Baldor iMN1921 User Manual
MOTION CONTROL
NextMove ST
Motion Controller
Installation Manual
2/03 MN1921
Contents
1 General Information 1-1.................................
2 Introduction 2-1........................................
2.1 NextMove ST features 2-1...................................
2.2 Receiving and inspection 2-2................................
2.3 Units and abbreviations 2-3..................................
3 Basic Installation 3-1....................................
3.1 Introduction 3-1............................................
3.1.1 Location requirements 3-1..........................................
3.1.2 Mounting the NextMove ST 3-2......................................
3.1.3 Other requirements for installation 3-3................................
4 Input / Output 4-1......................................
4.1 Introduction 4-1............................................
4.1.1 Connector locations 4-2............................................
4.2 Power connections 4-3......................................
4.2.1 Operation using combined drive and logic supply 4-3....................
4.2.2 Operation using separate drive and logic supplies 4-4...................
4.3 Stepper outputs 4-5.........................................
4.3.1 Stepper axes 0-2 drive outputs 4-5...................................
4.3.2 Stepper axes 0-3 logic outputs 4-8...................................
4.4 Analog I/O 4-9.............................................
4.4.1 Analog inputs 4-9..................................................
4.4.2 Analog output 4-10..................................................
4.5 Digital I/O 4-11..............................................
4.5.1 Digital inputs 4-11..................................................
4.5.2 Digital outputs 4-13.................................................
4.5.3 Error output 4-14...................................................
4.6 Other I/O 4-15..............................................
4.6.1 RS232 serial communication 4-15.....................................
4.6.2 50-pin edge connector 4-16..........................................
4.6.3 CAN communication 4-17............................................
4.7 Connection summary - minimum system wiring 4-19.............
MN1921
Contents i
5 Operation 5-1..........................................
5.1 Introduction 5-1............................................
5.1.1 Connecting the NextMove ST to the PC 5-1............................
5.1.2 Installing WorkBench v5 5-1.........................................
5.1.3 Starting the NextMove ST 5-1.......................................
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...............................................
5.4 Stepper axis - testing 5-8....................................
5.4.1 Testing the output 5-8..............................................
5.5 Digital input/output configuration 5-9..........................
5.5.1 Digital input configuration 5-9........................................
5.5.2 Digital output configuration 5-10.......................................
5.6 Saving setup information 5-11.................................
5.6.1 Loading saved information 5-12.......................................
6 Troubleshooting 6-1....................................
6.1 Introduction 6-1............................................
6.1.1 Problem diagnosis 6-1..............................................
6.1.2 SupportMe feature 6-1.............................................
6.2 NextMove ST indicators 6-2.................................
6.2.1 Status display 6-2.................................................
6.2.2 Surface mount LEDs D3, D4 and D16 6-3.............................
6.2.3 Communication 6-4................................................
6.2.4 Motor control 6-4..................................................
7 Specifications 7-1......................................
7.1 Introduction 7-1............................................
7.1.1 Input power 7-1...................................................
7.1.2 Output power (Power Out connector) 7-1..............................
7.1.3 Analog inputs 7-2..................................................
7.1.4 Analog output 7-2..................................................
7.1.5 Digital inputs 7-2..................................................
7.1.6 Digital outputs 7-3.................................................
7.1.7 Stepper axis 0-2 drive outputs 7-3....................................
7.1.8 Stepper axes 0-3 logic outputs 7-3...................................
7.1.9 CAN interface 7-4.................................................
7.1.10 Environmental 7-4.................................................
7.1.11 Weights and dimensions 7-4........................................
ii Contents
MN1921
Teleph
61296745455
1 General Information
LT0184A00 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
disclaims any implied warranties of fitness for any particular purpose. The information in this
document is subject to change without notice.
BALDOR assumes no responsibility for any errors that may appear in this document.
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.
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.
Baldor UK Ltd
Mint Motion Centre
6 Bristol Distribution Park
Hawkley Drive
Bristol, BS32 0BF
Telephone: +44 (0) 1454 850000
Fax: +44 (0) 1454 850001
Email: technical.support@baldor.co.uk
Web site: www.baldor.co.uk
Baldor Electric Company
Telephone: +1 479 646 4711
Fax: +1 479 648 5792
Email: sales@baldor.com
Web site: www.baldor.com
Baldor ASR GmbH
Telephone: +49 (0) 89 90508-0
Fax: +49 (0) 89 90508-492
Baldor ASR AG
Telephone: +41 (0) 52 647 4700
Fax: +41 (0) 52 659 2394
Australian Baldor Pty Ltd
one: +
Fax: +61 2 9674 2495
Baldor Electric (F .E.) Pte Ltd
Telephone: +65 744 2572
Fax: +65 747 1708
Baldor Italia S.R.L
Telephone: +39 (0) 11 56 24 440
Fax: +39 (0) 11 56 25 660
1
General Information 1-1MN1921
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.
Precautions
WARNING: Do not touch any circuit board, power device or electrical connection before you
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
CAUTION: The safe integration of this equipment into a machine system is the responsibility
CAUTION: Electrical components can be damaged by static electricity. Use ESD
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.
