Baldor BXII User Manual

MOTION CONTROL

NextMove BX

II

Motion Controller

Installation Manual

9/02 MN1904

Contents

1 General Information 1-1.................................

2 Introduction 2-1........................................

2.1 NextMove BXIIfeatures 2-1.................................

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

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

2.3 Units and abbreviations 2-3..................................

3 Basic Installation 3-1....................................

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

3.1.1 Power sources 3-1................................................

3.1.2 PC Hardware requirements 3-1......................................

3.1.3 Tools and miscellaneous hardware 3-2................................

3.1.4 Other information needed for installation 3-2...........................

3.2 Mechanical installation and location requirements 3-3...........

3.2.1 Mounting the NextMove BX

4 Input / Output 4-1......................................

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

II

3-4.....................................

4.2 Connector locations - top panel 4-1...........................

4.3 Connector locations - front panel 4-2..........................

4.4 Power connections 4-3......................................

4.4.1 Power - X8 4-3....................................................

4.5 Analog I/O 4-4.............................................

4.5.1 Analog inputs - X3 4-4..............................................

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

4.6 Digital I/O 4-7..............................................

4.6.1 Digital inputs - X1 4-8..............................................

4.6.2 Digital inputs - X2 4-9..............................................

4.6.3 Digital inputs (Interrupts) - X6 4-10....................................

4.6.4 Digital outputs - X4 4-11.............................................

4.7 Other I/O 4-12..............................................

4.7.1 Encoder interfaces - X9, X10, X11, X12, X13 4-12.......................

4.7.2 Encoder input frequency 4-13........................................

4.7.3 Relay and user power - X5 4-14.......................................

4.7.4 RS232 - X15 4-15..................................................

MN1904

Contents i

4.7.5 Connecting Baldor HMI Operator Panels 4-17...........................

4.7.6 RS422 / RS485 - X14 4-18...........................................

4.7.7 CAN connectors - X16 & X17 4-20....................................

4.7.8 CANopen 4-21.....................................................

4.7.9 Baldor CAN 4-21...................................................

4.8 Reset states 4-22...........................................

4.8.1 System watchdog 4-22..............................................

4.9 Connection summary - minimum system wiring 4-23.............

5 Operation 5-1..........................................

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

5.1.1 Connecting the NextMove BXIIto the PC 5-1..........................

5.1.2 Installing the software 5-1...........................................

5.1.3 Starting the NextMove BX

5.1.4 Preliminary checks 5-1.............................................

5.1.5 Power on checks 5-2...............................................

5.2 WorkBench v5 5-3..........................................

5.2.1 Help file 5-3......................................................

5.2.2 Starting WorkBench v5 5-4..........................................

5.3 Configuring an axis 5-6.....................................

5.3.1 Selecting a scale 5-6...............................................

5.3.2 Setting the drive enable output 5-7...................................

5.3.3 Testing the drive enable output 5-8...................................

5.4 Testing and tuning 5-9......................................

5.4.1 Testing the drive command output 5-9.................................

5.5 An introduction to closed loop control 5-11......................

II

5-1......................................

