Baldor MN1903 User Manual

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MOTION CONTROL

NextMove PCI

Motion Controller

Installation Manual

3/02 MN1903

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

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.

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: +1 501 646 4711 Fax: +1 501 648 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

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.

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

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

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

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

NextMove PCI

100

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

Pin Name Description

1 Demand0 Demand output signal for axis 0

2 AGND Analog ground

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

cable

Breakout

module

Demand0

AGND

Figure 2 - Analog output circuit - Demand0 shown

Input / Output 4-7MN1903

4.4 Digital I/O

3-Fast

itioni

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

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

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

cable

NextMove PCI

Vcc

Active low:

DINx =0V Common2 = 12-24VDC (±20%)

DIN12

Common2

Breakout

module

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

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

Pin Name MintMT keyword /

1 Shield Shield connection 2 DIN4 INX.4

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

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.

Location

Breakout module, connector X3

Pin Name MintMT keyword / description

1 DIN0 INX.0

2 Common1 Common connection

3 Shield Shield connection

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

4.4.4 Digital outputs - X4

Location Breakout module, connector X4

Description

Six general purpose optically isolated digital outputs. Output current: 50mA maximum each output Update frequency: Immediate

Pin Name MintMT keyword / description

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

8 - (NC )

9 - (NC)

10 Shield Shield connection

11 USR V+ Customer power supply

12 CGND Customer power supply ground

Each optically isolated output is designed to source current from the customer supplied 12-24V supply (USR V+) as shown in Figure 5. The use of shielded cable is recommended. The CGND must be connected to the host PC’s GND. See section 4.5.3 for details about connecting the USR V+ supply.

DOUT6

USR V+

Output load

CGND

NextMove PCI

OUTX.6

Output module

100 pin

cable

Breakout

module

Figure 5 - Digital output circuit with standard ‘PNP’ current sourcing module - DOUT6 shown

Input / Output 4-13MN1903

NextMove PCI

OUTX.6

Output module

100

cable

Breakout

module

USR V+

Output load

DOUT6

CGND

Figure 6 - Digital output circuit with optional ‘NPN’ current sinking module - DOUT6 shown

4.4.5 Digital outputs - X5

Location Breakout module, connector X5

Pin Name MintMT keyword / description

1 Shield Shield connection 2 DOUT0 OUTX.0

Description

Six general purpose optically isolated digital outputs.

3 DOUT1 OUTX.1 4 DOUT2 OUTX.2 5 DOUT3 OUTX.3 6 DOUT4 OUTX.4 7 DOUT5 OUTX.5

8 - (NC )

9 - (NC)

10 Shield Shield connection

11 USR V+ Customer power supply

12 CGND Customer power supply ground

The outputs are electrically identical to outputs DOUT6 to DOUT11 described in section 4.4.4.

4-14 Input / Output MN1903

4.5 Other I/O

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

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

Pin Name Description

1 Encoder V+ Power supply to encoder

Description

Five identical encoder inputs, each with complementary A, B and Z channel inputs on a 9-pin female D-type connector

Up to five incremental encoders may be connected to NextMove PCI. Each input channel uses a MAX3095 differential line receiver with pull up resistors and terminators. Encoders must provide either 5V differential signals or RS422/RS485 differential signals. The maximum input frequency is 7.5 million quadrature counts per second. This is equivalent to a maximum frequency for the A and B signals of 1.87MHz. The shell of the connector is connected to pin 4. The use of individually shielded twisted pair cable is recommended. See section 4.5.3 for details of the encoder power supply.

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

100

cable

NextMove PCI

10R

150R 3k3

Vcc

3k3

MAX3095

CHA+

CHA-

X12

Breakout

module

Figure 7 - Encoder channel input circuit - Encoder C, Channel A shown

Input / Output 4-15MN1903

Encoder input circuit

4.5.2 Encoder input frequency

The maximum encoder input frequency is affected by the length of the encoder cables. The theoretical maximum frequency is 7.5 million quadrature counts per second. This is equivalent to a maximum frequency for the A and B signals of 1.87MHz. However, the effect of cable length is shown in Table 3:

requenc

1.3MHz 2 6.56

500kHz 10 32.8

250kHz 20 65.6

100kHz 50 164.0

50kHz 100 328.1

20kHz 300 984.2

10kHz 700 2296.6

7kHz 1000 3280.8

Table 3 - Effect of cable length on maximum encoder frequency

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

meters feet

Maximum cable length

4-16 Input / Output MN1903

4.5.3 Power - X9

hehostPC

igi

tal

hehostPC

Cust

Location Breakout module, connector X9

Pin Name Description

1 Vcc

2 Vcc

3 Encoder V+

Description

Connection point for customer power supply USR V+. Also used to route power to encoders.

The power connector X9 provides a single connection point for external power supplies. Access is also provided to the host PC’s 5V 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 +5V supply can be use 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 500mA. Check that the PC’s power supply is capable of supplying this extra current.

4 Encoder V+

5 GND

6 GND

7 USR V+

8 USR V+

9 CGND

10 CGND

supp

owerto

groun

omer power supp

sourcefrom

e encoder connectors

rom

groun

Alternatively, a further external supply (or the USR V+ supply, see below) can be connected to pins 3 or 4. (Remove any existing link 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 3A at 30V. Check that the encoders have a suitable voltage rating before connecting them to USR V+ or other external supply.

