Baldor MN1903 User Manual

MOTION CONTROL

NextMove PCI

Motion Controller

Installation Manual

3/02 MN1903

Contents

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

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

2.1 NextMove PCI 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....................................

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

3.1.1 Hardware requirements 3-1.........................................

3.1.2 Tools and miscellaneous hardware 3-1................................

3.1.3 Other information needed for installation 3-1...........................

3.2 Location requirements 3-2...................................

3.3 Installation 3-3.............................................

3.3.1 Installing the NextMove PCI card 3-3.................................

3.3.2 NextMove PCI Expansion card and CAN Bracket board 3-3..............

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

4.1 Outline 4-1................................................

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

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

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

4.3.1 Analog inputs - X6 4-5..............................................

4.3.2 Analog outputs (Drive Demand/Command) - X7 4-7.....................

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

4.4.1 Digital inputs - X1 4-10..............................................

4.4.2 Digital inputs - X2 4-11..............................................

4.4.3 Digital inputs - X3 4-12..............................................

4.4.4 Digital outputs - X4 4-13.............................................

4.4.5 Digital outputs - X5 4-14.............................................

4.5 Other I/O 4-15..............................................

4.5.1 Encoder interfaces - X12, X13, X14, X15, X16 4-15......................

4.5.2 Encoder input frequency 4-16........................................

4.5.3 Power - X9 4-17....................................................

4.5.4 Relay and CAN power - X8 4-18......................................

4.5.5 Stepper drive outputs - X10, X11 4-19..................................

MN1903

Contents i

4.6 CAN Connections 4-20.......................................

4.6.1 CAN1 (CANopen) - X17 4-21.........................................

4.6.2 CAN2 (Baldor CAN) - X18 4-22.......................................

4.7 Other I/O 4-23..............................................

4.7.1 Emulator connection 4-23............................................

4.8 Reset states 4-23...........................................

4.8.1 System watchdog 4-23..............................................

4.9 Connection summary - minimum system wiring 4-24.............

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

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

5.1.1 Installing the driver software - Windows 95, 98 and ME 5-1...............

5.1.2 Installing the driver software - Windows NT 5-2.........................

5.1.3 Installing the driver software - Windows 2000 5-2.......................

5.1.4 Installing WorkBench v5 5-3.........................................

5.1.5 Starting WorkBench v5 5-4..........................................

5.2 WorkBench v5 5-7..........................................

5.2.1 Help file 5-7......................................................

5.3 Configuring an axis 5-8.....................................

5.3.1 Choosing an axis - 1, 2, 3 and 4 axis cards 5-8.........................

5.3.2 Choosing an axis - 8 axis card 5-8...................................

5.3.3 Selecting a scale 5-9...............................................

5.3.4 Setting the drive enable output 5-10...................................

5.3.5 Testing the drive enable output 5-11...................................

5.4 Servo axis - testing and tuning 5-12............................

5.4.1 Testing the drive command output 5-12.................................

5.4.2 An introduction to closed loop control 5-13..............................

5.5 Servo axis - tuning for current control 5-16......................

5.5.1 Selecting servo loop gains 5-16.......................................

5.5.2 Underdamped response 5-18.........................................

5.5.3 Overdamped response 5-19..........................................

5.5.4 Critically damped response 5-20......................................

5.6 Servo axis - eliminating steady-state errors 5-21.................

5.7 Servo axis - tuning for velocity control 5-22.....................

5.7.1 Calculating KVELFF 5-22............................................

5.7.2 Adjusting KPROP 5-25..............................................

5.8 Stepper axis - testing 5-27....................................

5.8.1 Testing the drive command output 5-27.................................

5.9 Digital input/output configuration 5-28..........................

5.9.1 Digital input configuration 5-28........................................

5.9.2 Digital output configuration 5-29.......................................

5.10 Saving setup information 5-30.................................

5.10.1 Loading saved information 5-31.......................................

ii Contents

MN1903

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 PCI indicators 6-2.................................