5.6 Tuning an axis for current control 5-14.........................

5.6.1 Selecting servo loop gains 5-14.......................................

5.6.2 Underdamped response 5-16.........................................

5.6.3 Overdamped response 5-17..........................................

5.6.4 Critically damped response 5-18......................................

5.7 Eliminating steady-state errors 5-19............................

5.8 Tuning an axis for velocity control 5-20.........................

5.8.1 Calculating KVELFF 5-20............................................

5.8.2 Adjusting KPROP 5-23..............................................

5.9 Digital input/output configuration 5-25..........................

5.9.1 Digital input configuration 5-25........................................

5.9.2 Digital output configuration 5-26.......................................

5.10 Saving setup information 5-27.................................

5.11 Loading saved information 5-28...............................

ii Contents

MN1904

6 Troubleshooting 6-1....................................

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

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

6.1.2 SupportMet feature 6-1............................................

6.2 NextMove BXIIindicators 6-2................................

6.2.1 Status display 6-2.................................................

6.2.2 Motor control 6-4..................................................

6.2.3 Communication 6-5................................................

6.2.4 Axis LED is red or Status LED shows a flashing symbol 6-5..............

7 Specifications 7-1......................................

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

7.1.1 Input power 7-1...................................................

7.1.2 Analog inputs (X3) 7-1..............................................

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

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

7.1.5 Digital inputs (Interrupts) (X6) 7-2....................................

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

7.1.7 Relay output (X5) 7-3..............................................

7.1.8 Encoder interfaces (X9 - X13) 7-3....................................

7.1.9 CAN interfaces (X16 & X17) 7-3.....................................

7.1.10 Environmental 7-4.................................................

7.1.11 Weights and dimensions 7-4........................................

Appendices

A Accessories A-1........................................

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

A.1.1 Baldor CAN nodes A-1.............................................

A.1.2 Encoder Splitter/Buffer board A-2.....................................

MN1904

Contents iii

iv Contents

MN1904

Teleph

61296745455

1 General Information

LT0158A01 Copyright Baldor (c) 2002. All rights reserved.

This manual is copyrighted and all rights are reserved. This document or attached software may not, in
whole or in part, be copied or reproduced in any form without the prior written consent of BALDOR.
BALDOR makes no representations or warranties with respect to the contents hereof and specifically dis ­claims any implied warranties of fitness for any particular purpose. The information in this document is
subject to change without notice. BALDOR assumes no responsibility for any errors that may appear in
this document.

Mintt is a registered trademark of Baldor.
Windows 95, Windows 98, Windows ME, Windows NT, Windows 2000 and Windows XP are registered
trademarks of the Microsoft Corporation.
UL and cUL are registered trademarks of Underwriters Laboratories.

Limited Warranty:
For a period of two (2) years from the date of original purchase, BALDOR will repair or replace without
charge controls and accessories which our examination proves to be defective in material or workman­ship. This warranty is valid if the unit has not been tampered with by unauthorized persons, misused,
abused, or improperly installed and has been used in accordance with the instructions and/or ratings sup­plied. This warranty is in lieu of any other warranty or guarantee expressed or implied. BALDOR shall
not be held responsible for any expense (including installation and removal), inconvenience, or conse­quential damage, including injury to any person or property caused by items of our manufacture or sale.
(Some countries and U.S. states do not allow exclusion or limitation of incidental or consequential dam­ages, so the above exclusion may not apply.) In any event, BALDOR’s total liability, under all circum­stances, shall not exceed the full purchase price of the control. Claims for purchase price refunds, repairs,
or replacements must be referred to BALDOR with all pertinent data as to the defect, the date purchased,
the task performed by the control, and the problem encountered. No liability is assumed for expendable
items such as fuses. Goods may be returned only with written notification including a BALDOR Return
Authorization Number and any return shipments must be prepaid.

1

Baldor UK Ltd
Mint Motion Centre
6 Bristol Distribution Park
Hawkley Drive
Bristol, BS32 0BF
Telephone: [phone]
Fax: [phone]
Email: [e-mail]
Web site: www.baldor.co.uk

Baldor Electric Company
Telephone: [phone]
Fax: [phone]
Email: [e-mail]
Web site: www.baldor.com

Baldor ASR GmbH
Telephone: [phone]
Fax: [phone]

Baldor ASR AG
Telephone: [phone]
Fax: [phone]

Australian Baldor Pty Ltd

one: +

Fax: [phone]

Baldor Electric (F.E.) Pte Ltd
Telephone: [phone]
Fax: [phone]

Baldor Italia S.R.L
Telephone: [phone]
Fax: [phone]

General Information 1-1MN1904

Safety Notice

Only qualified personnel should attempt the start-up procedure or troubleshoot this equipment.
This equipment may be connected to other machines that have rotating parts or parts that are
controlled by this equipment. Improper use can cause serious or fatal injury. Only qualified personnel
should attempt to start-up, program or troubleshoot this equipment.

