CAN baud rate can be set using the BUSBAUD keyword. It is essential
that all nodes on the network are configured to run at the same baud rate.

 The wiring topology of a CAN network should be as close as possible to a single line/bus

structure. However, stub lines are allowed provided they are kept to a minimum (< 0.3 m
at 1 Mbit/s).

 The 0 V connection of all of the nodes on the network must be tied together through the

CAN cabling. This ensures that the CAN signal levels transmitted by NextMove PCI-2 or
CAN peripheral devices are within the common mode range of the receiver circuitry of
other nodes on the network.

4.6.5.1 Opto-isolation

On the NextMove PCI-2 breakout board, the CAN channel is opto-isolated. A voltage in the
range 12-24 V must be applied to pin 5 of the CAN connector. From this supply, an internal
voltage regulator provides the 5 V DC at 100 mA required for the isolated CAN circuit. CAN
cables supplied by ABB are ‘category 5’ and have a maximum current rating of 1 A, so the
maximum number of NextMove PCI-2 units that may be used on one network is limited to
ten. Practical operation of the CAN channel is limited to 500 Kbit/s owing to the propagation
delay of the opto-isolators.

MN1933WEN Input / Output 4-27

4.7 Reset states

During power up, NextMove PCI-2 is held in a safe non-operational state known as hardware
reset. It will also go into hardware reset if the 5 V DC supply drops below approximately

4.75 V DC, to prevent uncontrolled operation due to the electronics losing power. When
NextMove PCI-2 is in hardware reset for any reason, most of the controlled interfaces fall into
known states. It is also possible for NextMove PCI-2 to be in a state known as software reset.
This is a safe operational state where only the bootloader firmware present on NextMove
PCI-2 is running. 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 effect on the CAN
buses. If a reset occurs during the transmission of a message CAN errors are likely to occur.
Dual Port RAM (DPR) will contain no information at power up but will be accessible by the
PC. A reset during operation will cause the DPR to stay in its current state.

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 0 V by hardware during power-up and will return to 0 V on a
reset.

Stepper / Encoder

During reset, the stepper outputs will not generate stepper pulses, and the encoder inputs
will not register any encoder input. If the unit goes into reset all position data will be lost.

4.7.1 System watchdog

The system watchdog provides hardware protection in the event of a firmware or embedded
‘C’ program malfunction. If the system watchdog is not updated, the controller is put into the
software reset state. It may be disabled during embedded code development and debugging.

4-28 Input / Output MN1933WEN

4.8 Connection summary - minimum system wiring

NextMove PCI-2

X7

X8

X12

X1

Drive amplifierBreakout module

Host PC

Error out
Demand +

Demand ­Enable*

Gnd*

* Note:

This diagram shows the relay contacts
being used as a switch across the drive
amplifier’s enable input.

If the drive amplifier requires a 24 V DC
enable signal then:

- Connect Gnd to CGND (X8 pin 9).

- Connect Enable to one side of the relay
(X8 pin 5 for normally closed operation).

- Connect the other side of the relay
(X8 pin 7) to USR V+ (X pin 8).

100-way
connecting
cable

Encoder output
from drive or
motor

As a guide, Figure 15 shows an example of the typical minimum wiring required to allow the
NextMove PCI-2 and a single axis drive amplifier to work together. Details of the connector
pins are shown in Table 4.

MN1933WEN Input / Output 4-29

Figure 15: Example minimum system wiring

The pin connections in the example are described below:

Breakout

module

connector

Pin Name of

signal

X7 1 Demand0 Demand output signal Demand+ input

2 AGND Demand- input

X12 - Encoder Position feedback Encoder out

X1 2 DIN12

12 Common2

X8 7 Relay COM Common connection of

6 Relay NO Normally open connection

Table 4: Connector details for minimum system wiring shown in Figure 15

Function Connection on amplifier

(Note: connections may be
labeled differently)

(or direct from motor)

Error input Error output

Enable input

relay

Amplifier/Digital Ground

of relay

4-30 Input / Output MN1933WEN

Operation

5 Operation

5.1 Introduction

The Mint WorkBench software includes a number of applications and utilities to allow you to
configure, tune and program the NextMove PCI-2. Mint WorkBench and other utilities can be
found on the Mint Motion Toolkit CD (OPT-SW-001), or downloaded from www.abbmotion.com.

5.1.1 Installing the driver software

When the host computer is started, Windows will automatically detect the NextMove PCI-2
and request the driver.

1. Cancel requests to search for the driver. Install Mint WorkBench as described in section

5.1.2 below, and restart the PC.

2. After Mint WorkBench has been installed, a new Motion Control category will be listed in
Windows Device Manager.

5

The NextMove PCI-2 is now ready to be configured using Mint WorkBench.

5.1.2 Installing Mint WorkBench

The Windows user account requires administrative user rights to install Mint WorkBench.
The installation includes the latest version of the USB device driver.

5.1.2.1 To install Mint WorkBench from the CD (OPT-SW-001)

1. Insert the CD into the drive.

2. After a few seconds the setup wizard should start automatically. If the setup wizard does
not appear, select Run... from the Windows Start menu and type

d:\start

where d represents the drive letter of the CD device.

Follow the on-screen instructions to install Mint WorkBench.

5.1.2.2 To install Mint WorkBench from the website

To install Mint WorkBench from www.abbmotion.com, download the application and run it.

MN1933WEN Operation 5-1

5.2 Mint Machine Center

Toolbars

Controller pane

Menu system

Information pane

Mint Machine Center (MMC) is installed as part of the Mint WorkBench software package. It
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 PCI- 2 connected to your PC, then MMC is

probably not required. Use Mint WorkBench (see section 5.3) to configure the
NextMove PCI-2.

Figure 16: The Mint Machine Center software

The Mint Machine Center (MMC) provides an overview of the controller netw ork currently
accessible by the PC. The MMC contains a controller pane on the left, and an information
pane on the right. In the controller pane select the Host item, then in the information pane
click Scan. This causes MMC to scan for all connected controllers. Clicking once on a
controller’s name causes various options to be displayed in the information pane. Double­clicking on a controller’s name launches an instance of Mint WorkBench that is automatically
connected to the controller.

Application View allows the layout and organization of controllers in your machine to be
modelled and described on screen. Controllers can be dragged onto the Application View
icon, and renamed to give a more meaningful description, for example “Conveyor 1,
Packaging Controller”. Drives that are controlled by another product, such as NextMove PCI­2, can be dragged onto the NextMove PCI-2 icon itself, creating a visible representation of
the machine. A text description for the system and associated files can be added, and the
resulting layout saved as an ‘MMC Workspace‘. When you next need to administer the
system, simply loading the workspace automatically connects to all the required controllers.
See the Mint help file for full details of MMC.

