Baldor NextMove ESB-2 Installation Manual

MN1957 NextMove ESB-2

Servo Systems Co. • 53 Green Pond Road, Suite #2 • Rockaway, NJ 07866

Fax: [phone] • www.servosystems.com

Contents

Servo Systems Co. • 53 Green Pond Road, Suite #2 • Rockaway, NJ 07866 07045-0097 • [phone] • Toll Free: [phone]

Fax: [phone] • www.servosystems.com

Contents

1 General Information

2 Introduction

2.1 NextMove ESB-2 features . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1

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

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

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

3 Basic Installation

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

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

3.1.2 Mounting the NextMove ESB-2. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-2

3.1.3 Other requirements for installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-3

4 Input / Output

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

4.1.1 Connector locations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-2

4.2 Analog I/O . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-3

4.2.1 Analog inputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-3

4.2.2 Analog outputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-5

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

4.3.1 Digital inputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-7

4.3.2 Digital outputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-12

4.4 Other I/O . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-13

4.4.1 Stepper control outputs - models NSB202... / NSB204... . . . . . . . . . . . . . . 4-13

4.4.2 Stepper control outputs - models NSB203... / NSB205... . . . . . . . . . . . . . . 4-14

4.4.3 Encoder inputs 0-4 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-15

4.4.4 Relay connections. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-18

4.4.5 USB port . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-18

4.4.6 Serial port . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-19

4.4.7 Using RS232 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-19

4.4.8 Multidrop using RS485 / RS422 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-20

4.4.9 Connecting serial Baldor HMI Operator Panels . . . . . . . . . . . . . . . . . . . . . 4-21

4.5 CAN . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-22

4.5.1 CAN connector . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-22

4.5.2 CAN wiring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-23

4.5.3 CANopen. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-24

4.5.4 Baldor CAN . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-26

4.6 Connection summary - minimum system wiring . . . . . . . . . . . . . 4-28

MN1957 Contents i

5 Operation

Servo Systems Co. • 115 Main Road • P.O. Box 97 • Montville, NJ,

07045-0097 • [phone] • Toll Free: [phone]

Fax: [phone] • www.servosystems.com

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

5.1.1 Connecting the NextMove ESB-2 to the PC . . . . . . . . . . . . . . . . . . . . . . . . .5-1

5.1.2 Installing Mint Machine Center and Mint WorkBench . . . . . . . . . . . . . . . . . .5-1

5.1.3 Starting the NextMove ESB-2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-1

5.1.4 Preliminary checks . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-2

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

5.2 Mint Machine Center . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-3

5.2.1 Starting MMC . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-4

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

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

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

5.4 Configuring an axis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-9

5.4.1 Selecting the axis type . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-9

5.4.2 Selecting a scale . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-10

5.4.3 Setting the drive enable output . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-11

5.4.4 Testing the drive enable output . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-12

5.5 Stepper axis - testing. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-13

5.5.1 Testing the output . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-13

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

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

5.6.2 An introduction to closed loop control . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-16

5.7 Servo axis - tuning for current control . . . . . . . . . . . . . . . . . . . . . .5-19

5.7.1 Selecting servo loop gains . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-19

5.7.2 Underdamped response. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-21

5.7.3 Overdamped response. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-22

5.7.4 Critically damped response . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-23

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

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

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

5.9 Servo axis - eliminating steady-state errors . . . . . . . . . . . . . . . . .5-29

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

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

6 Troubleshooting

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

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

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

6.2 NextMove ESB-2 indicators. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .6-2

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

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

6.2.3 Motor control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .6-4

6.2.4 Mint WorkBench . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .6-6

ii Contents MN1957

6.2.5 CANopen. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-7

Servo Systems Co. • 115 Main Road • P.O. Box 97 • Montville, NJ,

07045-0097 • [phone] • Toll Free: [phone]

Fax: [phone] • www.servosystems.com

6.2.6 Baldor CAN . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-9

7 Specifications

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

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

7.1.2 Analog inputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-1

7.1.3 Analog outputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-1

7.1.4 Digital inputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-2

7.1.5 Digital outputs - general purpose . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-2

7.1.6 Relay output . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-2

7.1.7 Stepper control outputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-3

7.1.8 Encoder inputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-3

7.1.9 Serial RS232/RS485 port . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-3

Appendices

A Accessories

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

A.1.1 Feedback cables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-1

A.1.2 Baldor CAN nodes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-2

A.1.3 HMI panels . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-3

A.1.4 Baldor keypad . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-3

A.1.5 Mint NC (CAD to motion software) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-4

B Mint Keyword Summary

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

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

MN1957 Contents iii

iv Contents MN1957

Servo Systems Co. • 115 Main Road • P.O. Box 97 • Montville, NJ,

07045-0097 • [phone] • Toll Free: [phone]

Fax: [phone] • www.servosystems.com

General Information

Servo Systems Co. • 115 Main Road • P.O. Box 97 • Montville, NJ,

07045-0097 • [phone] • Toll Free: [phone]

Fax: [phone] • www.servosystems.com

1 General Information

LT0271A03 Copyright Baldor (c) 2010. All rights reserved.