CAUTION: Encoder power must be connected before operating the system. If the

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

4.4.4 and 4.4.5). 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.

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

encoders are not powered when the system is enabled, there will be no position feedback which could cause violent motion of the motor shaft.

Input / Output 4-17MN1903

4.5.4 Relay and CAN power - X8

Location Breakout module, connector X8

The CANopen (CAN1) channel is isolated and requires a 12-24V, 60mA 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 12-24V 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 4.6.2).

Pin Name Description

1 CAN1 V+ Power input for CAN1 (CANopen)

network (12-24V)

2 CAN1 GND Ground for CAN1 (CANopen) network

3 CAN2 V+ Power input for CAN2 (Baldor CAN)

network (12-24V)

4 CAN2 GND Ground for CAN2 (Baldor CAN) network

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

Description

Connection point for CAN power supply and relay contacts.

The relay pins are isolated from any internal circuits on the NextMove PCI. The relay is controlled by a latch, which is cleared when the NextMove PCI resets. Reset can occur due to power-down, a watchdog error or when deliberately caused by the host PC. In normal operation the Relay NC 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 NO contact is connected to Relay common.

NextMove PCI Breakout

MintMT

Relay

100-pin cable

module

Relay NC

Relay NO

Relay COM

Figure 8 - Relay connections

4-18 Input / Output MN1903

4.5.5 Stepper drive outputs - X10, X11

Location Connectors X10, X11

Pin X10 Name X11 Name Description

1 Step0+ Step2+ Step signal

2 Dir0+ Dir2+ Direction signal

1 5

6 9

Description

Four sets of stepper motor control outputs available on two 9-pin female D-type connectors

The stepper drive outputs can operate at up to 3MHz. The signals from the NextMove PCI are at TTL levels but are converted to 5V differential drive signals by a circuit board mounted on the breakout module. The 9-pin D -type connectors provide 360° shielding when using high step rates. The outputs can be connected directly to drives with single ended logic inputs by connecting the complement of the differential signal to the drive ground. The outputs may be programmed in MintMT for the following functions:

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

H Step and direction for driving stepper motor drives. H Digital outputs for general purpose use. See the MintMT keyword STEPPERIO for details.

Input / Output 4-19MN1903

4.6 CAN Connections

CAN (Controller Area Network) is a 1Mb/s local area network.

1&2

5&6

Two CAN channels are supported by NextMove PCI - CANopen and Baldor CAN. Access to both channels is configured by a 10-pin 2mm pin header, J11, mounted along the top edge of the NextMove PCI card. Jumpers link pin pairs 1 and 2, 3 and 4, 5 and 6, 7 and 8. These jumpers route the CAN signals to the breakout module and only need to be removed if you are connecting a CAN Bracket card.

CAUTION: Pins 9 and 10 must NOT be connected

3&47&8

together. Doing so will short-circuit the PC’s 5V power supply.

The NextMove PCI can communicate with I/O expansion modules or other MintMT controllers via CAN, and is compatible with DS-301, version 4 (Application Layer and Communication Profile) and mandatory sections of DS -401, version 2 (Device Profile for Generic I/O modules). Some parts of DS-403, version 1 (Device Profile for Human Machine Interfaces)arealso supported. When connecting third party devices please contact Baldor if you are unsure about compatibility.

CAN offers serial communications over a two wire twisted pair cable up to a maximum of 500m (1640ft) in length, and offers very high communication reliability in an industrial environment; the probability of an undetected error is 4.7x10

-11

. The default transmission rate is 125Kbit/s although higher rates up to 1000Kbit/s can be selected. CAN is optimized for the transmission of small data packets and therefore offers fast update of I/O devices (peripheral devices) connected to the bus.

Up to 63 mixed type Baldor CAN peripherals may be connected to the NextMove PCI Baldor CAN network using the CAL protocol, with the limitation that only 4 enabled keypads are allowed at one time. In addition, a number of CANopen nodes can be connected simultaneously to the CANopen network.

Terminators are provided on the breakout module for each CAN channel. These are connected by jumpers J7 (Baldor CAN) and J8 (CANopen).

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

H CAN must be connected via twisted pair cabling to reduce RF emissions and provide

immunity to conducted interference. The connection arrangement is normally a simple multi-point drop. The CAN cables should have a characteristic impedance of 120Ω and a delay of 5ns/m. Other characteristics depend upon the length of the cabling:

Cable length

0m ~ 40m (0ft ~ 131ft) 1000Kbit/s <70mΩ/m 0.25 ~ 0.34mm

40m ~ 300m (131ft ~ 984ft) 500Kbit/s <60mΩ/m 0.34 ~ 0.60mm

300m ~ 600m (984ft ~ 1968ft) 100Kbit/s <40mΩ/m 0.50 ~ 0.60mm

600m ~ 1000m (1968ft ~ 3280ft) 50Kbit/s <26mΩ/m 0.75 ~ 0.80mm

Maximum bit rate

Resistance Conductor

area

4-20 Input / Output MN1903

H T erminators must only be fitted at both ends of the network, not at intermediate nodes.

H The 0V 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 or CAN peripheral devices are within the common mode range of the receiver circuitry of other nodes on the network.

4.6.1 CAN1 (CANopen) - X17

CANopen connections are made using the breakout module connector X17.