5-2 Operation MN1933WEN

5.2.1 Starting MMC

1. On the Windows Start menu, select Programs, Mint WorkBench, 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 PCI-2' in the controller pane to select it.

MN1933WEN Operation 5-3

4. The NextMove PCI-2 will not yet be running any
firmware, so this must now be installed.

Click the Firmware tab at the bottom of the
information pane.

5. In the table, click the most recent build of firmware.
If no firmware is listed, click Install System File...
and locate a suitable .msx file. These are available
on www.abbmotion.com.

6. Click Download to Controller.

When the firmware has been downloaded, the
green icon next to ‘NextMovePCI-2 Card 0’ in the
controller pane will turn green.

7. Click the Main tab at the bottom of the information
pane, then click Launch WorkBench.

This will open an instance of Mint WorkBench. The
NextMove PCI-2 will be already connected to the
instance of Mint WorkBench, ready to configure.

5-4 Operation MN1933WEN

5.3 Mint WorkBench

Toolbars

Menu system

Toolbox

Control and
test area

Mint WorkBench is a fully featured application for commissioning the NextMove PCI-2. T he
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.

Figure 17: The Mint WorkBench software

MN1933WEN Operation 5-5

5.3.1 Help file

Mint WorkBench includes a comprehensive help file that contains information about every
Mint keyword, how to use 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 . The Index tab provides an alphabetic list of all topics in the file, and

allows you to search for them by name. The Search tab allows you to search for words or
phrases appearing anywhere in the help file. Many words and phrases are underlined and
highlighted with a color (normally blue) to show that they are links. Just click on the link to go
to an associated keyword. Most keyword topics begin with a list of relevant See Also links.

Figure 18: The Mint WorkBench help file

For help on using Mint WorkBench, click the Contents tab, then click the small plus sign
beside the Mint WorkBench & Mint Machine Center book icon. Double click a topic

name to display it.

5-6 Operation MN1933WEN

5.3.2 Starting Mint WorkBench

Note: If you have already used MMC to install firmware and start an instance of Mint

WorkBench, go straight to section 5.4 to continue configuration.

1. On the Windows Start menu, select Programs, Mint WorkBench, Mint WorkBench.

2. In the opening dialog box, click Start New Project... ..

MN1933WEN Operation 5-7

3. In the Select Controller dialog, go to the drop down box near the top and select Do not
scan serial ports.

Click Scan to search for the NextMove PCI-2.

When the search is complete, click ‘NextMove PCI-2’ in the list to select it, then click
Select.

4. A dialog box will appear to tell you that the NextMove PCI-2 currently has no firmware.

Click Yes to search for firmware.

5-8 Operation MN1933WEN

5. In the Choose Firmware dialog, click the Controller Type drop down box and select
‘NextMove PCI-2’.

In the table, click the most recent build of firmware and then click Download to
Controller.

The firmware will be downloaded to the NextMove PCI-2. (A dialog box may be
displayed to tell you that Mint WorkBench has detected the new firmware. Click OK to
continue).

Mint WorkBench reads back data from the NextMove PCI-2. When this is complete,
Fine-tuning mode is displayed. This completes the software installation.

MN1933WEN Operation 5-9

5.4 Configuring an axis

The NextMove PCI-2 is capable of controlling servo and stepper axes. This section
describes how to configure both types of axis.

5.4.1 Selecting the axis type

An axis can be configured as either a servo axis or a stepper axis. The factory preset
configuration sets all axes as unassigned (off), so it is necessary to configure an axis as
either stepper or servo before it can be used. The number of servo and stepper hardware
channels defines how many axes of each type may be configured. In the following example,
the Mint WorkBench Axis Config Wizard will be used to assign axes:

1. In the Toolbox, click the Axis Config icon.

2. For each required axis, click in the
Configuration column and select Servo
or Stepper from the drop down box.

The Axis Config Wizard automatically
assigns a Hardware Channel to the axis.
For example, Servo Channel 0 indicates
the servo axis will use the controller’s
Demand0 output (breakout module
connector X7, pin 1); Stepper Channel 1
indicates the stepper axis will use the
controller’s STEP1 and DIR1 outputs
(breakout module connector X10, pins 4,
5, 8 and 9). Optionally, the default
hardware channel assignment can be altered by clicking in the Hardware Channel
column and choosing an alternative channel. This means the axis will no longer use the
correspondingly numbered physical outputs (Demandx or STEPx & DIRx), so extra care
must be taken when connecting external equipment.

3. Click Finish to complete the Axis Config
Wizard. The axis configuration will be
downloaded to the NextMove PCI-2.

Note: If a “Hardware channel required is in use” or “Hardware not available” me ssage

is displayed, the configuration is not downloaded. It is likely that the number of
selected servo or stepper axes exceeds the number of physical axes of that type
available on the NextMove PCI-2. An error is also caused if t he same hardware
channel has been selected for more than one servo axis, or for more than one
stepper axis.

It is recommended that unused axes are always set to OFF, as this provides more
processing time for the axes that are in use. Setting an axis to Virtual means that it can be
used to simulate motion within the controller, but uses no physical outputs (hardware
channel). See the Mint help file for details of the CONFIG and AXISCHANNEL keywords.

5-10 Operation MN1933WEN

5.4.2 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 scale is called the user unit (uu).

Consider a motor with a 1000 line encoder. This provides 4000 quadrature counts for each
revolution. If SCALEFACTOR 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(0)=16000 (Move Relative) would rotate the motor by 16000 quadrature counts ­only four revolutions. By setting a SCALEFACTOR of 4000, the user unit becomes revolutions.
The more understandable command MOVER(0)=4 could now be used to move the motor
four revolutions.

In applications involving linear motion a suitable value for SCALEFACTOR would allow
commands to express values in linear distance, for example inches, feet or millimetres.

1. In the Toolbox, click the Parameters icon.

2. Click the Scale tab.

3. Click in the Axis drop down box to select the axis.
Each axis can have a different scale if required.

4. Click in the Scale box and type a value.

5. Click Apply.

This immediately sets the scaling factor for the
selected axis which will remain in the NextMove
PCI-2 until another scale is defined or power is
removed from the NextMove PCI-2.

MN1933WEN Operation 5-11

5.4.3 Setting the drive enable output

The drive enable output allows NextMove PCI-2 to enable the external drive amplifier to
allow motion, or disable it in the event of an error. Each axis can be configured with its own
drive enable output, or can share an output with other axes. If an output is shared, an error
on any of the axes sharing the output will cause all of them to be disabled.

The drive enable output can either be a digital output or the relay.

1. In the Toolbox, click the Digital I/O icon.

2. At the bottom of the Digital I/O screen, click the
Digital Outputs tab.

The left of the screen shows a column of
yellow icons - High, Low, Rising, Falling and
Rise/Fall. These describe how the output
should behave when activated (to enable the
axis).