Precautions

WARNING: Be sure that you are completely familiar with the safe operation and programming

WARNING: The stop input to this equipment should not be used as the single means of

WARNING: Improper operation or programming may cause violent motion of the motor shaft

WARNING: When operating a motor with no load coupled to its shaft, remove the shaft key to

CAUTION: The safe integration of this equipment into a machine system is the responsibility

CAUTION: To prevent equipment damage, be certain that the input power has correctly sized

CAUTION: To prevent equipment damage, be certain that input and output signals are

of this equipment. This equipment may be connected to other machines that have
rotating parts or parts that are controlled by this equipment. Improper use can
cause serious or fatal injury. Only qualified personnel should attempt to program,
start-up or troubleshoot this equipment.

achieving a safety critical stop. Drive disable, motor disconnect, motor brake and
other means should be used as appropriate. Only qualified personnel should
attempt to program, start-up or troubleshoot this equipment.

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.

prevent it flying out when the shaft rotates.

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.

protective devices installed.

powered and referenced correctly.

CAUTION: To ensure reliable performance of this equipment be certain that all signals to/from

the NextMove BX

CAUTION: Avoid locating this equipment immediately above or beside heat generating

equipment, or directly below water or steam pipes.

CAUTION: Avoid locating this equipment in the vicinity of corrosive substances or vapors,

metal particles and dust.

II

are shielded correctly.

1-2 General Information MN1904

2 Introduction

2.1 NextMove BXIIfeatures

NextMove BXIIis a high speed multi-axis intelligent motion controller, supporting up to four
servo axes.

NextMove BX
custom designed for 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 of the NextMove BX

H Control of up to four axes

H Point to point moves, software cams and gearing

H 16 general purpose digital inputs, software configurable as level or edge triggered

H 4 fast position latch inputs

H 8 digital outputs

H 8 analog inputs with 12-bit resolution, configurable as single ended inputs or differential

pairs

H CANopen protocol for peer-to-peer communications with Mint controllers and other third

party devices

H Proprietary CAN protocol for control of Baldor remote I/O devices

H Programmable in Mint.

Included with NextMove BX
utilities and useful resources to get the most from your Mint controller. These include:

II

features the Mint motion control language. Mint is a structured form of Basic,

II

include:

II

is the Baldor Motion Tookit CD. This contains a number of

2

H Mint WorkBench v5

This is the user interface for communicating with the NextMove BX
WorkBench v5 will also install firmware for NextMove BX

H PC Developer Libraries

These include ActiveX interfaces that allow PC applications to be written that
communicate with the NextMove BX

H Embedded Developer Libraries

Allows embedded C31 applications to be developed using the Texas Instruments
TMS320C3x compiler.

This manual is intended to guide you through the installation of NextMove BX

The chapters should be read in sequence.

The Basic Installation section describes the mechanical installation of the NextMove BX
The following 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.

II

.

II

.

II

. Installing

II

.

II

.

Introduction 2-1MN1904

2.2 Receiving and inspection

When you receive your NextMove BXII, there are several things you should do immediately:

1. Check the condition of the packaging and report any damage immediately to the carrier that
delivered your NextMove BX

2. Remove the NextMove BX
retained for future shipment.

3. Verify that the catalog number of the NextMove BX
number listed on your purchase order. The catalog/part number is described in the next
section.

4. Inspect the NextMove BX
the carrier that delivered it.

5. If the NextMove BX
a location that conforms to the storage humidity and temperature specifications shown in
section 7.1.10.

II

II

.

II

from the shipping container. The packing materials may be

II

you received is the same as the catalog

II

for external damage during shipment and report any damage to

is to be stored for several weeks before use, be sure that it is stored in

2.2.1 Identifying the catalog number

NextMove BXIIis available with different specifications. As a reminder of which model has
been installed, it is a good idea to write the catalog number in the space provided below.

Catalog number:

Installed in: ________________________

A description of the catalog numbers are shown in the following table:

Catalog
number

NMX004-501 NextMove BXII, for control of 2 axes

NMX004-502 NextMove BXII, for control of 3 axes

NMX004-503 NextMove BXII, for control of 4 axes

NMX004-_______

Date: ______

Description

2-2 Introduction MN1904

2.3 Units and abbreviations

The following units and abbreviations may appear in this manual:

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

WWatt..............