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

Mint™ and MotiFlex® are registered trademarks of Baldor.
Windows 2000, Windows XP and Windows Vista 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 that our examination proves to be defective in material or
workmanship. This warranty is valid if the unit has not been tampered with by unauthorized persons,
misused, abused, or improperly installed and has been used in accordance with the instructions and/
or ratings supplied. This warranty is in lieu of any other warranty or guarantee expressed or implied.
Baldor shall not be held responsible for any expense (including installation and removal),
inconvenience, or consequential damage, including injury to any person or property caused by items
of our manufacture or sale. (Some countries and U.S. states do not allow exclusion or limitation of
incidental or consequential damages, so the above exclusion may not apply.) In any event, Baldor's
total liability, under all circumstances, shall not exceed the full purchase price of the control. Claims
for purchase price refunds, repairs, or replacements must be referred to Baldor with all pertinent data
as to the defect, the date purchased, the task performed by the control, and the problem
encountered. No liability is assumed for expendable items such as fuses. Goods may be returned
only with written notification including a Baldor Return Authorization Number and any return
shipments must be prepaid.

1

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

See rear cover for other international offices.

MN1957 General Information 1-1

www.baldormotion.com

WARNING

WARNING

WARNING

CAUTION

CAUTION

CAUTION

CAUTION

Servo Systems Co. • 115 Main Road • P.O. Box 97 • Montville, NJ,

07045-0097 • [phone] • Toll Free: [phone]

Fax: [phone] • www.servosystems.com

Safety Notice

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

Precautions

Do not touch any circuit board, power device or electrical connection before you first
ensure that no high voltage is present at this equipment or other equipment to which it is
connected. Electrical shock can cause serious or fatal injury. Only qualified personnel
should attempt to start-up, program or troubleshoot this equipment.

Be sure that you are completely familiar with the safe operation and programming of this
equipment. This equipment may be connected to other machines that have rotating parts
or parts that are controlled by this equipment. Improper use can cause serious or fatal
injury.

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

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

Improper operation or programming may cause violent motion of the motor shaft and
driven equipment. Be certain that unexpected motor shaft movement will not cause injury
to personnel or damage to equipment. Peak torque of several times the rated motor
torque can occur during control failure.

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

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

1-2 General Information MN1957

Introduction

Servo Systems Co. • 115 Main Road • P.O. Box 97 • Montville, NJ,

07045-0097 • [phone] • Toll Free: [phone]

Fax: [phone] • www.servosystems.com

2 Introduction

2.1 NextMove ESB-2 features

NextMove ESB-2 is a high performance multi-axis intelligent controller for servo and stepper
motors.

2

NextMove ESB-2 features the Mint motion control language. Mint is a structured form of
Basic, custom designed for stepper or servo motion control applications. It allows you to get
started very quickly with simple motion control programs. In addition, Mint includes a wide
range of powerful commands for complex applications.

Standard features include:

 Control of 4 stepper axes and either 3 or 4 servo axes (model dependent).

 Additional encoder input for master follower applications.

 A wide variety of motion types including point to point moves, software cams and

gearing.

 20 general purpose digital inputs, software configurable as level or edge triggered.

 12 general purpose digital outputs.

 2 differential analog inputs with 12-bit resolution.

 4 single-ended analog outputs with 12-bit resolution.

 USB serial port.

 CANopen protocol for communication with Mint controllers and other third party

CANopen devices.

 Programmable in Mint.

 Drop-in replacement for NextMove ESB.

MN1957 Introduction 2-1

www.baldormotion.com

Servo Systems Co. • 115 Main Road • P.O. Box 97 • Montville, NJ,

07045-0097 • [phone] • Toll Free: [phone]

Fax: [phone] • www.servosystems.com

Included with NextMove ESB-2 is the Mint Motion Toolkit CD. This contains a number of
utilities and useful resources to get the most from your Mint controller. These include:

 Mint WorkBench

This is the user interface for communicating with the NextMove ESB-2.

 PC Developer Libraries

Installing Mint WorkBench will install ActiveX interfaces that allow PC applications to be
written that communicate with the NextMove ESB-2.