3. If you are going to use the relay, ignore this
step and go straight to step 4.

If you are going to use a digital output, drag
the appropriate yellow icon to the grey OUT
icon that will be used as the drive enable
output. Its color will change to bright blue.

5-12 Operation MN1933WEN

4. If you are going to use the relay, 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..

5. Click Apply at the bottom of the screen.
This sends the output configuration to the
NextMove PCI-2.

5.4.4 Testing the drive enable output

1. On the main Mint WorkBench toolbar, click the
Axis 0-7 button. In the Select Default Axes
dialog, select the axes to be controlled. Click
OK to close the dialog.

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.
When the button is in the raised (up) position
the drive amplifier should be disabled.

If this is not working, or the action of the button is reversed, check the electrical
connections between the breakout module and the drive amplifier.

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, low, edge or rise/
fall triggering method expected by the drive amplifier.

MN1933WEN Operation 5-13

5.5 Servo axis - testing and tuning

This section describes the method for testing and tuning a servo axis. The drive amplifier
must already have been tuned for basic current or velocity control of the motor. To test a
stepper axes, go straight to section 5.9.

5.5.1 Testing the demand output

This section tests the operation and direction of the demand output for axis 0. The example
assumes that axis 0 has already been configured as a servo axis, using the default hardware
channel 0 (see section 5.4.1). It is recommended that the motor is disconnected from the
load for this test.

1. Check that the Drive enable button is pressed
(down).

2. In the Toolbox, click the Edit & Debug icon.

3. Click in the Command window.

4. Type:
TORQUE(0)=5
where 0 is the axis to be tested. In this
example, this should cause a demand of +5%
of maximum output (0.5 V) to be produced at
the Demand0 output (breakout module
connector X7, pin 1).
See section 4.3.2 for details of the demand outputs. In Mint WorkBench, 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 demand output, check the electrical
connections between the breakout module and the drive.

5. To repeat the tests for negative (reverse) demands, type:

TORQUE(0)=-5

This should cause a demand of -5% of maximum output (-0.5 V) to be produced at the
DEMAND0 output.

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.

5-14 Operation MN1933WEN

5.5.2 An introduction to closed loop control

This section describes the basic principles of closed loop control. If you are familiar with
closed loop control go straight to section 5.6.1.

When there is a requirement to move an axis, the NextMove PCI-2 control software
translates this into a demand output voltage. This is used to control the drive amplifier which
powers the motor. An encoder or resolver on the motor is used to measure the motor’s
position. Every 1ms* (adjustable using the LOOPTIME keyword) the NextMove PCI-2
compares the demanded and measured positions. It then calculates the demand needed to
minimize the difference between them, known as the following error.

This system of constant measurement and correction is known as closed loop control.
[ For the analogy, imagine you are in your car waiting at an intersection. You are going to go

straight on when the lights change, just like the car standing next to you which is called
Demand. You’re not going to race Demand though - your job as the controller (NextMove
PCI-2) is to stay exactly level with Demand, looking out of the window to measure your
position ].

The main term that the NextMove PCI-2 uses to correct the error is called Proportional gain
(KPROP). A very simple proportional controller would simply multiply the amount of error by
the Proportional gain and apply the result to the motor [ the further Demand gets ahead or
behind you, the more you press or release the gas pedal ].

If the Proportional gain is set too high overshoot will occur, resulting in the motor vibrating
back and forth around the desired position before it settles [ you press the gas pedal so hard

you go right past Demand. To try and stay level you ease off the gas, but end up falling
behind a little. You keep repeating this and after a few tries you end up level with Demand,
travelling at a steady speed. This is what you wanted to do but it has taken you a long time ].
If the Proportional gain is increased still further, the system becomes unstable [ you keep
pressing and then letting off the gas pedal so hard you never travel at a steady speed ].

To reduce the onset of instability, a term called Velocity Feedback gain (KVEL) is used.
This resists rapid movement of the motor and allows the Proportional gain to be set higher
before vibration starts. Another term called Derivative gain (KDERIV) can also be used to
give a similar effect.

With Proportional gain and Velocity Feedback gain (or Derivative gain) it is possible for a
motor to come to a stop with a small following error [ Demand stopped so you stopped too,
but not quite level ].
The NextMove PCI-2 tries to correct the error, but because the error is so small the amount
of torque demanded might not be enough to overcome friction.

* The 1ms sampling interval can be changed using the LOOPTIME keyword to either 500μs
or 200μs.
This problem is overcome by using a term called Integral gain (KINT). This sums the error
over time, so that the motor torque is gradually increased until the positional error is reduced
to zero [ 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
example), it is possible for the output to increase to 100% demand. This effect can be limited
using the KINTLIMIT keyword which limits the effect of KINT to a given percentage of the
demand output. Another keyword called KINTMODE can even turn off integral action when it’s
not needed.

(it is supporting a heavy suspended weight for

MN1933WEN Operation 5-15

The remaining gain terms are Velocity Feed forward (KVELFF) and Acceleration Feed
forward (KACCEL) described below.

In summary, the following rules can be used as a guide:

 KPROP: Increasing KPROP will speed up the response and reduce the effect of

disturbances and load variations. The side effect of increasing KPROP is that it also
increases the overshoot, and if set too high it will cause the system to become unstable.
The aim is to set the Proportional gain as high as possible without getting overshoot,
instability or hunting on an encoder edge when stationary (the motor will buzz).

 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.

 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.

 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

the velocity feedback if the velocity feedback and feedforward terms are equal.

 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

 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.

5-16 Operation MN1933WEN

+

-

-

+

+

+

+

+

+

+

Demand

Acceleration

Demand

Velocity

Demand

Position

Measured

Velocity

Measured

Position

Profile Generator

KACCEL

Acceleration

Feedforward

KVELFF

Velocity

Feedforward

KPRCP

Proportional

Gain

KINT

Integral Gain

KDERV

Derivative

Gain

DACLIMITMAX

Clip DAC output

KVEL

Velocity

Feedback

Power Amp

Servo Motor

Figure 19: The NextMove PCI-2 servo loop

MN1933WEN Operation 5-17

5.6 Servo axis - tuning for current control

5.6.1 Selecting servo loop gains

All servo loop parameters default to zero, meaning that the demand output will be zero at
power up. Most drive amplifiers can be set to current (torque) 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 5.8. It is recommended that the system is initially tested and tuned with the
motor shaft disconnected from other machinery. Confirm that the encoder feedback signals
from the motor or drive amplifier have been connected, and that a positive demand causes a
positive feedback signal.

Note: The method explained in this section should allow you to gain good control of the

motor, but will not necessarily provide the optimum response without further fine­tuning. Unavoidably, this requires a good understanding of the effect of the gain
terms.