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

Ω Ohm...............

µF microfarad..............

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

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

Φ phase...............

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

µs microsecond..............

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

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

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

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

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

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

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

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

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

lb-in pound-inch (torque).............

Nm Newton-meter (torque).............

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

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

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

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

PC Personal Computer (IBM compatible).............

Introduction 2-3MN1904

2-4 Introduction MN1904

3.1 Introduction

3 Basic Installation

3

You should read all the sections in Basic Installation.

It is important that the correct steps are followed when installing the NextMove BX
section describes the mechanical installation and power requirements of the NextMove BX

3.1.1 Power sources

An external (customer supplied) 24VDC logic supply is required. This must be a regulated
power supply capable of providing:

H 24VDC ±20% at approximately 700mA (max) for the logic power supply

H 12 to 24VDC ±20% at approximately 400mA (max) for the isolated outputs

H 12 to 24VDC ±20% at approximately 200mA for the isolated digital inputs and fast

interrupts.

A 24V filter may be required to comply with the CE directive for which the NextMove BX
tested.

3.1.2 PC Hardware requirements

A PC that fulfills the following specification will be required:

Minimum specification Recommended specification

Processor Intel Pentium 133MHz Intel Pentium 200MHz or faster

RAM 32MB 64MB

Hard disk space 40MB 60MB

CD-ROM ACD-ROMdrive

Screen 800 x 600, 256 colors 1024 x 768, 256 colors

Mouse A mouse or similar pointing device

Operating system Windows 95, Windows 98, Windows ME,

Windows NT, Windows 2000 or Windows XP

II

.This

II

.

II

was

Basic Installation 3-1MN1904

3.1.3 Tools and miscellaneous hardware

H Your PC operating system user manual might be useful if you are not familiar with

Windows

H A small screwdriver (supplied) with a blade width less than 2.5mm (1/10 in).

H M5 screws or bolts for mounting the NextMove BX

H Crimping tool.

A connector kit is supplied with your NextMove BX
and accessories.

II

II

, containing a number of useful connectors

3.1.4 Other information needed for installation

This information is useful (but not essential) to complete the installation:

H The data sheet or manual provided with the servo drive controlling the motor, describing

the wiring information of the cables/connectors

H Knowledge of which digital inputs/outputs will be ‘Active Low’, ‘Active High’ or edge

triggered.

3-2 Basic Installation MN1904

3.2 Mechanical installation and location requirements

It is essential that you read and understand this section before beginning the
installation

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

H The NextMove BX

H The maximum suggested operating altitude is 2000m (6562ft).

H The NextMove BX

H The NextMove BX

H The NextMove BX

H The external customer supplied 24VDC for the logic supply must be installed so that the

H The inputs and outputs of the control circuit must be limited to Safety Extra Low Voltage

H The atmosphere must not contain flammable gases or vapors.

H There must not be abnormal levels of nuclear radiation or X-rays.

H The NextMove BX

H The external customer supplied 24VDC logic supply might require a 24V filter.

H Each D-type connector on the front panel of the NextMove BX

H The two D-type connectors on the top panel of the NextMove BX

.

II

must be installed indoors, permanently fixed and located so that it can

only be accessed by service personnel using tools.

II

must operate in an ambient temperature of 0°C to 40°C (32°F to

104°F).

II

must operate in relative humidity levels of less than 80% for
temperatures up to 31°C (87°F) decreasing linearly to 50% relative humidity at 40°C
(104°F) (non-condensing).

II

must be installed where the pollution degree according to IEC664
shall not exceed 2.

24VDC supplied to the unit is isolated from the AC supply using double or reinforced
insulation.

circuits.

II

must be secured by the slots in the flange, with the protective
earth/ground stud bonded to a safety earth/ground by a 25A conductor.

II

is secured using two
hexagonal jack screws (sometimes known as “screwlocks”). If a jack screw is removed
accidentally or lost it must be replaced with an identical jack screw with an external male
threaded section of 5mm (0.2 in).
Jack screws with longer threads might result in loose connections.