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

The chapters should be read in sequence.

The Basic Installation section describes the mechanical installation of the NextMove ESB-2.

The following sections require knowledge of the low level input/output requirements of the
installation and an understanding of computer software installation. If you are not qualified in
these areas you should seek assistance before proceeding.

Note: You can check that you have the latest firmware and Mint WorkBench releases

by visiting the website www.baldormotion.com.

2-2 Introduction MN1957

www.baldormotion.com

Catalog number: NSB_____________________________

Installed at: ______________________________________ Date: _____________

Servo Systems Co. • 115 Main Road • P.O. Box 97 • Montville, NJ,

07045-0097 • [phone] • Toll Free: [phone]

Fax: [phone] • www.servosystems.com

2.2 Receiving and inspection

When you receive your NextMove ESB-2, there are several things you should do
immediately:

1. Check the condition of the shipping container and report any damage immediately to the
carrier that delivered your NextMove ESB-2.

2. Remove the NextMove ESB-2 from the shipping container and remove all packing
material. The container and packing materials may be retained for future shipment.

3. Verify that the catalog number of the NextMove ESB-2 you received is the same as the
catalog number listed on your purchase order. The catalog number is described in the
next section.

4. Inspect the NextMove ESB-2 for external damage during shipment and report any
damage to the carrier that delivered your NextMove ESB-2.

5. If NextMove ESB-2 is to be stored for several weeks before use, be sure that it is stored
in a location that conforms to the storage humidity and temperature specifications shown
in section 7.1.11.

2.2.1 Identifying the catalog number

Different models of NextMove ESB-2 are available. As a reminder of which product has been
installed, it is a good idea to write the catalog number in the space provided below.

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

Catalog
number

NSB202-501 3 servo axes, 4 stepper axes, 2 extra encoder inputs RS232

NSB202-502 3 servo axes, 4 stepper axes, 2 extra encoder inputs RS485

NSB203-501 3 servo axes, 4 stepper axes, 2 extra encoder inputs RS232

NSB203-502 3 servo axes, 4 stepper axes, 2 extra encoder inputs RS485

NSB204-501 4 servo axes, 4 stepper axes, 1 extra encoder input RS232

NSB204-502 4 servo axes, 4 stepper axes, 1 extra encoder input RS485

NSB205-501 4 servo axes, 4 stepper axes, 1 extra encoder input RS232

NSB205-502 4 servo axes, 4 stepper axes, 1 extra encoder input RS485

MN1957 Introduction 2-3

Description Serial

port

Stepper
output
type

Differential

Open
collector

Differential

Open
collector

www.baldormotion.com

Servo Systems Co. • 115 Main Road • P.O. Box 97 • Montville, NJ,

07045-0097 • [phone] • Toll Free: [phone]

Fax: [phone] • www.servosystems.com

2.3 Units and abbreviations

The following units and abbreviations are used in this manual:

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

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

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

Ω . . . . . . . . . . . . . . . Ohm

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

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

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

Φ . . . . . . . . . . . . . . . phase

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

DS402 . . . . . . . . . . . CiA Device Profile for Drives and Motion Control

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

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

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

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

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

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

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

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

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

MMC . . . . . . . . . . . . Mint Machine Center

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

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

SSI . . . . . . . . . . . . . . Synchronous Serial Interface

TCP/IP . . . . . . . . . . . Transmission Control Protocol / Internet Protocol

UDP . . . . . . . . . . . . . User Datagram Protocol

2-4 Introduction MN1957

Basic Installation

CAUTION

CAUTION

CAUTION

CAUTION

Servo Systems Co. • 115 Main Road • P.O. Box 97 • Montville, NJ,

07045-0097 • [phone] • Toll Free: [phone]

Fax: [phone] • www.servosystems.com

3 Basic Installation

3.1 Introduction

You should read all the sections in Basic Installation to ensure safe installation.

It is important that the correct steps are followed when installing the NextMove ESB-2. This
section describes the mechanical installation of the NextMove ESB-2.

3.1.1 Location requirements

You must read and understand this section before beginning the installation.

To prevent equipment damage, be certain that input and output signals are
powered and referenced correctly.

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

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

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

3

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

 The NextMove ESB-2 is designed to be mounted indoors, permanently fixed and

located.

 The NextMove ESB-2 must be secured by the slots in the metal case.

 The NextMove ESB-2 must be installed in an ambient temperature of 0 °C to 45 °C

(32 °F to 113 °F).

 The NextMove ESB-2 must be installed in relative humidity levels of less than 80% for

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

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

shall not exceed 2.