1. In the Toolbox, click the Fine-tuning icon.

The Fine-tuning window is displayed at the
right of the screen. The main area of the
Mint WorkBench window displays the
Capture window. When tuning tests are
performed, this will display a graph
representing the response.

2. In the 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.

5-18 Operation MN1933WEN

3. Click in the KPROP box and enter a value

ON - Axis 0: Measured position (uu)
ON - Axis 0: Demand position (uu)

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. 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 5.4.2.

If you set a scale so that units could be expressed in revolutions (or other unit of
your choice), then those are the units that will be used here. If you did not set a
scale, the amount you enter will be in encoder counts.

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.

7. Click Go.

The NextMove PCI-2 will perform the move and the motor will turn. As the soon as the
move is completed, Mint WorkBench will download captured data from the
NextMove PCI-2. The data will then be displayed in the Capture window as a graph.

Note: The graphs that you see will not look exactly the same as the graphs shown

here! Remember that each motor has a different response.

8. Using the check boxes below the graph,
select the traces you require, for example
Demand position and Measured position.

MN1933WEN Operation 5-19

5.6.2 Underdamped response

Measured position

Demand position

Time (ms)

If the graph shows that the response is underdamped (it overshoots the demand, as shown
in Figure 20) 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.

Figure 20: Underdamped response

9. Click in the KDERIV and/or KPROP boxes

5-20 Operation MN1933WEN

and make the required changes. The ideal
response is shown in section 5.6.4.

5.6.3 Overdamped response

Time (ms)

Measured position

Demand position

If the graph shows that the response is overdamped (it reaches the demand too slowly, as
shown in Figure 21) 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.

10. Click in the KDERIV and/or KPROP boxes
and make the required changes. The ideal
response is shown in section 5.6.4.

MN1933WEN Operation 5-21

Figure 21: Overdamped response

5.6.4 Critically damped response

Time (ms)

Measured position

Demand position

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 22.

5-22 Operation MN1933WEN

Figure 22: Critically damped (ideal) response

5.7 Servo axis - eliminating steady-state errors

In systems where precise positioning accuracy is required, it is often necessary to position
within one encoder count. Proportional gain, KPROP, is not normally able to achieve this
because a very small following error 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). This error can be overcome by applying integral gain. Th e 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 drive amplifiers a non-zero demand output is required to
hold the load in the correct position, to achieve zero following error.

Care is required when setting KINT since a high value will cause instability during moves. A
typical value for KINT would be 0.1. The effect of KINT should also be limited by setting the
integration limit, KINTLIMIT, to the smallest possible value that is sufficient to overcome
friction or static loads, for example 5. This will limit the contribution of the integral term to 5%
of the full DAC output range.

1. Click in the KINT box and enter a small
starting value, for example 0.1.

2. Click in the KINTLIMIT box and enter a
value of 5.

With NextMove PCI-2, 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
 Smart - the KINT term is only applied when the demand speed is zero or constant.
 Steady State - the KINT term is only applied when the demand speed is zero.

This function can be selected using the KINTMODE drop down box.

MN1933WEN Operation 5-23

5.8 Servo axis - tuning for velocity control

Drive amplifiers designed for velocity control incorporate their own velocity feedback term to
provide system damping. For this reason, KDERIV (and KVEL) can often be set to zero.

Correct setting of the velocity feed forward gain KVELFF is important to get the optimum
response from the system. The velocity feed forward term takes the instantaneous velocity
demand from the profile generator and adds this to the output block (see Figure 19). KVELFF
is outside the closed loop and therefore does not have an effect on system stability. This
means that the term can be increased to maxi mum without causing the motor to oscillate,
provided that other terms are setup correctly.

When setup correctly, KVELFF will cause the motor to move at the speed demanded by the
profile generator. This is true without the other terms in the closed loop doing anything
except compensating for small errors in the position of the motor. This gives faster response
to changes in demand speed, with reduced following error.

Before proceeding, confirm that the encoder feedback signals from the motor or drive
amplifier have been connected, and that a positive demand causes a positive feedback
signal.

5.8.1 Calculating KVELFF

To calculate the correct value for KVELFF, you will need to know:

 The speed, in revolutions per minute, produced by the motor when a maximum demand

(+10 V) is applied to the drive amplifier.

 The setting for LOOPTIME. The factory preset setting is 1 ms.
 The resolution of the encoder input.

The servo loop formula uses speed values expressed in quadrature counts per servo loop.
To calculate this figure:

1. First, divide the speed of the motor, in revolutions per minute, by 60 to give the number of
revolutions per second. For example, if the motor speed is 3000 rpm when a maximum
demand (+10 V) is applied to the drive amplifier:

Revolutions per second = 3000 / 60

2. Next, calculate how many revolutions will occur during one servo loop. The factory
preset servo loop time is 1 ms (0.001 seconds), so:

Revolutions per servo loop = 50 x 0.001 seconds

3. Now calculate how many quadrature encoder counts there are per revolution. The
NextMove PCI-2 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

4. Finally, calculate how many quadrature counts there are per servo loop:
Quadrature counts per servo loop = 4000 x 0.05

=50

=0.05

=4000

=200

5-24 Operation MN1933WEN

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

5. Click in the KVELFF box and enter the
value.

The calculated value should give zero
following error at constant velocity. Using
values greater than the calculated value
will cause the controller to have a following
error ahead of the desired position. Using
values less than the calculated value will
cause the controller to have following error
behind the desired position.

6. In the Move Type drop down box, check
that the move type is set to Trapezoid.

7. 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 make a few revolutions, for
example 10.

= 10.24

Note: The distance depends on the scale set in section 5.4.2. If you set a scale so that

units could be expressed in revolutions (or other unit of your choice), then those
are the units that will be used here. If you did not set a scale, the amount you
enter will be in encoder counts.

8. Click Go.

The NextMove PCI-2 will perform the move and the motor will turn. As the soon as the move
is completed, Mint WorkBench will upload captured data from the NextMove PCI-2. The data
will then be displayed in the Capture window as a graph.

Note: The graph that you see will not look exactly the same as the graph shown here!

Remember that each motor has a different response.

MN1933WEN Operation 5-25

9. Using the check boxes below the graph,

ON - Axis 0: Measured velocity (uu/s)
ON - Axis 0: Demand velocity (uu/s)

Time (ms)

Measured velocity

Demand velocity

select the Measured velocity and Demand
velocity traces.

Figure 23: 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 19.

5-26 Operation MN1933WEN

5.8.2 Adjusting KPROP

ON - Axis 0: Measured position (uu)
ON - Axis 0: Demand position (uu)

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 give the best response.