II

are each secured using
two hexagonal jack screws (sometimes known as “screwlocks”). If a jack screw is
removed accidentally or lost it must be replaced with an identical jack screw with an
external male threaded section of 7mm (0.28 in). Jack screws with shorter threads might
result in loose connections.

See also page 1-2.

Basic Installation 3-3MN1904

3.2.1 Mounting the NextMove BX

Ensure you have read and understood the Mechanical installation and location requirements in
section 3.2. Mount the NextMove BX
The NextMove BX
should be used.

II

must be mounted upright to ensure adequate cooling. M5 bolts or screws

II

II

on its rear side, the side opposite the front panel.

194 (7.6)

All dimensions shown as mm (inches)

203 (8.0)

(Allow additional depth to accommodate wiring)

Figure 1 - Package dimensions

58.5 (2.3)

40 (1.6)

302 (11.9)

312 (12.3)

This completes the basic installation.

You should read the following sections in

sequence before using the NextMove BX

3-4 Basic Installation MN1904

II

.

4 Input / Output

4.1 Introduction

This section describes the location and purpose of each connector on the NextMove BXII.

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...........

4.2 Connector locations - top panel

4

Jumpers

P Power
1CAN1
2CAN2

X16 / X17 CAN

1CAN1+
2CAN1­3 (NC)
4CAN0V
5 CAN V+
6 (NC)
7CAN2+
8CAN2-

X15 RS232

X14 RS485

1 Shield
2RX+
3TX+
4 (NC)
50VGND
6 (NC)
7TX­8RX­90VGND

1 Shield
2RXD
3TXD
4DTR
50VGND
6DSR
7RTS
8CTS
90VGND

Input / Output 4-1MN1904

4.3 Connector locations - front panel

X1 Digital Inputs 8-15

1DIN8
2DIN9
3DIN10
4DIN11
5DIN12
6DIN13
7DIN14
8DIN15
9 CREF
10 Shield

X3 Analog Inputs

1AIN0
2AIN1
3AIN2
4AIN3
5AIN4
6AIN5
7AIN6
8AIN7
9AGND
10 Shield

X5 Relay & User Power

1 Relay COM
2 Relay NC
3 Relay NO
4 Relay COM
5 USR V+
6 USR V+
7 CREF
8 CREF
9CGND
10 CGND

X6 Interrupts

1 FASTIN0
2 Shield
3 CREF
4 FASTIN1
5 Shield
6 CREF
7 FASTIN2
8 Shield
9 CREF
10 FASTIN3

X8 Power

1 +24V
20V
3 Shield
4 +5V out
5GND
6 +12V out
7GND
8 -12V out
9 Shield
10 Shield

Tightening torque for terminal block

connections is 0.25Nm (2.2 lb-in)

X2 Digital Inputs 0-7

1DIN0
2DIN1
3DIN2
4DIN3
5DIN4
6DIN5
7DIN6
8DIN7
9 CREF
10 Shield

X4 Digital Outputs 0-7

1DOUT0
2DOUT1
3DOUT2
4DOUT3
5DOUT4
6DOUT5
7DOUT6
8DOUT7
9 USR V+
10 CGND

X7 Demands

1AOUT0
2AGND
3AOUT1
4AGND
5AOUT2
6AGND
7AOUT3
8AGND
9AGND
10 Shield

X9 Encoder 0
X10 Encoder 1
X11 Encoder 2
X12 Encoder 3
X13 Aux Encoder

1 CHA+
2 CHB+
3 CHZ+
4 (NC)
5DGND
6 CHA­7 CHB­8 CHZ­9 +5V out

4-2 Input / Output MN1904

4.4 Power connections

24V

logi

lyi

t(1

8-30V

)

5

Voutput

p

A 24VDC, 2A supply must be provided to power the control electronics. It is recommended
that a separate fused 24V supply is provided for the NextMove BX
maximum. If other devices are to be powered from the same 24V supply, a filter (Baldor
catalog number FI0014A00) should be installed to isolate the NextMove BX
the system.