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

MN1957 Basic Installation 3-1

www.baldormotion.com

CAUTION

All dimensions shows as

mm (inches)

170 (6.7)

245 (9.65)

140 (5.51)

124 (4.9)

45 (1.8)

Mounting keyhole and slot detail

A = 4.5 mm
B=10mm
C=11mm
D = 6.5 mm

Drawings not to scale

A

B

C

A

D

Servo Systems Co. • 115 Main Road • P.O. Box 97 • Montville, NJ,

07045-0097 • [phone] • Toll Free: [phone]

Fax: [phone] • www.servosystems.com

3.1.2 Mounting the NextMove ESB-2

Before touching the unit be sure to discharge static electricity from your body
and clothing by touching a grounded metal surface. Alternatively, wear an earth
strap while handling the unit.

Ensure you have read and understood the location requirements in section 3.1.1. Mount the
NextMove ESB-2 using the supplied M4 screws. For effective cooling, the NextMove ESB-2
must be mounted on a smooth non-flammable vertical surface. Orientation must be as
shown in Figure 1, with the two slots in the metal carrier / heat sink assembly at the bottom.

Figure 1: Package dimensions

There must be at least 20 mm (0.8 in) clearance between the NextMove ESB-2 and
neighboring equipment to allow sufficient cooling by natural convection. Remember to allow
additional space around the edges to accommodate the mating connectors and associated
wiring. For example, 70 mm (2.8 in) clearance will be required for connection of the serial
port cable.

3-2 Basic Installation MN1957

www.baldormotion.com

Servo Systems Co. • 115 Main Road • P.O. Box 97 • Montville, NJ,

07045-0097 • [phone] • Toll Free: [phone]

Fax: [phone] • www.servosystems.com

3.1.3 Other requirements for installation

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

 The NextMove ESB-2 requires +24 V power supply capable of supplying 2 A

continuously. It is recommended that a separate fused 24 V supply is provided for the
NextMove ESB-2, with the fuse rated at 4 A maximum. If digital outputs are to be used, a
supply will be required to drive them - see section 4.3.2.

 A PC that fulfils the following specification:

Minimum specification Recommended specification

Processor Intel PentiumIII

500 MHz

RAM 128 MB 1 GB

Hard disk space 50 MB 50 MB

CD-ROM A CD-ROM drive

Communication USB port or RS232 / RS485/422 serial port

Screen 1024 x 768, 16-bit color 1152 x 864, 16-bit color

Mouse A mouse or similar pointing device

Operating

Windows 2000, Windows XP or Windows Vista

system

 A USB cable (supplied), or RS485/422 serial cable (not supplied).

 The PC operating system user manual, if you are not familiar with Windows.

Intel PentiumIII / 4 or equivalent

1 GHz or faster

MN1957 Basic Installation 3-3

www.baldormotion.com

Servo Systems Co. • 115 Main Road • P.O. Box 97 • Montville, NJ,

07045-0097 • [phone] • Toll Free: [phone]

Fax: [phone] • www.servosystems.com

3-4 Basic Installation MN1957

4 Input / Output

Servo Systems Co. • 115 Main Road • P.O. Box 97 • Montville, NJ,

07045-0097 • [phone] • Toll Free: [phone]

Fax: [phone] • www.servosystems.com

4.1 Introduction

This section describes the input and output capabilities of the NextMove ESB-2.

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

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

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

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

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

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

Input / Output

4

MN1957 Input / Output 4-1

www.baldormotion.com

44

1

2

3

4

5

6

7

Required mating connectors:

Sauro CTF10008
Sauro CTF12008
Sauro CTF02008

9-pinD-type plug (male)
9-pinD-type socket (female)

RJ45 plug
USBtypeBplug

Tightening torque for terminalblock
connections is0.25 N·m(2.25 lbf-in).
Use 60/75 or 75°Ccopper (Cu) wire only.

=Not Connected(NC)

NSB002-501 /NSB002-502

1
2

3
4

5
6
7
8
9
10

1
2

3
4

5
6
7
8
9
10
11
12

12
11
10

9
8
7
6
5

4
3

2
1

12
11
10

9
8
7
6
5

4
3

2
1

10

9
8
7
6
5

4
3

2
1

CREF2
CREF1
CREF0
DOUT11

USR GND
USR V+
USR V+

DOUT10
DOUT9
DOUT8

Shield
DIR3+
DIR3-

STEP3+
STEP3­DGND
Shield

DIR2+
DIR2-

STEP2+
STEP2­DGND

Shield
DIR3
+5V out
STEP3

DGND
Shield
DIR2
+5V

out

STEP2

DGND

(NC)

(NC)