Location

1 5

6 9

Description

CANopen interface using a 9-pin male D -type connector with CiA standard DS102 pin configuration

If NextMove PCI is at the end of the CANopen network the termination resistor must be connected by fitting the termination jumper J8, labelled “CO Term”, on the breakout module.

Breakout module, connector X17

Pin Name Description

1 Shield Cable shield

2 CAN1- CAN channel 1 negative

3 CAN1 GND CAN1 Ground / earth reference

4 - (NC)

5 - (NC)

6 - (NC)

7 CAN1+ CAN channel 1 positive

8 - (NC)

9 CAN1 V+ CAN1 power (12-24V)

Input / Output 4-21MN1903

4.6.2 CAN2 (Baldor CAN) - X18

Baldor CAN connections are made using the breakout module connector X18.

Location

1 8

Description

Baldor proprietary CAN interface using a RJ45 connector.

If NextMove PCI 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.

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+ (12-24V)

6 - (NC)

7 CAN2+ CAN channel 2 positive

8 CAN2- CAN channel 2 negative

4-22 Input / Output MN1903

4.7 Other I/O

4.7.1 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

0.1in 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.

4.8 Reset states

During power up, NextMove PCI is held in a safe non-operational state known as hardware reset. It will also go into hardware reset if the 5V supply drops below approximately 4.75V, to prevent uncontrolled operation due to the electronics losing power. When NextMove PCI is in hardware reset for any reason, most of the controlled interfaces fall into known states. It is also possible for NextMove PCI to be in a state known as software reset. This is a safe operational state where only the bootloader firmware present on NextMove PCI is running. Hardware and software reset states should not be confused with the Mint keyword RESET whichisusedtoclearaxiserrors.

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

Stepper/Encoder ASICs

The stepper/encoder ASICs will not generate stepper pulses or register any encoder input during reset. If the unit goes into reset all position data will be lost.

4.8.1 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.

Input / Output 4-23MN1903

4.9 Connection su mmary - minimum system wiring

As a guide, Figure 9 shows an example of the typical minimum wiring required to allow the NextMove PCI and a single axis servo amplifier (motor drive) to work together. Details of the connector pins are shown in Table 4.

Host PC Breakout module Servo amplifier (axis 0)

Error out

Demand + Demand -

Enable* Gnd*

NextMove PCI

100-pin connecting cable

X12

*Note:

This diagram shows the relay contacts

being us ed as a switch across the servo

amplifier’s enable input.

If the servo amplifier requires a 24V

enable signal then:

- Connect Gnd to CGND (X8 pin 9).

- Connect Enable to one side of the relay

(X8 pin 5 for normally clos ed operation).

- Connect the other side of the relay (X8

pin7)toUSRV+(X8pin8).

Figure 9 - Example minimum system wiring

Encoder output from drive or motor

4-24 Input / Output MN1903

The pin connections in the example are described below:

is0

Breakout

module

connector

Table 4 - Connector details for minimum system wiring shown in Figure 9

Pin Name of

signal

X7 1 Demand0

2 AGND

X12 - Encoder Position feedback Encoder out

X1 2 DIN12

12 Common2

X8 7 Relay COM Common connection of relay Enable input

6 Relay NO Normally open connection

Function Connection on drive

ommandsigna

rrorinpu

of relay

or a

(Note: drive may be labelled differently)

Demand+ input

Demand- input

(or direct from motor)

rror outpu

Amplifier/Digital Ground

This completes the input/output wiring.

You should read the following sections in sequence before using the NextMove PCI.

Input / Output 4-25MN1903

4-26 Input / Output MN1903

5 Operation

5.1 Introduction

The software provided includes a number of applications and utilities to allow you to configure, tune and program the NextMove PCI. If you do not have experience of software installation or Windows applications you will need to seek further assistance for this stage of the installation. The CDROM containing the software can be found inside the rear cover of this manual or separately within the packaging.

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

1. Turn on the PC. During the start process, Windows will detect the newly installed NextMove PCI card.

2. When the Update Device Driver wizard is displayed, place the Baldor Motion Toolkit CD into the CDROM drive.

3. Click Next and then locate the folder containing the device driver for NextMove PCI. This is on the CD in the folder:

Drivers\nmPCI\win9x

Follow the instructions on screen to load the device driver. Once the device driver has been installed from the CD, Windows will continue starting as normal.

Operation 5-1MN1903

5.1.2 Installing the driver software - Windows NT

Windows NT does not support ‘plug and play’ so there will be no indication that a new card has been installed. The device driver for NextMove PCI must be installed from the Baldor Motion Toolkit CD.

1. Place the Baldor Motion Toolkit CD into the CDROM drive. The CD should auto-run and display the opening page. If auto-run is disabled, browse the CD and double click the file SETUP.HTM.

2. Go to the NextMove PCI area and select the NextMove PCI NT Device Driver option. Once the device driver has been installed, shut down all applications and restart the PC. The device driver will now be loaded automatically each time Windows is started.

Note: If you are upgrading your device driver from a previous release, you must first

uninstall the old device driver. To do this, go to the Windows Control Panel, select ‘Add/Remove Programs’ and then select ‘NextMove PCI Device Driver’ from the list.

On the CD, the Windows NT driver is located in the folder Drivers\nmPCI\winnt.

5.1.3 Installing the driver software - Windows 2000

The Windows NT device driver is used with Windows 2000, but is installed differently.