II

, with the fuse rated at 4A

4.4.1 Power - X8

Location Connector X8

Description

Connection point for 24V logic power supply input,
5V output and 12V output.

(Mating connector: Weidmüller BL 3.5/10, 3.5mm pitch)

Pin Name Description

1 +24V

2 GND

3 Shield Shield connection

4 +5V

5 GND

6 +12V

7 GND

8 -12V

9 Shield Shield connection

10 Shield Shield connection

+

+

±12V output

c supp

II

from the rest of

npu

Tightening torque for terminal block connections is 0.25Nm (2.2 lb-in). Use 60/75 or 75°C
copper (Cu) wire only.

The power connector X8 provides a connection point for the main customer supplied 24V logic
power supply. From this supply, the NextMove BX
and external use.

The 5V supply can be used to supply encoders and external circuits, to a maximum of 650mA.
The +5V and GND connections on pins 4 and 5 are connected internally to the +5V and GND
pins on connectors X9 to X13.

CAUTION: 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. This could cause violent motion of the motor shaft.

The 12V supply can be used to power external circuits, to a maximum of 200mA. However,
this supply must not be used to provide power for the digital outputs. For this, a separate
supply must be used (see sections 4.6.4 and 4.7.3).

II

creates 5V and 12V supplies for internal

Input / Output 4-3MN1904

4.5 Analog I/O

The NextMove BXIIprovides:

H Eight 12-bit resolution analog inputs, available on connector X3.

H Four 14-bit resolution analog outputs, available on connector X7.

Sections 4.5.1 to 4.5.2 describe each analog input and output.

4.5.1 Analog inputs - X3

Location Connector X6

Description

Single ended or differential inputs
Voltage range: software selectable 0-5V, ±2.5V, ±10V
Resolution: 12-bit with sign (accuracy ±4.9mV @ ±10V input)
Input impedance: >20kΩ
Sampling interval: 222µs - 2ms

The Mint keyword ADCMODE can be used to setup various configurations for the analog inputs.
H Single ended (ADCMODE 0): This is the default configuration. Each input behaves as a

single ended, unipolar input with an input range of 0-5V. The input’s 0V connection is
connected to pin 9, AGND.

H Single ended, bipolar (ADCMODE 2): Each input is a single ended, bi-polar input with an

input range of ±5V. The input’s 0V connection is connected to pin 9, AGND.

H Pseudo differential (ADCMODE 1): Inputs are used in pairs (0 and 1, 2 and 3, 4 and 5, 6 and

7) to create four differential inputs. Within each pair, the odd numbered input is the
negative input, and the even numbered input is the positive input. The input range is 0 ­5V.

(Mating connector: Weidmüller BL 3.5/10, 3.5mm pitch)

Pin Name MintMT keyword / description

1 AIN0 ADC.0
2 AIN1 ADC.1
3 AIN2 ADC.2
4 AIN3 ADC.3
5 AIN4 ADC.4
6 AIN5 ADC.5
7 AIN6 ADC.6
8 AIN7 ADC.7

9 AGND Analog ground

10 Shield Shield connection

4-4 Input / Output MN1904

H Pseudo differential, bipolar (ADCMODE 3): Inputs are used in pairs (0 and 1, 2 and 3, 4 and

5, 6 and 7) to create four differential inputs. Within each pair, the odd numbered input is the
negative input, and the even numbered input is the positive input. The input range is
±2.5V.

H True differential (ADCMODE 5): Inputs are used in pairs (0 and 1, 2 and 3, 4 and 5, 6 and 7)

to create four differential inputs. Within each pair, the odd numbered input is the negative
input, and the even numbered input is the positive input. The input range is ±10V.

When an input is selected to operate in any of the paired modes (1, 3 or 5), the other input of
the pair is automatically configured to the same mode. The differential input is referenced
using the name of the odd numbered input.

ADCMODE 4 can be used to turn off an input. When an input is turned off, the sampling
frequency for the other inputs increases proportionately, to a maximum of 4.5kHz for a single
active input.

See the Mint help file for full information about ADCMODE and analog input configuration.