1. Click in the KPROP box and enter a
starting value of 0.1.

2. Click Go.

The NextMove PCI-2 will perform the move and the motor will turn. As the soon as the move
is completed, Mint WorkBench will upload captured data from the NextMove PCI-2. The data
will then be displayed in the Capture window as a graph.

Note: The graph that you see will not look exactly the same as the graph shown here!

Remember that each motor has a different response.

3. Using the check boxes below the graph,
select the Measured position and Demand
position traces.

MN1933WEN Operation 5-27

Figure 24: Correct value of KPROP

Time (ms)

Measured position

Demand position

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 24.

5-28 Operation MN1933WEN

5.9 Stepper axis - testing

This section describes the method for testing a stepper axis. The stepper control is an open
loop system so no tuning is necessary.

5.9.1 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.

2. In the Toolbox, click the Edit & Debug icon.

3. Click in the Command window.

4. Type:

JOG(0)=2

where 0 is the axis (stepper output) to be
tested and 2 is the speed.

Note: The JOG command specifies a speed in user units per second, so the speed is

affected by SCALEFACTOR (section 5.4.2).

If there appears to be no pulse or direction output, check the electrical connections
between the breakout module and the drive.

5. To repeat the tests for reverse moves, type:

JOG(0)=-2

6. To remove the demand and stop the test, type:

STOP(0)

MN1933WEN Operation 5-29

5.10 Digital input/output configuration

The Digital I/O window can be used to setup other digital inputs and outputs.

5.10.1Digital 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. In the Toolbox, click the Digital I/O icon.

2. At the bottom of the Digital I/O screen, click
the Digital Inputs tab.

The left of the screen shows a column of
yellow icons - High, Low, Rising, Falling
and Rise/Fall. These describe how the
input will be triggered.

3. Drag the Falling icon onto the IN1 icon . This will setup IN1 to respond to a falling
edge.

5-30 Operation MN1933WEN

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 PCI-2.

Note: If required, multiple inputs can be configured before clicking Apply.

5.10.2Digital 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 5.4.3). Remember to click Apply to send
the changes to the NextMove PCI-2.

MN1933WEN Operation 5-31

5.11 Saving setup information

When power is removed from the NextMove PCI-2 all data, including configuration and
tuning parameters, is lost. You should therefore save this information in a file, which can be
loaded when the card is next used. Alternatively, the information can be included in program
files as part of the Startup block.

1. In the Toolbox, click the Edit & Debug icon.

2. On the main menu, choose File, New File.

A new program editing window will appear.

3. On the main menu, choose

Program, Generate Mint Startup
Block.

Mint WorkBench will read all the
configuration information from the
NextMove PCI-2 and place it in a
Startup block. For details of the
Startup block, see the Mint help file.

5-32 Operation MN1933WEN

4. On the main menu, choose File, Save File. Locate a folder, enter a filename and click
Save.

5.11.1Loading saved information

1. In the Toolbox, click the Edit & Debug icon.

2. On the main menu, choose File, Open File... .

Locate the file and click Open.

A Startup block should be included in every Mint program, so that whenever a program is
loaded and run the NextMove PCI-2 will be correctly configured. Remember that every
drive/motor combination has a different response. If the same program is used on a
different NextMove PCI-2 installation, the Startup block will need to be changed.

MN1933WEN Operation 5-33

5-34 Operation MN1933WEN

Troubleshooting

6 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 PCI-2. 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. If
you cannot solve the problem or the problem persists, the SupportMe feature can be used.

6.1.2 SupportMe feature

The SupportMe feature (on the Help menu) can be used to e-mail information to the
representative from whom you purchased the equipment. If required, you can choose to add
your program files as attachments. Mint WorkBench 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. If you prefer to contact 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 PCI-2 (if known).
 Use the Help, SupportMe menu item in Mint WorkBench to view details about your

system.

 The type of drive amplifier and motor that you are using.
 Give a clear description of what you are trying to do, for example performing fine-tuning.
 Give a clear description of the symptoms that you can observe, for example error

messages displayed in Mint WorkBench, or the current value of any of the Mint error
keywords AXISERROR, AXISSTATUS, INITERROR, and MISCERROR.

 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.

6

MN1933WEN Troubleshooting 6-1

6.2 NextMove PCI-2 indicators

S1 S2

6.2.1 Status LEDs

The backplate of the NextMove PCI-2 contains two LEDs, S1 and
S2, which represent general status information. The LEDs may
illuminate red or green and can be continuous or flashing.

LED State(s) Meaning
Both off NextMove PCI-2 is not powered.
Both red In hardware reset (see section 4.7).
Both green, cycling In software reset, with no errors (see section 4.7).

Both red, cycling
S1 green, flashing Firmware is running OK.

S1 green, flashing fast FPGA download in progress.
S1 red, flashing Firmware is running, but there is an initialization error.

S2 red, flashing fast

S2 green, flashing fast
Both green, flashing Firmware update in progress.

Both red, turn off
separately

6.2.2 CAN LEDs

The top edge of the NextMove PCI-2 contains four surface mount
LEDs, CH1, CH2, Tx and Rx, which indicate CAN status. The
LEDs can be continuous or flashing.

LED State(s) Meaning
CH1 The downloaded firmware supports the CANopen channel.
CH2 The downloaded firmware supports the Baldor CAN channel.
Tx Data is being transmitted on the CAN channel.
Rx Data is being received on the CAN channel.

In software reset, Power On Self Test (POST) error has
occurred.

Asynchronous error - for example, a limit switch has been
activated.

Miscellaneous error - for example, the output driver is not
working.

POST is in operation (after reset).

6.2.3 Reset LED

Close to the four CAN LEDs, the NextMove PCI-2 contains
another LED, D16, which indicates that the FPGA is being
initialized at startup. This LED will remain illuminated until a
system file (which includes FPGA firmware) is downloaded from
Mint WorkBench.

6-2 Troubleshooting MN1933WEN

6.3 Problem solving

The following sections describe some common problems and their solutions.

6.3.1 Communication

If the problem is not listed below please contact technical support. An oscilloscope will be
useful for many of the electrical tests described below.

Symptom Check

Cannot detect
NextMove PCI-2

Cannot communicate with
the controller.

6.3.2 Motor control

Symptom Check

Controller appears to be
working but will not cause
motor to turn.

Check that the NextMove PCI-2 driver has been installed. See
section 5.1.

Verify that Mint WorkBench is loaded and that
NextMove PCI-2 is the currently selected controller. The Mint
operating system (firmware) must be downloaded to the
controller each time it is powered.

Check the card is firmly seated in its socket in the computer
and this socket is of the correct type.

Check that the green S1 LED on the card backplate is flashing
(approximately twice per second).

Check that the connections between motor and drive are
correct. Use Mint WorkBench to perform the basic system
tests (see section 5.5 or 5.9).