1. After installing the NextMove PCI card, turn on the PC.

2. Enter the BIOS and disable the ‘Plug and Play’ option or select ‘Operating system is not plug and play compatible’. Exit the BIOS and allow Windows 2000 to boot normally. When Windows 2000 has loaded it will enter the Hardware Wizard.

3. Select ‘Search for a suitable device driver’, and click Next.

4. Remove the checks from all the search locations, and click Next.

5. Select the ‘Disable the device’ option, and click Finish.

6. Restart the PC. The hardware wizard should not appear this time.

7. The Windows NT device driver can now be loaded. Place the Baldor Motion Toolkit CD into the CDROM drive. The CD should auto-run and display the opening page. If auto-run is disabled, browse the CD and double click the file SETUP.HTM.

8. Go to the NextMove PCI area and select the NextMove PCI NT Device Driver option.

Note: Although the Windows NT device driver works under Win2000, the Device

Manager may report a conflict and display the NextMove PCI device along with a ! symbol. This is because the device driver is not specifically designed for Windows

2000. This will not affect operation of the NextMove PCI card.

5-2 Operation MN1903

5.1.4 Installing WorkBench v5

You will need to install WorkBench v5 to configure and tune the NextMove PCI.

1. Insert the CDROM 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 CDROM device.

Follow theon-screen instructions to install WorkBench v5. The setup Wizard will copy the files to appropriate folders on the hard drive. The preset folder is C:\Program Files\Baldor\MintMT, although this can be changed during setup.

Operation 5-3MN1903

5.1.5 Starting WorkBench v5

1. On the Windows Start menu, select Programs, WorkBench v5, WorkBench v5.

WorkBench v5 will start, and the Tip of the Day dialog will be displayed.

You can prevent the Tip of the Day dialog appearing next time by removing the check mark next to Show tips at startup.

Click Close to continue.

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

5-4 Operation MN1903

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.

When the search is complete, click ‘NextMove PCI card 0’ and then click Select.

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

Click Yes to search for firmware.

Operation 5-5MN1903

5. In the Open dialog, look in the sub folder ‘NextMove PCI’.

Select the file with extension ‘.chx’ and click Open to download the firmware.

The firmware will be downloaded to the NextMove PCI. (A dialog box may be displayed to tell you that WorkBench v5 has detected the new firmware. Click OK to continue).

WorkBench v5 reads back data from the NextMove PCI. When this is complete, Fine-tuning mode is displayed. This completes the software installation.

5-6 Operation MN1903

5.2 WorkBench v5

WorkBench v5 is a fully featured application for programming and controlling the NextMove PCI. The main 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.

5.2.1 Help file

WorkBench v5 includes a comprehensive help file that contains information about every MintMT keyword, how to use 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

number of topics 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.

. The Index tab provides an alphabetic list of all topics in the file, and

contains a

Figure 10 - The WorkBench help file

For help on using WorkBench v5, click the Contents tab, then click the small plus sign

beside the Wor kBench v5 book icon. Double click a topic name to display it.

Operation 5-7MN1903

5.3 Configuring an axis

The NextMove PCI is capable of controlling servo and stepper axes. This section describes the basic setup for both types of axis. Commands typed in the Command window have immediate effect - they do not need to be separately downloaded to the NextMove PCI.

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

For the 1, 2, 3 and 4 axis cards, each axis can be configured as either a servo axis or a stepper axis. The factory preset configuration for all the axes is servo. If a stepper axis is required it must be configured:

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

2. Click in the Command window.

3. Type the command

CONFIG.0=_cfSTEPPER

where 0 is the axis to be configured. Press Enter to enter the value. This immediately sets axis 0 to be a stepper axis.

Note: For NextMove PCI products, axis numbering always begin at 0. For example, a

four axis card has axes numbered 0, 1, 2 and 3.

When an axis is configured as a stepper axis, it uses the correspondingly numbered stepper output channel. For example, axis 0 will use stepper channel 0 as its output (breakout module connector X10, pins 1, 2, 6 and 7). See section 4.5.5 for details of the stepper channel outputs.

5.3.2 Choosing an axis - 8 axis card

For the 8 axis card, the axis configuration is preset. Axes 0 to 3 are servo axes and axes 4 to 7 are stepper axes. No further axis configuration is necessary.

5-8 Operation MN1903

5.3.3 Selecting a scale

MintMT 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 SCALE factor 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 SCALE is not set, a MintMT command that involves distance, speed, or acceleration may need to use a large number to specify a significant move. For example MOVER=16000 (Move Relative) would rotate the motor by 16000 quadrature counts - only four revolutions. By setting a SCALE factor of 4000, the user unit becomes revolutions. The more understandable command MOVER=4 could now be used to move the motor four revolutions.

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

1. In the Toolbox, click Setup, then 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 until another scale is defined or power is removed from the NextMove PCI.

Operation 5-9MN1903

5.3.4 Setting the drive enable output

The drive enable output allows NextMove PCI to disable the drive 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.

5-10 Operation MN1903

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.

5.3.5 Testing the drive enable output

1. On the main WorkBench v5 toolbar, click the Drive enable button. Click the button again. Each time you click the button, the drive enable output is toggled.

When the button is in the pressed (down) position the drive should be enabled. When the button is in the raised (up) position the drive 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.