6.2.1 Status and CAN LEDs 6-2..........................................

6.2.2 Communication 6-3................................................

6.2.3 Motor control 6-3..................................................

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

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

7.1.1 Mechanical specifications 7-1.......................................

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

7.1.3 Analog outputs (Drive Demand/Command - X7) 7-2.....................

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

7.1.5 Digital inputs (X3) 7-2..............................................

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

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

7.1.8 Encoder interfaces (X12 - X16) 7-3...................................

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

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

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

Appendices

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

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

A.1.1 NextMove PCI Expansion card A-1...................................

A.1.2 Axis numbering when using expansion card(s) A-2......................

A.1.3 Expansion card status LEDs A-3.....................................

A.1.4 NextMove PCI Breakout module A-4..................................

A.1.5 Digital output modules A-5..........................................

A.1.6 NextMove PC system adapter A-5....................................

A.1.7 Spares A-5.......................................................

A.1.8 Baldor CAN nodes A-6.............................................

A.1.9 NextMove PCI CAN Bracket board A-7................................

A.1.10 Encoder Splitter/Buffer board A-7.....................................

MN1903

Contents iii

iv Contents

MN1903

Teleph

61296745455

1 General Information

LT0166A00 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.
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 1-1MN1903

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: 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. Only
qualified personnel should attempt to start-up, program or troubleshoot this
equipment.

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.

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.

(electro-static discharge) procedures when handling this drive.

1-2 General Information MN1903

2 Introduction

2.1 NextMove PCI features

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

2

NextMove PCI 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.

Standard features include:

H Control of up to eight axes

H Point to point moves, software cams and gearing

H 20 digital inputs, software configurable as level or edge triggered

H 12 digital outputs with NPN (FET) or PNP (Darlington) options available

H 4 differential analog inputs with 12-bit resolution

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

third party devices

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

H Programmable in MintMT

Introduction 2-1MN1903

Included with NextMove PCI 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 PCI. Installing Mint
WorkBench will also install firmware for NextMove PCI.

H PC Developer Libraries

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

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 PCI.

The chapters should be read in sequence.

The Basic Installation section describes the mechanical installation of the NextMove PCI.
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 MN1903

2.2 Receiving and inspection

When you receive your NextMove PCI, 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. Remove the NextMove PCI from the shipping container but do not remove 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 PCI 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 for external damage during shipment and report any damage to
the carrier that delivered it.

5. If the NextMove PCI 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 3.2.

2.2.1 Identifying the catalog number

NextMove PCI 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.

Catalog number:

Installed in: ________________________

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

Catalog
number

PCI001-501 NMPCI main card with PNP digital outputs, 1 axis

PCI001-502 NMPCI main card with PNP digital outputs, 2 axes

PCI001-503 NMPCI main card with PNP digital outputs, 3 axes

PCI001-504 NMPCI main card with PNP digital outputs, 4 axes

PCI001-505 NMPCI main card with PNP digital outputs, 8 axes

PCI001-510 NMPCI main card with NPN digital outputs, 1 axis

PCI001-511 NMPCI main card with NPN digital outputs, 2 axes

PCI001-512 NMPCI main card with NPN digital outputs, 3 axes

PCI001-508 NMPCI main card with NPN digital outputs, 4 axes

PCI001-513 NMPCI main card with NPN digital outputs, 8 axes

PCI001-_______

Description

Date: ______

Introduction 2-3MN1903

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............

2-4 Introduction MN1903

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

3.1.1 Hardware requirements

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

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

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

3

PCI slot One spare PCI slot

3.1.2 Tools and miscellaneous hardware

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

H A small cross-head screwdriver for fitting the card.

3.1.3 Other information needed for installation

You will need the following information to complete the installation:

H Knowledge of which digital inputs/outputs will be ‘Active Low’ or ‘Active High’ to meet the

requirements and specification of the system you are going to build.

Basic Installation 3-1MN1903

3.2 Location requirements

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

.

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 PCI or host PC immediately above or beside

CAUTION: Avoid locating the NextMove PCI or host PC in the vicinity of corrosive

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

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

accessed by service personnel using tools.

H The maximum suggested operating altitude is 6560ft (2000m).

H The NextMove PCI must be installed in an ambient temperature of 32°F to 104°F

(0°C to 40°C).