For

mode

ls

NSB20 -50 :3 x

Shield
DIR1
+5V out
STEP1

DGND
Shield
DIR0
+5V out
STEP0

DGND

(NC)

(NC)

Shield
DIR1+
DIR1-

STEP1+
STEP1­DGND
Shield

DIR0+
DIR0-

STEP0+
STEP0­DGND

+24V

0 V

2
1

1
2

3
4

5
6
7
8
9
10

1
2

3
4

5
6
7
8
9
10

1
2

3
4

5
6
7
8
9
10

1
2

3
4

5
6
7
8
9
10

DIN19
DIN18
DIN17
DIN16
DIN15
DIN14
DIN13
DIN12

CREF2

Shield

1

1

1

1

1

4

4

4

6

5

Serial

CAN

USB

X8 DIN 12-19

X7 Encoder 2

X14 Encoder 3X15 Encoder 4

X6 Encoder 1

X5 Encoder 0

X4 DOUT 8-11

X3 STEP 2-3

X2 STEP 0-1

X1 +24V in

X9 DIN 4-11

X10 DIN 0-3
(fast interrupts)

X11 DOUT 0-7

X12 AIN 0-1
& relay

X13 AOUT 0-3
(demands)

1

2

2

2

3

7

DIN11
DIN10

DIN9
DIN8
DIN7
DIN6
DIN5
DIN4

CREF1

Shield

DIN3

Shield

CREF0

DIN2

Shield

CREF0

DIN1

Shield

CREF0

DIN0

DOUT0
DOUT1
DOUT2
DOUT3
DOUT4
DOUT5
DOUT6
DOUT7

USR V+

USR GND

AIN0+

AIN0­AGND
AIN1+

AIN1-

Shield

REL COM

REL

N

C

REL NO

REL COM

DEMAND0

AGND
Shield

DEMAND1

AGND
Shield

DEMAND2

AGND
Shield

DEMAND3

AGND
Shield

Servo Systems Co. • 115 Main Road • P.O. Box 97 • Montville, NJ,

07045-0097 • [phone] • Toll Free: [phone]

Fax: [phone] • www.servosystems.com

4.1.1 Connector locations

4-2 Input / Output MN1957

www.baldormotion.com

Mint

ADC.0

+15V

NextMove ESB-2

AIN0-

2

X12

1

3

AIN0+

AGND

-15V

-

+

-

+

Servo Systems Co. • 115 Main Road • P.O. Box 97 • Montville, NJ,

07045-0097 • [phone] • Toll Free: [phone]

Fax: [phone] • www.servosystems.com

4.2 Analog I/O

The NextMove ESB-2 provides:

 Two 12-bit resolution analog inputs.

 Four 12-bit resolution analog outputs.

4.2.1 Analog inputs

The analog inputs are available on connector X12, pins 1 & 2 (AIN0) and 4 & 5 (AIN1).

 Differential inputs.

 Voltage range: ±10 V.

 Resolution: 12-bit with sign.

 Input impedance: 120 kΩ.

 Sampling frequency: 4 kHz maximum, 2 kHz if both inputs are enabled.

The analog inputs pass through a differential buffer and second order low-pass filter with a
cut-off frequency of approximately 1 kHz.

Both inputs are normally sampled at 2 kHz. However, an input can be disabled by setting
ADCMODE to 4 (_acOFF). With one input disabled, the remaining input will be sampled at
4 kHz. In Mint, analog inputs can be read using the ADC keyword. See the Mint help file for
full details of ADC, ADCMODE and other related ADC... keywords.

Figure 2: Analog input, AIN0 shown

For differential inputs connect input lines to AIN+ and AIN-. Leave AGND unconnected.

MN1957 Input / Output 4-3

Figure 3: AIN0 analog input wiring

AIN0+ AIN0+

11

X12 X12

22

AIN0 AIN0

()ADC.0 ()ADC.0

Differential connection Single ended connection

33

AIN0-

GND

+24VDC

1

X12

2

AIN0

()ADC.0

3

0V

1 k , 0.25 W

potentiometer

Ù

1.5 k , 0.25 WÙ

Servo Systems Co. • 115 Main Road • P.O. Box 97 • Montville, NJ,

07045-0097 • [phone] • Toll Free: [phone]

Fax: [phone] • www.servosystems.com

www.baldormotion.com

Figure 4: Typical input circuit to provide 0-10 V (approx.) input from a 24 V source

4-4 Input / Output MN1957

www.baldormotion.com

X13

TL084

1

2

-15V

+15V

Demand0

AGND

NextMove ESB-2

-

+

Demand

±100%

X13 X3

Drive
amplifier
±10 VDC
demand
input

131

122

3

NextMove ESB-2 MicroFlex / drive amplifier

Connect overall shield
at one end only

AIN0+

AIN0-

Shield

AGND

Demand0

-

+

Servo Systems Co. • 115 Main Road • P.O. Box 97 • Montville, NJ,

07045-0097 • [phone] • Toll Free: [phone]

Fax: [phone] • www.servosystems.com

4.2.2 Analog outputs

The four analog outputs are available on connector X13, as shown in section 4.1.1.