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.
achieving a safety critical stop. Drive disable, motor disconnect, motor brake and
other means should be used as appropriate.
and driven equipment. Be certain that unexpected motor shaft movement will not
cause injury to personnel or damage to equipment. Peak torque of several times
the rated motor torque can occur during control failure.
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.
(electrostatic discharge) procedures when handling this drive.
1-2 General Information MN1921
2 Introduction
2.1 NextMove ST features
NextMove ST is a high performance multi-axis intelligent controller for stepper motors.
NextMove ST features the MintMT motion control language. MintMT is a structured form of
Basic, custom designed for stepper or servo motion control applications. It allows you to get
started very quickly with simple motion control programs. In addition, MintMT includes a wide
range of powerful commands for complex applications.
2
Standard features include:
H Three stepper drive outputs, with control for a fourth external stepper axis
H Integral AC/DC power supply
H Point to point moves, software cams and gearing
H 24 general purpose 5V digital inputs, software configurable as level or edge triggered
H 16 general purpose digital outputs (open collector Darlington type)
H 2 differential ±10V analog inputs with 12-bit resolution
H 1 single-ended 0-11V analog output with 8-bit resolution for control of a fifth axis or other
equipment
H Programmable in MintMT.
Introduction 2-1MN1921
Included with NextMove ST is the Baldor Motion Toolkit CD. This contains a number of utilities
and useful resources to get the most from you MintMT controller. These include:
H Mint WorkBench v5
This is the user interface for communicating with the NextMove ST. Installing Mint
WorkBench will also install firmware for NextMove ST.
H PC Developer Libraries
Installing Mint WorkBench will install ActiveX interfaces that allow PC applications to be
written that communicate with the NextMove ST.
H Embedded Developer Libraries
Allows embedded C33 applications to be developed using the Texas Instruments
TMS320C3x v5.11 compiler.
This manual is intended to guide you through the installation of NextMove ST.
The chapters should be read in sequence.
The Basic Installation section describes the mechanical installation of the NextMove ST.
The following sections require knowledge of the low level input/output requirements of the
installation and an understanding of computer software installation. If you are not qualified in
these areas you should seek assistance before proceeding.
Note: You can check that you have the latest firmware and WorkBench v5 releases by
visiting the website www.supportme.net.
2.2 Receiving and inspection
When you receive your NextMove ST, 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 ST.
2. Remove the NextMove ST from the shipping container but do not remove it from its anti-static
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 ST 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 ST for external damage during shipment and report any damage to
the carrier that delivered it.
5. If the NextMove ST 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 Introduction MN1921
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............
Introduction 2-3MN1921
2-4 Introduction MN1921
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 ST.
This section describes the mechanical installation of the NextMove ST.
3.1.1 Location requirements
You must read and understand this section before beginning the installation.
3
CAUTION: To prevent equipment damage, be certain that input and output signals
CAUTION: To ensure reliable performance of this equipment be certain that all
CAUTION: Avoid locating the NextMove ST immediately above or beside heat
CAUTION: Avoid locating the NextMove ST in the vicinity of corrosive substances or
The safe operation of this equipment depends upon its use in the appropriate environment.
The following points must be considered:
H The NextMove ST is designed to be mounted indoors, permanently fixed and located.
H The NextMove ST must be secured by the slots in the metal carrier.
H The NextMove ST must be installed in an ambient temperature of 0°C to 40°C (32°F to
104°F).
H The NextMove ST must be installed in relative humidity levels of less than 80% for
temperatures up to 31°C (87°F) decreasing linearly to 50% relative humidity at 40°C
(104°F), non-condensing.
H The NextMove ST must be installed where the pollution degree according to IEC664 shall
not exceed 2.
H There shall not be abnormal levels of nuclear radiation or X-rays.
are powered and referenced correctly.
signals to/from the NextMove ST are shielded correctly.
generating equipment, or directly below water steam pipes.
vapors, metal particles and dust.
Basic Installation 3-1MN1921
3.1.2 Mounting the NextMove ST
CAUTION: Before touching the unit be sure to discharge static electricity from your
body and clothing by touching a grounded metal surface. Alternatively,
wear an earth strap while handling the unit.
Ensure you have read and understood the location requirements in section 3.1.1. Mount the
NextMove ST by the four slots in the metal carrier/heatsink assembly. M5 bolts or screws are
recommended.
Slot detail
6.5 (0.26)
6 (0.24)
140 (5.51)
All dimensions shown as
mm (inches)
53 (2.09)
213 (8.39)
263 (10.35)
127 (5.00)
Figure 1 - Package dimensions
There must be at least 20mm clearance between the NextMove ST and neighboring
equipment to allow sufficient cooling by natural convection. Remember to allow additional
space around the edges to accommodate the mating connectors and associated wiring
leading to the NextMove ST.
3-2 Basic Installation MN1921
3.1.3 Other requirements for installation
H The NextMove ST requires a power supply as described in section 4.2.
H A PC that fulfills the following specification:
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
Serial port One free RS232 serial (COM) port
Screen 800 x 600, 256 colors 1024 x 768, 256 colors
Mouse A mouse or similar pointing device
Operating
system
Software installation will be described later, in section 5.