H The NextMove PCI must be installed in relative humidity levels of less than 80% for

temperatures up to 87°F (31°C) decreasing linearly to 50% relative humidity at 104°F
(40°C) (non-condensing).

H The NextMove PCI must be installed where the pollution degree according to IEC664 shall

not exceed 2.

H Power is supplied to the card from the host PC power supply bus.

H The atmosphere shall not contain flammable gases or vapors.

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

are powered and referenced correctly.

signals to/from the NextMove PCI are shielded correctly.

heat generating equipment, or directly below water steam pipes.

substances or vapors, metal particles and dust.

3-2 Basic Installation MN1903

3.3 Installation

NextMove PCI can be installed into an AT style personal computer that has a free 7 inch PCI
card slot. The Baldor Motion Toolkit CD supports the following operating systems:
Windows 95, Windows 98, Windows ME, Windows NT4 and Windows 2000.

3.3.1 Installing the NextMove PCI card

CAUTION: Before touching the card, be sure to discharge static electricity from your

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.

If you are also installing NextMove PCI expansion card(s) or a CAN Bracket board see section

3.3.2 before continuing with step 11.

11. Replace the computer cover and screws.

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

body and clothing by touching a grounded metal surface. Alternatively,
wear an earth strap while handling the card.

3.3.2 NextMove PCI Expansion card and CAN Bracket board

1. Remove the backplate and install the NextMove PCI expansion card in the neighboring slot
on the component side of the main NextMove PCI card. See sections A.1.1 for details about
connections to the NextMove PCI card.

2. If you are installing a CAN Bracket board, remove the backplate from a spare PCI slot location
and install the card. See sections 4.6 and A.1.9 for details about the connections to the
NextMove PCI card.

This completes the basic installation.

You should read the following sections in

sequence before using the NextMove PCI.

Basic Installation 3-3MN1903

3-4 Basic Installation MN1903

4 Input / Output

4.1 Outline

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

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 card are made using the 100-pin cable assembly and DIN
rail mounted NextMove PCI Breakout module (supplied as options, see Appendix A).
All connector numbers in the following sections refer to the breakout module.