AIN0
Pin 1

AIN1
Pin 2

NextMove BX

II

+12V

10k

10k 10k

-12V

10k

20k

-

+

20k

-

+

10k

56k

56k

10k

14k

10k

-

+

14k

-

+

10k

-

+

Mint

ADC.0

Mint

ADC.0

(differential
mode)

Mint

ADC.1

Figure 2 - Analog input circuit, AIN0/AIN1 pair shown

Input / Output 4-5MN1904

4.5.2 Analog outputs (Demands) - X7

1

Location Connector X7

(Mating connector: Weidmüller BL 3.5/10, 3.5mm pitch)

Pin Name MintMT keyword / description

1 Demand0 DAC.0

2 AGND Analog ground

10

3 Demand1 DAC.1

4 AGND Analog ground
5 Demand2 DAC.2

6 AGND Analog ground
7 Demand3 DAC.3

8 AGND Analog ground

9 AGND Analog ground

10 Shield Shield connection

Description

Four independent command outputs
Output range: ±10VDC (±10mV).
Resolution: 14-bit (accuracy ±1.22mV).
Output current: 1mA maximum
Update interval: Immediate

Mint and the Mint Motion Library use the analog outputs to control servo drives.
Demand outputs 0 to 3 correspond to axes 0 to 3. The analog outputs may be used to drive
loads of 10kΩ or greater. The outputs are referenced to the internal ground and are not
opto-isolated. Shielded twisted pair cable should be used. The shield connection should be
made at one end only.

NextMove BX

Demand

±100%

II

12k

1nF

14k7

-

TL084

+

+12V

-12V

Demand0
Pin 1

AGND

Figure 3 - Analog output circuit - Demand0 shown

4-6 Input / Output MN1904

4.6 Digital I/O

There are a total of 20 digital inputs. Inputs DIN0 to DIN15 are general purpose inputs, which
can be configured in Mint for any of the following functions:

H forward limit (end of travel) input on any axis

H reverse limit (end of travel) input on any axis

H home input on any axis

H drive error input on any axis

H controlled stop input on any axis.

Inputs DIN16 to DIN19 are known as fast position interrrupts and can only be used to latch
position. They cannot be used as general purpose inputs and their states cannot be read in
Mint.

Inputs can be shared between axes, and are programmable in Mint (using the keywords
INPUTACTIVELEVEL, INPUTMODE, INPUTPOSTRIGGER and INPUTNEGTRIGGER)to
determine their active level and if they should be edge triggered.

There are a 8 general purpose digital outputs. An output can be configured in Mint as a
general purpose output, a drive enable output or a general error output. Outputs can be shared
between axes and are programmable, using the Mint keyword OUTPUTACTIVELEVEL,to
determine their active level.

The outputs are driven by a current sourcing, PNP Darlington type driver, with overcurrent and
short circuit protection. Power for the outputs is derived from a customer supplied 12-24V
supply.

Input / Output 4-7MN1904

4.6.1 Digital inputs - X1

Location Connector X1

(Mating connector: Weidmüller BL 3.5/10, 3.5mm pitch)

Pin Name Mint keyword / description

1 DIN8 INX.8
2 DIN9 INX.9
3 DIN10 INX.10
4 DIN11 INX.11
5 DIN12 INX.12
6 DIN13 INX.13
7 DIN14 INX.14
8 DIN15 INX.15

9 CREF Common connection

10 Shield Shield connection

Description

Eight general purpose optically isolated AC digital inputs.
Sampling interval: 1ms

NextMove BX

II

Vcc

DINx

CREF

2k2

Active high:

DINx = 12-24VDC (±20%)
CREF =0V

TLP120

Active low:

DINx =0V
CREF = 12-24VDC (±20%)

Mint

INX.x

Figure 4 - Digital input circuit

4-8 Input / Output MN1904

The inputs are conditioned using Schmitt trigger buffers. If an input is configured as edge
triggered, the triggering pulse must have a duration of at least 1ms (one software scan) to
guarantee acceptance by Mint. The use of shielded cable for inputs is recommended.