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.

Operation 5-11MN1903

5.4 Servo axis - testing and tuning

This section describes the method for testing and tuning a servo axis. To test a stepper axes, go straight to section 5.8.

5.4.1 Testing the drive command output

This section tests the operation and direction of the axis command output. It is recommended that the motor is disconnected for this test.

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

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

3. Click in the Command window.

4. Type:

TORQUE.0=5

where 0 is the axis (demand output) to be tested. In this example, this should cause a demand of +5% of maximum output (0.5V) to be produced at the Demand 0 output (breakout module connector X7, pin 1).

See section 4.3.2 for details of the demand outputs. In WorkBench v5, 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 command 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 (-0.5V) to be produced at the Demand 0 output.

5-12 Operation MN1903

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

STOP.0

This should cause the demand produced at the Demand 0 output to become 0V.

5.4.2 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 5.5.1.

When there is a requirement to move an axis, the NextMove PCI control software translates this into a demand output voltage. This is used to control the drive (servo 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 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) is to stay exactly level with Demand, looking out of the window to measure your position ].

The main term that the NextMove PCI 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 motortocometoastopwithasmallfollowingerror[Demandstopped so you stopped too, but not quite level ]. The NextMove PCI 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.

Operation 5-13MN1903

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 (it is supporting a heavy suspended weight for 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.

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

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

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

disturbances and load variations. The side effect of increasing KPROP is that it also increases the overshoot, and if set too high it will cause the system to become unstable. 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).

H 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.

H 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.

H 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.

H 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.

H 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

H 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.

5-14 Operation MN1903

Figure 11 - The NextMove PCI servo loop

Operation 5-15MN1903

5.5 Servo axis - tuning for current control

5.5.1 Selecting servo loop gains

All servo loop parameters default to zero, meaning that the demand output will be zero at power up. Most servo amplifiers can be set to current (torque) control mode or velocity control mode; check that the servo 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 5.7. It is recommended that the system is initially tested and tuned with the motor shaft disconnected from other machinery.

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 fine-tuning. 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 WorkBench v5 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.

5-16 Operation MN1903

3. Click in the KPROP box and enter a value that is approximately one quarter of the value of KDERIV. If the motor begins to vibrate, decrease the value of KPROP or increase the value of KDERIV until the vibration stops. Small changes may be all that is necessary.

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

5. Click in the Distance box and enter a distance for the step move. 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 5.3.3.

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 will perform the move and the motor will turn. As the soon as the move is completed, WorkBench v5 will download captured data from the NextMove PCI. 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 slightly different response.

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

Operation 5-17MN1903

5.5.2 Underdamped response

If the graph shows that the response is underdamped (it overshoots the demand, as shown in Figure 12) 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 KPR OP.

Measured position

Demand position

Figure 12 - Underdamped response

9. Click in the KDERIV and/or KPROP boxes and make the required changes. The ideal response is shown in section 5.5.4.

5-18 Operation MN1903

5.5.3 Overdamped response

If the graph shows that the response is overdamped (it reaches the demand too slowly, as shown in Figure 13) then the value for KDERIV should be decreased to reduce the damping of the move. If the overdamping is excessive, it may be necessary to increase the value of KPROP.

Demand position

10. Click in the KDERIV and/or KPROP boxes and make the required changes. The ideal response is shown in section 5.5.4.

Measured position

Figure 13 - Overdamped response

Operation 5-19MN1903

5.5.4 Critically damped response

If the graph shows that the response reaches the demand quickly and only overshoots the demand by a small amount, this can be considered an ideal response for most systems. See Figure 14.

Demand position

Measured position

Figure 14 - Critically damped (ideal) response

5-20 Operation MN1903

5.6 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 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. The 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 drives 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, the action of KINT and KINTLIMIT can be set to operate in various modes:

H Never - the KINT term is never applied

H Always - the KINT term is always applied

H Smart - the KINT term is only applied when the demand is zero or constant.

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

Operation 5-21MN1903

5.7 Servo axis - tuning for velocity control

Drives designed for velocity control incorporate their own velocity feedback term to provide system damping. For this reason, KDERIV (and KVEL) can 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 11). 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 maximum 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.

5.7.1 Calculating KVELFF

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

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

(+10V) is applied to the drive.

H The setting for LOOPTIME. The factory preset setting is 1ms.

H The number of encoder lines for the attached motor. Baldor BSM motors use either 1000

or 2500 line encoders.

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 3000rpm when a maximum demand (+10V) is applied to the drive:

Revolutions per second = 3000 / 60

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

0.05

4000

200

5-22 Operation MN1903

The analog demand output is controlled by a 12-bit DAC, which can create output voltages in the range -10V to +10V. This means a maximum output of +10V 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 in normal operation. 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 5.3.3. 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.

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

Remember that each motor has a slightly different response.

Operation 5-23MN1903

9. Using the check boxes below the graph, select the Measured velocity and Demand velocity traces.

Demand velocity

Measured velocity

Figure 15 - 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 11.

5-24 Operation MN1903

5.7.2 Adjusting KPROP

The KPROP term can be used to reduce following error. Its value will usually be much smaller than the value used for an equivalent current controlled system. A fractional value, for example

0.1, will probably give the best response.

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

2. Click Go.

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

Remember that each motor has a slightly different response.