4.2 100-pin edge connector

100 50

4

51 1

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

Input / Output 4-1MN1903

4.2.1 100-pin connector pin assignment

Pin Signal Pin Signal

1 AIN0+ 51 AIN1+

2 AIN0- 52 AIN1-

3 AIN2+ 53 AIN3+

4 AIN2- 54 AIN3-

5 Demand0 55 Demand1

6 Demand2 56 Demand3

7 Analog GND 57 GND

8 GND 58 +5V out

9 CAN1 transmit 59 CAN2 transmit

10 CAN1 receive 60 CAN2 receive

11 Encoder 2 CHA- 61 Encoder 0 CHA-

12 Encoder 2 CHA+ 62 Encoder 0 CHA+

13 Encoder 2 CHB- 63 Encoder 0 CHB -

14 Encoder 2 CHB+ 64 Encoder 0 CHB+

15 Encoder 2 CHZ- 65 Encoder 0 CHZ-

16 Encoder 2 CHZ+ 66 Encoder 0 CHZ+

17 Encoder 3 CHA- 67 Encoder 1 CHA -

18 Encoder 3 CHA+ 68 Encoder 1 CHA+

19 Encoder 3 CHB- 69 Encoder 1 CHB -

20 Encoder 3 CHB+ 70 Encoder 1 CHB+

21 Encoder 3 CHZ- 71 Encoder 1 CHZ-

22 Encoder 3 CHZ+ 72 Encoder 1 CHZ+

23 Master encoder CHA- 73 Master encoder CHB-

24 Master encoder CHA+ 74 Master encoder CHB+

25 Master encoder CHZ- 75 Master encoder CHZ+

26 Step Output 0 76 +5V out

27 Step Output 2 77 Direction Output 0

28 Step Output 1 78 Direction Output 2

4-2 Input / Output MN1903

Pin SignalPinSignal

29 Direction Output 1 79 Direction Output 3

30 Step Output 3 80 DOUT11

31 DOUT10 81 USR V+

32 DOUT9 82 DOUT8

33 DOUT7 83 USR V+

34 DOUT6 84 DOUT5

35 DOUT4 85 CGND

36 DOUT3 86 DOUT2

37 DOUT1 87 CGND

38 DOUT0 88 Common2

39 DIN19 89 DIN17

40 DIN18 90 DIN16

41 DIN15 91 DIN13

42 DIN14 92 DIN12

43 DIN11 93 DIN9

44 DIN10 94 DIN8

45 DIN7 95 DIN5

46 DIN6 96 DIN4

47 DIN3 97 DIN1

48 DIN2 98 DIN0

49 Common1 99 Relay NC

50 Relay COM 100 Relay NO

Table 1 - 100-pin connector pin assignment

Input / Output 4-3MN1903

4.3 Analog I/O

The NextMove PCI provides:

H Four 12-bit resolution analog inputs.

The inputs are available on connector X6 on the NextMove PCI Breakout module.

H Four 14-bit resolution analog outputs.

The outputs are available on connector X7 on the NextMove PCI Breakout module.

Sections 4.3.1 to 4.3.2 describe each analog input and output.

4-4 Input / Output MN1903

4.3.1 Analog inputs - X6

A

A

A

A

12

1

Description

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

Location Breakout module, connector X6

Pin Name MintMT keyword / description

1 AGND Analog ground

2 AIN0+

3 AIN0-

4 AIN1+

5 AIN1-

6 Shield Shield connection

7 AGND Analog ground

8 AIN2+

9 AIN2-

10 AIN3+

11 AIN3-

12 Shield Shield connection

IN0

IN1

IN2

IN3

Shielded twisted pairs should be used and connected as shown in Figure 1. The shield
connection should be made at one end only. The analog inputs pass through a differential
buffer and second order Butterworth filter with a cut-off frequency of 1kHz. Both the filtered
and unfiltered signals are converted using a multiplexed 12-bit ADC. This has four input
voltage ranges that can be selected in MintMT using the ADCMODE keyword.

Input / Output 4-5MN1903

AIN0-

AGND

Breakout

module

X6

3

2

1

NextMove PCI

100

pin

cable -

-

+AIN0+

+

MintMT

ADC.0

Figure 1 - Analog input wiring, AIN0 shown

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.

4-6 Input / Output MN1903

4.3.2 Analog outputs (Drive Demand/Command) - X7

Location Breakout module, connector X7

12

Pin Name Description

1 Demand0 Demand output signal for axis 0

2 AGND Analog ground

1

Description

Four independent command outputs
Output range: ±10VDC (±0.1%).
Resolution: 14-bit (accuracy ±1.22mV).
Output current: 1mA maximum
Update frequency: Immediate

3 Shield Shield connection

4 Demand1 Demand output signal for axis 1

5 AGND Analog ground

6 Shield Shield connection

7 Demand2 Demand output signal for axis 2

8 AGND Analog ground

9 Shield Shield connection

10 Demand Demand output signal for axis 3

11 AGND Analog ground

12 Shield Shield connection

MintMT and the Mint Motion Library use the analog outputs to control servo drives.
Demand / Command 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 PC system ground.
Shielded twisted pair cable should be used. The shield connection should be made at one end
only.

NextMove PCI

Demand

±100%

10k 10k

160k

-

+

100

pin

cable

Breakout

module

X7

1

2

Demand0

AGND

Figure 2 - Analog output circuit - Demand0 shown

Input / Output 4-7MN1903

4.4 Digital I/O

X

3-Fast

itioni

C

1

X

C

2

X

1-G

There are a total of 20 general purpose digital inputs. Inputs can be configured in MintMT 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.

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 :

Common Breakout module connector

Input

DIN0

DIN1

DIN2

DIN3

DIN4

DIN5

DIN6

DIN7

DIN8

DIN9

DIN10

DIN11

DIN12

DIN13

DIN14

DIN15

DIN16

DIN17

DIN18

DIN19

ommon

ommon

pos

2 - General purpose inputs

eneralpurposeinputs

nputs

Table 2 - Digital input arrangement

4-8 Input / Output MN1903

Inputs can be shared between axes, and are programmable in MintMT (using the keywords
INPUTACTIVELEVEL, INPUTMODE, INPUTPOSTRIGGER and INPUTNEGTRIGGER)to
determine their active level and if they should be edge triggered. Four of the inputs,
DIN0-DIN3, are fast position latch inputs.