Active high: connect +24VDC to the input and 0V to pin 9 (CREF).
The digital inputs will be active when a voltage of +24VDC (greater than 12VDC) is applied to
them and will sink a current of approximately 11mA each.

Active low: connect +24VDC to pin 9 (CREF) and 0V to the input.
The digital inputs will be active when grounded (<2V) and will source a maximum of 11mA
each.

Note: Sustained input voltages above 28V will damage the inputs.

4.6.2 Digital inputs - X2

1

10

The inputs are electrically identical to inputs DIN8 to DIN15 described in section 4.6.1.

Location Connector X2

(Mating connector: Weidmüller BL 3.5/10, 3.5mm pitch)

Pin Name Mint keyword / description

1 DIN0 INX.0
2 DIN1 INX.1
3 DIN2 INX.2
4 DIN3 INX.3
5 DIN4 INX.4
6 DIN5 INX.5
7 DIN6 INX.6
8 DIN7 INX.7

9 Common Common connection

10 Shield Shield connection

Description

Eight general purpose optically isolated AC digital inputs.
Sampling interval: 1ms

Input / Output 4-9MN1904

4.6.3 Digital inputs (Interrupts) - X6

Digital inputs FASTIN0 to FASTIN3 can be used as high speed position latches, allowing any
combination of axes to be captured by the hardware. Using FASTIN0, the latency between
input triggering and capture is 30µs. Using FASTIN1 to FASTIN3, latency is 1ms. Special Mint
keywords (beginning with the letters FAST...) allow specific functions to be performed as a
result of fast position inputs becoming active. See the Mint help file for details.

1

Location

Connector X6
(Mating connector: Weidmüller BL 3.5/10, 3.5mm pitch)

Pin Name Mint keyword / description

1 FASTIN0 FASTSELECT.0

2 Shield Shield connection

10

3 CREF Common connection
4 FASTIN1 FASTSELECT.1

5 Shield Shield connection

6 CREF Common connection
7 FASTIN2 FASTSELECT.2

8 Shield Shield connection

9 CREF Common connection

10 FASTIN3 FASTSELECT.3

Description

Four fast position digital inputs.

Note: The fast inputs are particularly sensitive to noise, so inputs must use shielded

twisted pair cable. Do not connect mechanical switches, relay contacts or other
sources liable to signal ‘bounce’ directly to the fast inputs. This could cause
unwanted multiple triggering.

NextMove BX

FASTIN x

CREF

II

Vcc

2k2

Mint

100pF

TLP115

Active high:

FASTIN x = 12-24VDC (±20%)
CREF =0V

Active low:

FASTIN x =0V
CREF = 12-24VDC (±20%)

Figure 5 - Digital input circuit - fast interrupts

4-10 Input / Output MN1904

4.6.4 Digital outputs - X4

1

Location Connector X4

(Mating connector: Weidmüller BL 3.5/10, 3.5mm pitch)

Pin Name Mint keyword / description

1 DOUT0 OUTX.0
2 DOUT1 OUTX.1

10

3 DOUT2 OUTX.2
4 DOUT3 OUTX.3
5 DOUT4 OUTX.4
6 DOUT5 OUTX.5
7 DOUT6 OUTX.6
8 DOUT7 OUTX.7

9 USR V+ Customer power supply V+

10 CGND Customer power supply ground

Description

Eight general purpose optically isolated digital outputs.
Output current: 50mA maximum (continuous) each output
Update interval: Immediate

Each optically isolated output is designed to source current from the customer supplied
12-24V supply (USR V+) as shown in Figure 6. The outputs can be written to directly using
the Mint keyword OUTX (for example OUTX.2=1).
The sense of the outputs can be configured in WorkBench v5, and their states are displayed in
the Spy window. The use of shielded cable is recommended.

NextMove BX

OUTX.x

II

UDN2987
Output

TLP121

module

USR V+

DOUTx

Output
load

CGND

Figure 6 - Digital output circuit

The USR V+ and CGND connections on pins 9 and 10 are connected internally to the USR V+
and CGND pins on connector X5. See section 4.7.3.

Input / Output 4-11MN1904