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

Operation 5-25MN1903

Demand position

Measured position

Figure 16 - Correct value of KPROP

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 16.

5-26 Operation MN1903

5.8 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.

5.8.1 Testing the drive command output

This section tests the operation and direction of the axis command output. It is recommended that the system is initially tested and tuned 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 SCALE (section 5.3.3).

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

Operation 5-27MN1903

5.9 Digital input/output configuration

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

5.9.1 Digital 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.

5-28 Operation MN1903

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.

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

5.9.2 Digital 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 5.3.4). Remember to click Apply to send the changes to the NextMove PCI.

Operation 5-29MN1903

5.10 Saving setup information

When power is removed from the NextMove PCI all data, including configuration and tuning parameters, is lost. Y ou 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 Tools, Upload Configuration Parameters.

WorkBench v5 will read all the configuration information from the NextMove PCI and place it in a Startup block. For details of the Startup block, see the MintMT help file.

5-30 Operation MN1903

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

5.10.1Loading 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 will be correctly configured. Remember that every drive/motor combination has a slightly different response. If the same program is used on a different NextMove PCI installation, the Startup block will need to be changed.

Operation 5-31MN1903

5-32 Operation MN1903

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. If you do have a problem, read this section first. In WorkBench v5, 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 SupportMet feature can be used.

6.1.2 SupportMet feature

The SupportMet feature (on the Help menu) can be used to e-mail information to the Baldor representative from whom you purchased the equipment. If required, you can choose to add your program files as attachments. WorkBench v5 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. The PC must have email facilities to use the SupportMet feature. If you prefer to contact Baldor technical support by telephone or fax, contact details are provided at the front of this manual. Please have the following information ready:

H The serial number of your NextMove PCI (if known).

H Use the Help, SupportMe menu item in WorkBench v5 to view details about your system.

H The type of servo amplifier and motor that you are using.

H Give a clear description of what you are trying to do, for example performing fine-tuning.

H Give a clear description of the symptoms that you can observe, for example error

messages displayed in WorkBench v5, or the current value of any of the Mint error keywords AXISERROR, AXISSTATUS, INITERROR, and MISCERROR.

H The type of motion generated in the motor shaft.

H Give a list of any parameters that you have setup, for example the gain settings you have

entered.

Troubleshooting 6-1MN1903

6.2 NextMove PCI indicators

6.2.1 Status and CAN LEDs

The backplate of the NextMove PCI contains four LEDs. S1 and S2 represent general status information. C1 and C2 are CAN traffic indicators. The LEDs may illuminate red or green and can be continuous or flashing.

C1 C2 S1

LED State(s)

All off NextMove PCI is not powered.

All red In hardware reset (see section 4.8).

All green, cycling

All red, cycling

S1 green, flashing

S1 red, flashing

S1 red, flashing fast

S1 green, flashing fast

All green, flashing

Allred,turnoff in sequence: C1,S1,S2,C2

C2 green, flashing

Meaning

In software reset, with no errors (see section 4.8).

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

Program is running OK.

Program is running, but there is an initialization error.

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

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

Updating firmware.

POST is in operation (after reset).

Message received on CAN2 bus.

6-2 Troubleshooting MN1903

6.2.2 Communication

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

Symptom

Cannot detect NextMove PCI

Cannot communicate with the controller.

6.2.3 Motor control

Symptom Check

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

Motor runs uncontrollably when controller is switched on.

Check

Check that the NextMove PCI driver has been installed.

Verify that WorkBench v5 is loaded and that NextMove PCI is the currently selected controller. The MintMT 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 WorkBench v5 to perform the basic system tests (see section 5.4 or 5.8).

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 5.4.2 to 5.6.

Check that the encoders are connected, they have power through Encoder V+ (if required, see section 4.5.3) 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 0V at the drive demand input. See section 5.4.1.

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

Troubleshooting 6-3MN1903

Symptom Check

Motor runs uncontrollably when controller is switched on and servo loop gains are applied or when a move is set in progress. Motor then stops after a short time.

Motor is under control, but vibrates or overshoots during a move.

Motor is under control, but when moved to a position and then back to the start it does not return to the same position.

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.

Check that for a positive demand signal, a positive increase in axis position is seen. The MintMT ENCODERMODE keyword can be used to change encoder input direction. The MintMT 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.

Servo loop gains may be set incorrectly. See sections 5.4.2 to 5.6.

Using an oscilloscope at the breakout module connectors, check:

H all encoder channels are clear signals and free from

H they are correctly wired to the controller; H when the motor turns, the two square wave signals are

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.

electrical noise;

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

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

6-4 Troubleshooting MN1903

7.1 Introduction

This section provides technical specifications of the NextMove PCI

7.1.1 Mechanical specifications

Description Value

Input power (from host PC)

Input power (from customer supply)

Power consumption 15W (PCI card only)

Weight Approximately 0.67lb (305g)

Nominal overall dimensions

Operating temperature 0 - 40°C (32 - 104°F) ambient

+5V at 1200mA ±12V at 250mA

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

+12V to +24V at 1200mA

Standard 7in PCI card 175mm (6.875in) long x 106.7mm (4.2in) high.

7 Specifications

The host PC must have a spare 7 inch PCI card slot. Additional slots will be required to accommodate expansion cards. 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.