H Your PC operating system user manual might be useful if you are not familiar with Windows.
Windows 95, Windows 98, Windows ME,
Windows NT, Windows 2000 or Windows XP
Basic Installation 3-3MN1921
3-4 Basic Installation MN1921
4 Input / Output
4.1 Introduction
This section describes the digital and analog input and output capabilities of the NextMove ST .
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
Input / Output 4-1MN1921
4.1.1 Connector locations
Shield
Shield
Shield
AIN0+
AIN0-
AIN1+
AIN1-
AGND
Shield
DOUT0
DOUT1
DOUT2
DOUT3
DOUT4
DOUT5
DOUT6
DOUT7
OUT COM0
DGND
Shield
Shield
DOUT8
DOUT9
DOUT10
DOUT11
DOUT12
DOUT13
DOUT14
DOUT15
OUT COM1
DGND
Shield
Shield
DGND
DIN8
DIN9
DIN10
DIN11
DIN12
DIN13
DIN14
DIN15
DGND
Shield
D0
C0
B0
A0
D1
C1
B1
A1
1
2
Axis0
3
Output
4
5
1
2
Axis1
3
Output
4
5
1
2
Analog
3
4
Inputs
5
6
1
2
3
4
5
Digital
6
7
Outputs
8
0-7
9
10
11
12
1
2
3
4
5
Digital
6
7
Outputs
8
8-15
9
10
11
12
1
2
3
4
Digital
5
6
Inputs
7
8-15
8
9
10
11
12
Serial
Axis2
Output
Power
Power
Out
Digital
Inputs
0-7
Digital
Inputs
16-23
Misc
In
12
11
10
12
11
10
12
11
10
Shield
5
A2
4
B2
3
C2
2
D2
1
PSU Logic
5
PSU Logic
4
Shield
3
PSU Drive
2
PSU Drive
1
Shield
6
-12V OUT
5
Shield
4
+12V OUT
3
DGND
2
+5V OUT
1
Shield
DGND
DIN7
DIN6
9
DIN5
8
DIN4
7
DIN3
6
DIN2
5
DIN1
4
DIN0
3
DGND
2
Shield
1
Shield
DGND
DIN23
DIN22
9
DIN21
8
DIN20
7
DIN19
6
DIN18
5
DIN17
4
DIN16
3
DGND
2
Shield
1
Shield
DGND
AUXZ IN
AUXDIR IN
9
AUXSTEP IN
8
BOOST2
7
DIR2
6
STEP2
5
DGND
4
(NC)
3
SGND
2
SOUT
1
Mating connectors:
Weidmüller Omnimate BL 3.5/12
Tightening torque for terminal block
connections is 0.25Nm (2.2 lb-in)
Weidmüller Omnimate BL 3.5/6
Weidmüller Omnimate BLZ 5.08/5
50-pin connector (not used)
9-pin D-type socket (female)
4-2 Input / Output MN1921
4.2 Power connections
The NextMove ST can accept AC or DC power supplies, and has connections for separate
drive and logic supplies. However, the NextMove ST can operate from a single combined
supply if necessary.
Supply
connection
Recommended
supply voltage
Supply voltage
range
Logic 24VDC 12-35VDC 60W
24VAC 12-30VAC 60VA
Drive 24VDC 12-35VDC
(must not exceed 6A)
24VAC 12-30VAC
(must not exceed 6A RMS)
Combined
drive and logic
24VDC 12-35VDC
(must not exceed 8.5A)
24VAC 12-30VAC
(must not exceed 8.5A RMS)
4.2.1 Operation using combined drive and logic supply
To operate the NextMove ST using a combined drive and logic supply, it is necessary to
connect links between the power input connections as shown in Figure 2. The drive and logic
supply inputs have independent bridge rectifiers so polarity is not important. The NextMove ST
creates its own ±12V and +5V supplies for the control card and internal circuitry by deriving
power from the drive supply.
POWER IN
Rectifier
(logic)
Rectifier
(drive)
Fuse
Fuse
5
4
3
2
1
Power
requirement
150W
150VA
210W
210VA
PSU Drive:
12-35VDC or
12-30VAC
Figure 2 - Linking supply inputs to operate from drive supply only
The regulated ±12V and +5V supplies are made available on the power out connector, for use
with low power external circuitry, such as input potentiometers. Current demand must not
exceed 10mA from the ±12V supply and 200mA from the 5V supply.
Input / Output 4-3MN1921
4.2.2 Operation using separate drive and logic supplies
For improved noise immunity, the ±12V and +5V supplies used for the control card and internal
circuitry can be derived from a separate logic supply. To operate the NextMove ST using
separate drive and logic supplies, do not link power input connector pins. Connect power as
shown in Figure 3.
POWER IN
Rectifier
(logic)
Rectifier
(drive)
Fuse
Fuse
5
4
3
2
1
Figure 3 - Connecting separate drive and logic supplies
PSU Logic:
12-35 VDC or
12-30 VAC
PSU Drive:
12-35 VDC or
12-30 VAC
4-4 Input / Output MN1921
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