Ensure that while the controller is not in error the drive is
enabled and working. When the controller 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 5.5.2 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 section 4.5.2) 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 to the breakout
module and that with zero demand there is 0 V at the drive
demand input. See section 5.5.1.

Verify that the breakout module and drive are correctly
grounded to a common earth point.

MN1933WEN Troubleshooting 6-3

Symptom Check

Motor runs uncontrollably
when controller is switched
on and servo loop gains

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.
are applied or when a
move is set in progress.
Motor then stops after a
short time.

Check that for a positive demand signal, a positive increase in

axis position is seen. The Mint ENCODERMODE keyword can be

used to change encoder input direction. 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

Servo loop gains may be set incorrectly. See sections 5.5.2 to

5.7.

during a move.
Motor is under control, but

when moved to a position

Using an oscilloscope at the breakout module connectors,

check:
and then back to the start it
does not return to the
same position.

 all encoder channels are clear signals and free from

electrical noise;

 they are correctly wired to the controller;

 when the motor turns, the two square wave signals are

90 degrees out of phase. Also check the complement
signals.

Ensure that the encoder lead uses shielded twisted pair cable

and that the shield is attached to the shield connection only at

the breakout module end.

Verify that the breakout module and drive are correctly

grounded to a common earth point.

6-4 Troubleshooting MN1933WEN

Specifications

7 Specifications

7.1 Introduction

This section provides technical specifications of the NextMove PCI-2.

7.1.1 Input power and mechanical specifications

Description Value
Input power

(from host PC)

Input power
(from customer supply)

Power consumption 15 W (PCI-2 card only)
Weight Approximately 305 g (0.67 lb)
Nominal overall

dimensions

The host PC must have a spare 7 inch PCI card slot. The PC must be an AT type - the card
cannot be fitted into MCA type machines. The card dimensions conform to the PCI standard
except that it cannot be fitted with a Micro Channel bracket.

+3.3 V at 1000 mA
+5 V at 350 mA
±12 V at 250 mA

Additional current will be required when powering the
encoders from the host PC’s +5 V supply. See section 4.5.2.

+12 V to +24 V at 1200 mA

Standard 7 in PCI card
175 mm (6.88 in) long x 106.7 mm (4.20 in) high.

7

7.1.2 Analog inputs (X6)

Description Unit Value
Type Single ended or differential
Common mode voltage range V ±10
Input impedance kΩ >5
Input ADC resolution bits 12

Equivalent resolution (±10 V input) mV ±4.9
Sampling interval μs 400

MN1933WEN Specifications 7-1

(includes sign bit)

7.1.3 Analog outputs (X7)

Description Unit Value
Type Bipolar
Output voltage range V ±10
Output current (max) mA 1

Output DAC resolution

Equivalent resolution

Update interval

7.1.4 Digital inputs (X1 & X2)

Description Unit Value
Type

Input voltage (maximum) V +30
Input voltage (Active high)

Input voltage (Active low)

Input current (approximate, per input) mA 8
Sampling interval ms 1

Nominal

Minimum

Nominal

Maximum

bits 12, 14 or 16

(includes sign bit)

±4.9 mV (12-bit)
±1.2 mV (14-bit)
±305 μV (16-bit)

μs 200 - 2000

(same as LOOPTIME; default = 1000)

Opto-isolated

V

+24
+12

V

0

+2

7-2 Specifications MN1933WEN

7.1.5 Digital inputs (X3)

Description Unit Value
Type

Input voltage (maximum) V +30
Input voltage (Active high)

Input voltage (Active low)

Input current (approximate, per input) mA 7
Sampling interval ms 1

7.1.6 Digital outputs (X4)

Description Unit Value
Output current

(maximum, each output)

Update interval Immediate

7.1.7 Relay output (X8)

Description Unit Value
Contacts Normally closed
Contact rating (resistive) 1 A @ 24 V DC

Maximum carrying current A 2
Maximum switching power 62.5 VA, 30 W
Maximum switching voltage 125 V AC, 60 V DC
Maximum switching current A 1
Contact resistance (maximum) mΩ 100
Update interval Immediate

Nominal

Minimum

Nominal

Maximum

Non-isolated

V

+24
+12

V

0

+7

mA 50

or

0.5 A @ 125 V AC

MN1933WEN Specifications 7-3

7.1.8 Encoder inputs (X12 - X16)

Description Unit Value
Encoder input A/B Differential, Z index
Maximum input frequency

(A and B channels)
Output power supply to encoders

Total, if sourced from host PC

Total, if sourced from user supply

Maximum recommended cable
length

MHz

7.1.9 Stepper control outputs (X10 & X11)

Description Unit Value
Output type Pulse (step) and direction
Maximum output frequency MHz 3
Output voltage V +5
Output current mA 20 max.

7.1.10CANopen interface (X17)

Description Unit Value
Signal 2-wire, isolated
Channels 1
Bit rate Kbit/s 10, 20, 50, 100, 125, 250, 500, 800, 1000
Protocol CANopen

2.5

5 V, 500 mA max.

30 V, 3 A max.

30.5 m (100 ft)

7.1.11Baldor CAN interface (X18)

Description Unit Value
Signal 2-wire
Channels 2
Bit rate Kbit/s 10, 20, 50, 125, 250, 500, 800, 1000
Protocol Baldor CAN

7-4 Specifications MN1933WEN

7.1.12Environmental

Description Unit
Operating temperature range Min Max

°C

0

+45

°F

Storage temperature range °C

°F

Maximum humidity % 93% for temperatures up to 31 °C

Vibration 1 G, 10-150 Hz

See also section 3.1.1.

+32

0

+32

(87 °F), non-condensing,

decreasing linearly to 50% relative

humidity at 45 °C (113 °F)

(non-condensing).

+113

+70

+158

MN1933WEN Specifications 7-5

7-6 Specifications MN1933WEN

Accessories

A Accessories

A.1 Introduction

Breakout modules are available for use with the NextMove PCI-2.

A.1.1 NextMove PCI-2 breakout module

Breakout modules are available for use with the NextMove PCI-2, providing one or two part
screw-down terminals for the I/O, power and relay connections, with 9-pin D-type connectors
for the encoders and steppers. CAN connections are brought out on a CANopen compatible
D-type for CAN1 (CANopen) and an RJ45 for CAN2 (Baldor CAN). For further details of
each connector, see section 4. The breakout module connects to the NextMove PCI-2 using
a 100-pin cable.