7.1.2 Analog inputs (X6)

Description Unit Value

Type Single ended or differential

Common mode voltage range VDC ±10

Input impedance kΩ >5

Input ADC resolution bits 12

Equivalent resolution (±10V input) mV ±4.9

Sampling interval µs 400

(software selectable)

(includes sign bit)

Specifications 7-1MN1903

7.1.3 Analog outputs (Drive Demand/Command - X7)

Description Unit Value

Type Bipolar

Output voltage range VDC ±10

Output current (max) mA 1

Output DAC resolution bits 14

Equivalent resolution mV ±1.22

Update interval Immediate

7.1.4 Digital inputs (X1 & X2)

Description Unit Value

Type VDC Opto-isolated, AC inputs

Input voltage (Active high)

Nominal Minimum

Input voltage (Active low)

Nominal Maximum

Input current (approximate, per input) mA 8

Sampling interval ms 1

VDC

(includes sign bit)

24 12

0 2

7.1.5 Digital inputs (X3)

Description Unit Value

Type VDC Non-isolated, AC inputs

Input voltage (Active high)

Nominal Minimum

Input voltage (Active low)

Nominal Maximum

Input current (approximate, per input) mA 8

Sampling interval ms 1

7-2 Specifications MN1903

VDC

24 12

VDC

0 2

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) 1A @ 24VDC

Maximum carrying current A 2

Maximum switching power 62.5VA, 30W

Maximum switching voltage 125VAC, 60VDC

Maximum switching current A 1

Contact resistance (maximum) mΩ 100

Update interval Immediate

7.1.8 Encoder interfaces (X12 - X16)

0.5A @ 125VAC

Description Unit Valu e

Encoder input A/B Differential, Z index

Maximum input frequency

(quadrature)

Output power supply to encoders

Total, if sourced from host PC Total, if sourced from user supply

Maximum recommended cable length

MHz 1.87

5V, 500mA max.

30V, 3A max.

30.5m (100ft)

Specifications 7-3MN1903

7.1.9 Stepper outputs (X10 & X11)

Description Unit Valu e

Output type Pulse (step) and direction

Maximum output frequency MHz 3

Output voltage 5V

Output current mA 20 max.

7.1.10CANopen interface (X17)

Description Unit Valu e

Signal 2-wire, isolated

Channels 1

Bit rate Kbit/s 10, 20, 50, 100, 125, 250, 500, 800, 1000

Protocol CANopen

7.1.11Baldor CAN interface (X18)

Description Unit Valu e

Signal 2-wire

Channels 2

Bit rate Kbit/s 10, 20, 50, 125, 250, 500, 800, 1000

Protocol Baldor CAN

7-4 Specifications MN1903

A Accessories

A.1 Introduction

NextMove PCI is supplied with a software license to control 1, 2 ,3, 4 or 8 axes. Similarly, the NextMove PCI Expansion Card is supplied with a software license to control a further 4 or 8 axes. A license cannot be upgraded.

A.1.1 NextMove PCI Expansion card

The NextMove PCI Expansion Card is available in 4 or 8 axis variants and provides an additional 20 digital inputs, 12 digital outputs, 4 analog inputs, 4 analog outputs (drive command outputs) and a relay. However, there are no CAN functions. The electrical specification of the I/O is the same as the main NextMove PCI card. The card requires its own additional breakout module and 100-pin cable.

NextMove PCI supports either one or two expansion cards. Connection to the cards is made through a bridging PCB (the expansion interconnect) that connects across the top of the cards.

Figure 17 - NextMove PCI Expansion card

Note: If two expansion cards are used then the dual interconnect board is needed. It is

advisable to exert a retaining force on the interconnect board, to prevent it working loose due to vibration.

Accessories A-1MN1903

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

Mai

Catalog number

PCI002-501 NextMove PCI Expansion card with PNP digital outputs, 4 axis

PCI002-502 NextMove PCI Expansion card with PNP digital outputs, 8 axis

PCI002-503 NextMove PCI Expansion card with NPN digital outputs, 4 axis

PCI002-504 NextMove PCI Expansion card with NPN digital outputs, 8 axis

OPT025-504

OPT025-505

The relay on the expansion card can be accessed by using the MintMT RELAY keyword, with the bank dot parameter set to 1. For example, RELAY.1=1 will activate the relay on the first expansion card. The RELAY keyword cannot be used if the relay is being used as a drive enable output. See the MintMT help file.

Connections to the expansion card’s relay are present only on the breakout module attached to the expansion card.

Description

Expansion interconnect card to connect NextMove PCI to one expansion card

Dual expansion interconnect card to connect NextMove PCI to two expansion cards

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

The main NextMove PCI card is available in 1, 2, 3, 4, or 8 axis variants. The expansion card isavailablein4or8axisvariants.However,usinga8axismaincardanda8axisexpansion card will not provide 16 axes of control. This is because the NextMove PCI system can control a maximum 12 axes. Also, when the 1, 2 or 3 axis NextMove PCI cards are used, some axis numbers become unavailable.