 Four independent bipolar analog outputs.

 Output range: ±10 VDC (±0.1%).

 Resolution: 12-bit.

 Output current: 2.5 mA maximum per output.
 Update frequency: 10 kHz maximum (adjustable using the LOOPTIME keyword, factory

default 1 kHz).

Mint and the Mint Motion Library use analog outputs Demand0 to Demand3 to control drive
amplifiers. Demand outputs 0 to 3 are used by axes configured as servo (see section 5.4.1).
A Demand output may be used as a general purpose analog output if it is not assigned to a
servo axis - see the DAC keyword in the Mint help file.

The analog outputs may be used to drive loads of 4 kΩ or greater. Shielded twisted pair
cable should be used. The shield connection should be made at one end only.

Figure 5: Analog output, Demand0 shown

Figure 6: Analog output - typical connection to Baldor MicroFlex

MN1957 Input / Output 4-5

www.baldormotion.com

X13 X1

Drive
amplifier
±10 VDC
demand
input

11

22

3

NextMove ESB-2 FlexDrive / drive amplifier

II

Connect overall shield
at one end only

AIN0+

AIN0-

Shield

AGND

Demand0

-

+

Servo Systems Co. • 115 Main Road • P.O. Box 97 • Montville, NJ,

07045-0097 • [phone] • Toll Free: [phone]

Fax: [phone] • www.servosystems.com

Figure 7: Analog output - typical connection to Baldor FlexDriveII, Flex+DriveII, MintDrive

4-6 Input / Output MN1957

II

www.baldormotion.com

100R3k3

4n7

NextMove ESB-2

DIN3

X10

1

2

3

Shield

CREF0

Vcc

DGND

Mint

TLP115A

Servo Systems Co. • 115 Main Road • P.O. Box 97 • Montville, NJ,

07045-0097 • [phone] • Toll Free: [phone]

Fax: [phone] • www.servosystems.com

4.3 Digital I/O

The NextMove ESB-2 provides:

 20 general purpose digital inputs.

 12 general purpose digital outputs.

4.3.1 Digital inputs

Digital inputs are available on connectors X8, X9 and X10, as shown in section 4.1.1.
The digital inputs are arranged in three groups, each with their own common connection.
This allows each group to be configured independently for ‘active high’ or ‘active low’
operation.

The general purpose digital inputs DIN0 - DIN19 can be shared between axes, and are
programmable in Mint (using a range of keywords beginning with the letters INPUT... ) to
determine their active level and if they should be edge triggered. The state of individual
inputs can be read directly using the INX keyword. See the Mint help file.

A general purpose digital input can be assigned to a special purpose function such as a
home, limit, stop or error input. See the keywords HOMEINPUT, LIMITFORWARDINPUT,
LIMITREVERSEINPUT, STOPINPUT and ERRORINPUT in the Mint help file.

4.3.1.1 DIN0 - DIN3

Digital inputs DIN0 to DIN3 can be assigned as fast interrupts. These are used as high speed
position latches, allowing any combination of axes to be captured by the hardware. The
latency between input triggering and capture is 1 μs. Special Mint keywords (beginning with
the letters FAST...) allow specific functions to be performed as a result of fast position inputs
becoming active. See the Mint help file for details. Digital inputs DIN0 to DIN3 use CREF0 as
their common connection.

MN1957 Input / Output 4-7

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

Figure 8: Fast interrupt digital input - DIN3 shown

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

www.baldormotion.com

100R3k3

NextMove ESB-2

DIN11

X9

1

10

9

Shield

CREF1

Vcc

DGND

Mint

INX.11

TLP280

100R3k3

NextMove ESB-2

DIN19

X8

1

10

9

Shield

CREF2

Vcc

DGND

Mint

INX.19

TLP280

Servo Systems Co. • 115 Main Road • P.O. Box 97 • Montville, NJ,

07045-0097 • [phone] • Toll Free: [phone]

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4.3.1.2 DIN4 - DIN11

Digital inputs DIN4 to DIN11 have a common specification:

 Opto-isolated digital inputs.

 Sampling frequency: 1 kHz.