There are a total of 12 general purpose digital outputs. An output can be configured in MintMT
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 MintMT keyword
OUTPUTACTIVELEVEL, to determine their active level.

The outputs are driven by a module fitted to the NextMove PCI card. Two module types are
available:

H Current sourcing, PNP Darlington with overcurrent and short circuit protection

(OPT025-507, fitted as standard).

H Current sinking, open drain N -channel MOSFET (OPT025-508).

If further digital outputs are required, an expansion card is recommended (see section A.1.1).
If an expansion card is not available, unused stepper axes can be configured as Off, and their
direction and pulse output pins then used as outputs. See the MintMT keywords CONFIG and
STEPPERIO.

Input / Output 4-9MN1903

4.4.1 Digital inputs - X1

C

2

12

1

Description

Eight general purpose optically isolated AC digital inputs.
Sampling frequency: 1kHz

Location Breakout module, connector X1

Pin Name MintMT keyword /

description

1 Shield Shield connection
2 DIN12 INX.12
3 DIN13 INX.13
4 DIN14 INX.14
5 DIN15 INX.15
6 DIN16 INX.16
7 DIN17 INX.17
8 DIN18 INX.18
9 DIN19 INX.19

10 Shield Shield connection

11 - (NC)

12 Common2 Common connection

Common

ommon

100

pin

cable

NextMove PCI

Vcc

Active low:

DINx =0V
Common2 = 12-24VDC (±20%)

DIN12

Common2

Breakout

module

X1

2

12

Active high:

DINx = 12-24VDC (±20%)
Common2 =0V

Figure 3 - Digital input circuit - DIN12 shown

4-10 Input / Output MN1903

MintMT

INX.12

DGND

The inputs are conditioned using low pass RC filters and Schmitt trigger buffers. If an input is

C

1

C

2

configured as edge triggered, the triggering pulse must have a duration of at least 1ms (one
software scan) to guarantee acceptance by MintMT. Voltages below 2V are considered as 0V.
The use of shielded cable for inputs is recommended.

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

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

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

4.4.2 Digital inputs - X2

Location Breakout module, connector X2

12

Pin Name MintMT keyword /

1 Shield Shield connection
2 DIN4 INX.4

1

Description

Eight general purpose optically isolated AC digital inputs.

3 DIN5 INX.5
4 DIN6 INX.6
5 DIN7 INX.7
6 DIN8 INX.8
7 DIN9 INX.9
8 DIN10 INX.10
9 DIN11 INX.11

10 Shield Shield connection

11 Common1 Common connection

12 Common2 Common connection

description

Common

ommon

ommon

The inputs are electrically identical to inputs DIN12 to DIN19 described in section 4.4.1.

Input / Output 4-11MN1903

4.4.3 Digital inputs - X3

Digital inputs DIN0 to DIN3 can be used as high speed position latches. The fast position
inputs are routed through a programmable cross-point switch which allows any input to cause
the position of any combination of axes to be captured (by the hardware) within 1µs. Special
MintMT keywords (beginning with the letters FAST...) allow specific functions to be performed
as a result of fast position inputs becoming active.

12

Location

Breakout module, connector X3

Pin Name MintMT keyword / description

1 DIN0 INX.0

2 Common1 Common connection

3 Shield Shield connection

1

4 DIN1 INX.1

5 Common1 Common connection

6 Shield Shield connection
7 DIN2 INX.2

8 Common1 Common connection

9 Shield Shield connection

10 DIN3 INX.3

11 Common1 Common connection

12 Shield Shield connection

Description

Four fast position digital inputs.
Sampling frequency: 1kHz (MintMT)

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

shielded twisted pair cable.

DINx

Common1

NextMove PCI

3k3

Active high:

DINx = 12-24VDC (±20%)
Common1 =0V

TLP115

Active low:

DINx =0V
Common1 = 12-24VDC (±20%)

Vcc

MintMT

Figure 4 - Digital input circuit - fast interrupts

4-12 Input / Output MN1903