Figure 25: NextMove PCI-2 breakout module

A

The breakout module is approximately 292 mm (11.50 in) long by 70 mm (2.76 in) wide by
62 mm (2.45 in) high. It is designed to mount on either a 35 mm symmetric DIN rail
(EN 50 022, DIN 46277-3) or a G-profile rail (EN 50 035, DIN46277-1). Ready-mad e cables
of different lengths are available for connecting between the breakout module and NextMove
PCI-2:

Part Description
PCI003-501

PCI003-502
CBL021-501 1.0 m (3.3 ft) 100-pin cable to attach card to breakout module

CBL021-502 1.5 m (4.9 ft) 100-pin cable to attach card to breakout module
CBL021-503 3.0 m (9.8 ft) 100-pin cable to attach card to breakout module

The shield connections on the breakout module are all connected internally. These include:

 The ‘shield’ pins present on many connectors.
 The metal backshell of all of the D-type connectors, the CAN connectors and the 100-pin

connector.

 The stud located below connectors X3 and X4.

Breakout module: Single part screw down terminals and signal
conditioning.

Breakout module: Two part screw down terminals and signal
conditioning.

MN1933WEN Accessories A-1

If the breakout module (Issue 2) is being used to replace an existing Issue 1 breakout
module, the power connections must be altered. Connections that were previously made to
pins 3, 4, 5 and 6 of the J10 power connector on the Issue 1 board must now be connected
only to pins 5 and 6 of the Issue 2 module’s power connector X9. The issue number of the
board is printed below the main title, near connectors X5 and X6.

A.1.2 NextMove PC system adapter

The NextMove PC adapter takes the output from the 100-pin connector of NextMove PCI-2
and converts it to be compatible with the NextMove PC cable, allowing for machine
conversion from NextMove PC to NextMove PCI-2 with minimal change to the physical
wiring of the machine.

Part Description
OPT026-506 Allows NextMove PCI-2 to connect to a NextMove PC system.

Note: If the NextMove PC bre akout module is also being used, the digital input banks

use one common connection. The USR V+ supply is used to determine the
sense of the digital inputs. Connecting CGND to the common connection will
cause inputs to be active high (active when a +24 VDC is applied). Connecting
USR V+ to the common connection will cause inputs to be active low (active
when a 0V is applied). Jumpers on the system adapter select whether USR V+
or CGND is connected to the common connection.

A.1.3 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. The PCB measures 100 mm x 85 mm (3.94 in x

3.35 in). As supplied in its TS35 DIN rail mounting PCB holder, the overall dimensions of the
unit become 110 mm x 90 mm (4.33 in x 3.54 in).

Part Description
OPT029-501

OPT029-502

4-way encoder splitter - allows a single-ended or differential encoder pulse
train to be shared between four devices

8-way encoder splitter - allows a single-ended or differential encoder pulse
train to be shared between eight devices

A.1.4 Spares

These items are located on the breakout module:

Part Description
OPT025-501 Cable to allow NextMove PCI-2 to connect to a NextMove PC system.

OPT025-502

OPT025-503

A-2 Accessories MN1933WEN

Isolated CAN transceiver (SIL hybrid module).
Supports speeds up to 1 Mbit/s.

Non-isolated CAN transceiver (SIL hybrid module).
Supports speeds up to 500 Kbit/s.

A.1.5 Feedback cables

The cables listed in Table 2 connect the ‘Encoder Out’ signal from a drive amplifier (for
example MicroFlex, FlexDrive

on the NextMove PCI-2 breakout board. One cable is required for each servo axis. See
section 4.5.1.1 for the connector pin configuration.

Cable assembly description Part

Drive Amplifier to NextMove PCI-2

Breakout Module
Feedback Cable,

with 9-pin D-type connectors at

both ends (one male, one female)

Table 5: Drive amplifier to NextMove PCI-2 feedback cables

If you are not using a cable listed above, be sure to obtain a cable that is a shielded twisted

2

pair 0.34 mm

(22 AWG) wire minimum, with an overall shield. Ideally, the cable should not
exceed 30.5 m (100 ft) in length. Maximum wire-to-wire or wire-to-shield capacitance is
50 pF per 300 mm (1 ft) length, to a maximum of 5000 pF for 30.5 m (100 ft).

II

, Flex+DriveII or MintDriveII), to the encoder input connectors

CBL005MF-E3A

0.5
CBL010MF-E3A
CBL015MF-E3A
CBL020MF-E3A
CBL030MF-E3A
CBL040MF-E3A
CBL050MF-E3A

1.5

2.0

3.0

4.0

5.0

Length

mft

1.6

1

3.3
5

6.6

9.8

13.1

16.4

MN1933WEN Accessories A-3

A.1.6 Baldor CAN nodes

Digital I/O can be expanded easily on NextMove PCI-2 using the Baldor CAN (CAN2)
connection. This provides a high speed serial bus interface to a range of I/O devices,
including:

 inputNode 8: 8 opto-isolated digital inputs.
 relayNode 8: 8 relay outputs.
 outputNode 8: 8 opto-isolated digital outputs with short circuit and over current

protection.

 ioNode 24/24: 24 opto-isolated input and 24 opto-isolated outputs.
 keypadNode: General purpose operator panel (3 and 4 axis versions).

Part Description
ION001-501 8 digital inputs
ION002-501 8 relay outputs
ION003-501 8 digital outputs
ION004-501 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

A-4 Accessories MN1933WEN

A.1.7 HMI panels

A range of programmable HMI (Human Machine Interface) panels are available with serial or
CANopen communication. Some have color and/or touchscreen capabilities, and may be
programmed using the dedicated HMI Designer software.

A.1.8 Mint NC (CAD to motion software)

The Mint NC software provides machine builders with an extremely rapid and flexible
solution for creating contouring and profiling machinery and automation. MintNC provides a
PC-based environment that will import information in industry-standard CAD formats
including G-code, HPGL and DXF, and generate the required real-time motion commands.

See www.abbmotion.com for further details.

MN1933WEN Accessories A-5

A-6 Accessories MN1933WEN

Mint Keyword Summary

B Mint Keyword Summary

B.1 Introduction

The following table summarizes the Mint keywords supported by the NextMove PCI-2. Note
that due to continuous developments of the NextMove PCI-2 and the Mint language, this list
is subject to significant change. Check the latest Mint help file for full details of new or
changed keywords.

B.1.1 Keyword listing

Keyword Description

ABORT To abort motion on all axes.
ABORTMODE To control the default action taken in the event of an abort.
ACCEL To define the acceleration rate of an axis.
ACCELDEMAND To read the instantaneous demand acceleration.
ACCELJERK To define the jerk rate to be used during periods of accelera-

tion.

ACCELJERKTIME To define the jerk rate to be used during periods of accelera-

tion.

ACCELTIME To define the acceleration rate of an axis.
ADC To read an analog input value.
ADCERROR To read back the analog inputs currently in error.
ADCERRORMODE Controls the default action taken in the event of an ADC limit

being exceeded on an associated channel.