The axis numbers available for different combinations of hardware are summarized in the following table:

NextMove

PCI

card model

1 axis 0 04-7 04-11 04-78-11

2 axes 0,1 0,1 4-7 0,1 4-11 0,1 4-7 8-11

3 axes 0,1,2 0,1,2 4-7 0,1,2 4-11 0,1,2 4-7 8-11

4 axes 0-3 0-3 4-7 0-3 4-11 0-3 4-7 8-11

8 axes 0-7 0-7 8-11 0-7 8-11

With no

expansion

main main expansion main expansion main exp1 exp2

Table 5 - Available axis numbers and locations

One 4-axis

expansion card

Expansion cards

One 8-axis

expansion card

expansion cards

A-2 Accessories MN1903

Two 4-axis

A.1.3 Expansion card status LEDs

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

Expansion card LED State(s)

Both off The expansion card is not powered.

Both red In hardware reset (see section 4.8).

Both green, flashing alternately

Both red, flashing alternately

S1 green, flashing

S1 red, flashing

S2 red, flashing fast

S2 green, flashing fast

Meaning

In software reset, with no errors (see section 4.8).

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

Program is running OK.

Program is running, but there is an initialization error.

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

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

Accessories A-3MN1903

A.1.4 NextMove PCI Breakout module

Breakout modules are available for use with the NextMove PCI and expansion cards, 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 or expansion card using a 100-pin cable.

Figure 18 - NextMove PCI Breakout module

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

Catalog number

PCI003-501

PCI002-502

CBL021-501 1.0m 100-pin cable to attach card to breakout module

CBL021-503 1.5m 100-pin cable to attach card to breakout module

CBL021-503 3.0m 100-pin cable to attach card to breakout module

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

H the ‘shield’ pins present on many connectors

H the metal backshell of all of the D-type connectors, the CAN connectors and the 100-pin

connector

H the stud located below connectors X3 and X4.

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.

When connected to an expansion card, the breakout module’s two CAN connectors are inactive.

Description

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

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

A-4 Accessories MN1903

A.1.5 Digital output modules

The digital output drive on NextMove PCI is in the form of a removable module which allows different types of outputs for different applications. Currently there are two modules available:

Catalog number

OPT025-508 NPN - N-channel unprotected MOSFET module for current sinking outputs

OPT025-507

Description

PNP - Darlington module for current sourcing outputs, with built in fly-back diodes.

A.1.6 NextMove PC system adapter

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

Catalog number

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

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

Description

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 +24V 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.1.7 Spares

Catalog number

FU056A01 NextMove PCI - Strip of 10 fuses for the digital outputs.

OPT025-501* Cable to allow NextMove PCI to connect to a NextMove PC system.

OPT025-502*

OPT025-503*

Description

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

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

*These items are located on the breakout module.

Accessories A-5MN1903

A.1.8 Baldor CAN nodes

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

H inputNode 8: 8 opto isolated digital inputs.

H relayNode 8: 8 relay outputs.

H outputNode 8: 8 opto isolated digital outputs with short circuit and over current protection.

H ioNode 24/24: 24 opto isolated input and 24 opto isolated outputs.

H keypadNode: General purpose operator panel (3 and 4 axis versions).

Catalog number

ION001-503 8 digital inputs

ION002-503 8 relay outputs

ION003-503 8 digital outputs

ION004-503 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

Description

A-6 Accessories MN1903

A.1.9 NextMove PCI CAN Bracket board

This is a compact alternative to using the breakout module when the NextMove PCI controller is being used only as a CAN network manager. Both CAN channels are presented on 9-pin D-type connectors. The board is connected to the NextMove PCI CAN jumpers by a ribbon cable.

The CAN1 (CANopen) channel is presented on a 9-pin male D-type connector and is fitted with the isolated CAN transceiver module. A supply of 12-24V (60mA) must be connected to CAN1 V+ and CAN1 GND (see section 4.6).

The CAN2 (Baldor CAN) channel is presented on a 9-pin male D-type and is fitted with the non-isolated CAN transceiver module.

Terminators J4 (Baldor CAN) and J5 (CANopen) are provided for terminating the CAN networks. There should be terminators at the both ends of each network and nowhere else.

Catalog number

OPT030-501

Description

CAN bracket assembly - alternative to breakout module for CAN connections only

A.1.10 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.

Catalog number

OPT008-501

OPT029-501

Description

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

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

Accessories A-7MN1903

A-8 Accessories MN1903

L T0166A00

Baldor Electric Company

P.O. Box 2400

Ft. Smith, AR 72902-2400

Tel: (479) 646-4711

Fax: (479) 648-5792

www.baldor .com

PrintedinUK

E Baldor UK Ltd

Baldor MN1903 User Manual

Specifications and Main Features

Frequently Asked Questions

User Manual

Contents

1 General Information

2 Introduction

2.1 NextMove PCI features

2.2 Receiving and inspection

2.3 Units and abbreviations

3 Basic Installation

3.1 Introduction

3.2 Location requirements

3.3 Installation

4 Input / Output

4.1 Outline

4.2 100-pin edge connector

4.3 Analog I/O

4.4 Digital I/O

4.5 Other I/O

4.6 CAN Connections

4.7 Other I/O

4.8 Reset states

5 Operation

5.1 Introduction

5.2 WorkBench v5

5.3 Configuring an axis

5.4 Servo axis - testing and tuning

5.5 Servo axis - tuning for current control

5.6 Servo axis - eliminating steady-state errors

5.7 Servo axis - tuning for velocity control

5.8 Stepper axis - testing

5.9 Digital input/output configuration

6 Troubleshooting

6.1 Introduction

6.2 NextMove PCI indicators

7.1 Introduction

7 Specifications

A Accessories