Digital inputs DIN4 to DIN11 use CREF1 as their common connection.

Figure 9: General purpose digital input - DIN11 shown

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

4.3.1.3 DIN12 - DIN19

Digital inputs DIN12 to DIN19 have the same electrical specification as DIN4-11, except that
they use CREF2 as their common connection.

4-8 Input / Output MN1957

Figure 10: General purpose digital input - DIN19 shown

www.baldormotion.com

0 0

1122

33

44

Count returned by

AUXENCODER(0)

DIN17 (STEP)

500 µs min.

DIN18 (DIR)

Servo Systems Co. • 115 Main Road • P.O. Box 97 • Montville, NJ,

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4.3.1.4 Auxiliary encoder inputs - DIN17 (STEP), DIN18 (DIR), DIN19 (Z)

DIN17-DIN19 may also be used as an auxiliary encoder input. DIN17 accepts step (pulse)
signals and DIN18 accepts direction signals, allowing an external source to provide the
reference for the speed and direction of an axis. The step frequency (15 kHz maximum)
determines the speed, and the direction input determines the direction of motion. Both the
rising and falling edges of the signal on DIN17 cause an internal counter to be changed; see
Figure 11. If 5 V is applied to DIN18 (or it is left unconnected) the counter will increment. If
DIN18 is grounded the counter will be decremented. A minimum period of 500 µs is required
between transitions on the direction and step input to guarantee the change of direction has
been recognized.

Typically, one channel of an encoder signal (either A or B) is used to provide the step signal
on DIN17, allowing the input to be used as an auxiliary (master) encoder input. The input can
be used as a master position reference for cam, fly and follow move types. For this, the
MASTERSOURCE keyword must be used to configure the step input as a master (auxiliary)
encoder input. The master position reference can then be read with the AUXENCODER
keyword (using 0 as the channel parameter). Since a secondary encoder channel is not
used, DIN18 allows the direction of motion to be determined. The Z signal on DIN19 can be
supplied from the encoder's index signal, and may be read using the AUXENCODERZLATCH
keyword. See the Mint help file for details of each AUXENCODER... keyword.

Figure 11: Auxiliary encoder input 0 (DIN17/18) - edge counting

Note that encoder input ENC 4 forms another auxiliary encoder input, using normal
incremental encoder connections A, B and Z. This supports a higher frequency input and
additional functionality - see section 4.4.3.

MN1957 Input / Output 4-9

4.3.1.5 Typical digital input wiring

NextMove ESB-2

DIN4

User

supply

24V

User

supply

GND

X9

8

9

CREF1

TLP280

DIN4

User

supply

GND

CREF1

NextMove ESB-2

X9

8

9

TLP280

User

supply

24V

NextMove ESB-2MicroFlex / equipment output

DIN4

Status+

Status-

User
supply
24V

User
supply
GND

X9

X3

82

3

9

CREF1

NEC PS2562L-1

TLP280

Servo Systems Co. • 115 Main Road • P.O. Box 97 • Montville, NJ,

07045-0097 • [phone] • Toll Free: [phone]

Fax: [phone] • www.servosystems.com

Figure 12: Digital input - typical ‘active high’ input connection using a switch

Figure 13: Digital input - typical ‘active low’ input connection using a switch

www.baldormotion.com

Note: The circuits shown in Figures 12 and 13 are not suitable for use with fast inputs

DIN0 to DIN3. Using a mechanical switch, relay contacts or other source liable
to signal ‘bounce’ could cause unwanted multiple triggering.

4-10 Input / Output MN1957

Figure 14: Digital input - typical connections from a Baldor MicroFlex

www.baldormotion.com

NextMove ESB-2FlexDrive / equipment output

II

DIN4

USRV+

DOUT0

User

supply
24V

User
supply
GND

X9

X1

818

6

9

CREF1

NEC PS2562L-1

TLP280

Servo Systems Co. • 115 Main Road • P.O. Box 97 • Montville, NJ,

07045-0097 • [phone] • Toll Free: [phone]

Fax: [phone] • www.servosystems.com

Figure 15: Digital input - typical connections from a Baldor FlexDriveII,

II

Flex+Drive

or MintDrive

II

MN1957 Input / Output 4-11

www.baldormotion.com

NextMove ESB-2

USR V+

DOUT0

USRGND

X11

1

9

10

TLP281

+5V

470R

UDN2987

Voltage

regulator

Mint

OUTX(0)

User
supply
24V

User
supply
GND

Output
load

Servo Systems Co. • 115 Main Road • P.O. Box 97 • Montville, NJ,

07045-0097 • [phone] • Toll Free: [phone]

Fax: [phone] • www.servosystems.com

4.3.2 Digital outputs

The digital outputs are available on connectors X4 and X11, as shown in section 4.1.1.
A digital output can be configured in Mint as a general purpose output, a drive enable output
or a global error output. Outputs can be shared between axes and can be configured using
Mint WorkBench (or the OUTPUTACTIVELEVEL keyword) to determine their active level.