ADCGAIN To set the gain to be applied to an ADC input.
ADCMAX Sets the upper analog limit value for the specified analog input.
ADCMIN Sets the lower analog limit value for the specified analog input.
ADCMODE To set the analog input mode.
ADCMONITOR Specifies the analog inputs that an axis will monitor for analog

limit checking.

ADCOFFSET To set the offset to be applied to an ADC input.
ADCTIMECONSTANT To set the time constant of the low pass filter applied to an

ADC input.

ASYNCERRORPRESENT To determine whether an asynchronous error is present.
AUXDAC To set or read the auxiliary DAC outputs.
AUXENCODER To set or read the auxiliary encoder input.
AUXENCODERMODE To make miscellaneous changes to the auxiliary encoders.

B

MN1933WEN Mint Keyword Summary B-1

Keyword Description

AUXENCODERPRESCALE To scale down the auxiliary encoder input.
AUXENCODERSCALE To set or read the scale factor for the auxiliary encoder input.
AUXENCODERVEL To read the velocity of the auxiliary encoder input.
AUXENCODERWRAP To set or read the encoder wrap range for the auxiliary encoder

input.

AUXENCODERZLATCH To read the state of the auxiliary encoder’s Z latch.
AXISCHANNEL Allows user mapping of hardware to axis numbers.
AXISERROR To read back the motion error.
AXISMODE To return the current mode of motion.
AXISSTATUS To return the current error status from the specified axis.
AXISVELENCODER To select the source of the velocity signal used in dual encoder

AXISWARNING To read or clear present axis warnings.
AXISWARNINGDISABLE Allows individual axis warnings to be enabled and disabled.
BACKLASH To set the size of the backlash present on an axis.
BACKLASHINTERVAL To set the rate at which backlash compensation is applied.
BACKLASHMODE Controls the use of backlash compensation.
BLEND To start blending the current move with the next move in the

BLENDDISTANCE To specify the distance, before the end of the vector path,

BLENDMODE To enable blending for interpolated moves.
BOOST To control the stepper boost outputs.
BUSBAUD To specify the bus baud rate.
BUSEVENT Returns the next event in the bus event queue of a specific

BUSEVENTINFO Returns the additional information associated with a bus event.
BUSRESET Resets the bus controller.
BUSSTATE Returns the status of the bus controller.
CAM Perform a cam profile.
CAMAMPLITUDE To modify the amplitude of a cam profile.
CAMBOX To start or stop a CAMBox channel.
CAMBOXDATA To load data associated with a CAMBox channel.
CAMEND To define an end point in the cam table if multiple cams are

CAMINDEX Returns the currently executing cam segment number.

feedback systems.

buffer.

where blending will begin.

bus.

required.

B-2 Mint Keyword Summary MN1933WEN

Keyword Description

CAMPHASE Allows a cam profile to be shifted forwards or backwards over

a fixed number of cam segments.

CAMPHASESTATUS To get the state of the CAMPHASE for a specific axis.
CAMSTART To define a start point in the cam table if multiple cams are

CAMTABLE To specify the array names to be used in a cam profile on the

CANCEL To stop motion and clear errors on an axis.
CANCELALL To stop motion and clear errors on all axes.
CAPTURE Controls the operation of capture.
CAPTURECHANNEL-

UPLOAD
CAPTUREDURATION To define the total duration of the data capture.
CAPTUREEVENT Configures capturing to stop on an event.
CAPTUREEVENTAXIS Sets the axis to monitor for the capture trigger event.
CAPTUREEVENTDELAY Defines the post-trigger delay for event capture.
CAPTUREINTERVAL To define the interval between data captures, relative to the

CAPTUREMODE To set or read the mode on a capture channel.
CAPTUREMODE-

PARAMETER
CAPTURENUMPOINTS To read the number of captured points per channel.
CAPTUREPERIOD To define the interval between data captures.
CAPTUREPOINT To allow individual capture values to be read.
CHANNELTYPE To determine what hardware is available to a specific channel.
CIRCLEA To perform a circular move with absolute co-ordinates.
CIRCLER To perform a circular move with relative co-ordinates.
COMMS Accesses the reserved comms array.
COMMSMODE Selects comms use over either RS485 or CANopen.
COMPAREENABLE Enables/disables the position compare control of a specific

COMPARELATCH Reads the state of the position compare latch.
COMPAREMODE Enables and disables the position compare on an axis.
COMPAREOUTPUT To specify the digital output used for position compare.
COMPAREPOS To write to the position compare registers.
CONFIG To set the configuration of an axis for different control types.

required.

specified axis.

To allow an entire channel of captured data values to be
uploaded into an array.

servo frequency.

To specify a parameter associated with CAPTUREMODE.

digital output.

MN1933WEN Mint Keyword Summary B-3

Keyword Description

CONNECT To enable a connection between two remote nodes to be made

or broken.

CONNECTSTATUS Returns the status of the connection between this node and

another node.

CONTOURMODE To enable contouring for interpolated moves.
CONTOURPARAMETER To set the parameters for contoured moves.
DAC To write a value to the DAC or read the present DAC value.
DACLIMITMAX To restrict the DAC output voltage to a defined range.
DACMODE To control the use of the DAC.
DACMONITORAXIS To specify which axis to monitor during DAC monitoring.
DACMONITORGAIN To specify a multiplying factor for use during DAC monitoring.
DACMONITORMODE To specify which axis parameter to monitor during DAC moni-

toring.

DACOFFSET Apply a voltage offset to a DAC channel.
DACRAMP To specify the number of milliseconds over which the maxi-

DECEL To set the deceleration rate on the axis.
DECELJERK To define the jerk rate to be used during periods of decelera-

DECELJERKTIME To define the jerk rate to be used during periods of decelera-

DECELTIME To set the deceleration rate on the axis.
DEFAULT To return axis motion variables to their power-up state.
DEFAULTALL To return all axis motion variables to their power-up state.
DPREVENT T o interrupt the host PC and generate a trappable event, using

DPRFLOAT Read and write a 32-bit floating point value to Dual Port RAM

DPRLONG Read and write a 32-bit integer value to Dual Port RAM (DPR).
DRIVEENABLE To enable or disable the drive for the specified axis.
DRIVEENABLEOUTPUT To specify an output as a drive enable.
ENCODER To set or read the axis encoder value.
ENCODERMODE To make miscellaneous changes to the encoders.
ENCODERPRESCALE To scale down the encoder input.
ENCODERSCALE To set or read the scale factor for the encoder channel.
ENCODERVEL To read the velocity from an encoder channel.

mum DAC output will be ramped to zero.

tion.

tion.

the Dual Port RAM (DPR).

(DPR).

B-4 Mint Keyword Summary MN1933WEN