4.3.2.1 DOUT0 - DOUT7

An external supply (typically 24 VDC) is used to power the UDN2987 output devices, as
shown in Figure 16. When an output is activated, current is sourced from the user supply
through a UDN2987 output driver.

 A total of 500 mA may be sourced by DOUT0 - DOUT7, providing an average 62.5 mA

per output when all outputs are on (100% duty cycle, 24 V supply).

 An individual output can provide a maximum continuous current of 350 mA, but if other

outputs are being used the total current must not exceed 500 mA.

 The maximum allowable power dissipation for the UDN2987 driver is 1.5 W. If this is

exceeded the driver may shut down. To reset it, the NextMove ESB-2 must be power
cycled.

If an output is used to drive an inductive load such as a relay, a suitably rated diode must be
fitted across the relay coil, observing the correct polarity. The use of shielded cable is
recommended.

Figure 16: Digital outputs (DOUT0-7) - DOUT0 shown

4.3.2.2 DOUT8 - DOUT11

DOUT8 - DOUT11 use the same type of output circuitry as DOUT0 - DOUT7, with their own
UDN2987 output driver. Because only four of the UDN2987's eight outputs are being used,
the average current available on DOUT8 - DOUT11 is increased:

 A total of 500 mA may be sourced by DOUT8 - DOUT11, providing an average 125 mA

per output when all outputs are on (100% duty cycle, 24 V supply).

 An individual output can provide a maximum continuous current of 350 mA, but if other

outputs are being used the total current must not exceed 500 mA.

 The maximum allowable power dissipation for the UDN2987 driver is 1.5 W. If this is

exceeded the driver may shut down. To reset it, the NextMove ESB-2 must be power
cycled.

4-12 Input / Output MN1957

www.baldormotion.com

CAUTION

MicroFlex / drive amplifier

Step

Dir

DGND

X3

11

10

9

NextMove ESB-2

Connect shields at
one end only.

Twisted pairs

STEP0+

DIR0+

STEP0-

DIR0-

DGND

Shield

X2

5

3

1

6

DS26LS31

DS26LS31

Step

output

Dir

output

GND

NextMove ESB-2

FlexDrive / drive amplifier

II

Connect shields at
one end only.

Twisted pairs

STEP0+

Pulse+

DIR0+

Dir+

Dir
GND

STEP0-

Pulse
GND

DIR0-

DGND

Shield

X2

X9

5

6

3

1

1

2

7

6

DS26LS31

DS26LS31

Step

output

Dir

output

GND

Servo Systems Co. • 115 Main Road • P.O. Box 97 • Montville, NJ,

07045-0097 • [phone] • Toll Free: [phone]

Fax: [phone] • www.servosystems.com

4.4 Other I/O

4.4.1 Stepper control outputs - models NSB202... / NSB204...

The stepper control outputs are available on connectors X2 and X3, as shown in section

4.1.1. There are four sets of stepper motor control outputs, operating in the range 0 Hz to
500 kHz. Each of the step (pulse) and direction signals from the NextMove ESB-2 is driven
by DS26LS31 line drivers, providing RS422 differential outputs. It is recommended to use
separate shielded cables for the step outputs. The shield should be connected at one end
only.

The STEPPERDELAY keyword allows a 0 - 4.25 μs delay to be introduced between state
changes of the step and direction outputs. The FREQ keyword can be used to directly control
the output frequency, between 60 Hz and 500 kHz - see the Mint help file.

The DS26LS31 drivers are static sensitive devices. Take appropriate ESD
precautions when handling the NextMove ESB-2. When connecting the outputs
to single ended inputs as shown in Figures 17 and 18, do not connect the

STEPx- or DIRx- outputs to ground; leave them unconnected.

Figure 17: Stepper output - typical connection to Baldor MicroFlex

MN1957 Input / Output 4-13

Figure 18: Stepper output - typical connection to Baldor FlexDrive

Flex+Drive

II

or MintDrive

II

II

,

www.baldormotion.com

CAUTION

Stepper drive opto-isolated inputs

Optocoupler
reference

Step clock

input

CW/CCW
direction
input

Enable input

ULN2803

ULN2803

74AHCT244

74AHCT244

NextMove ESB-2

STEP0

DIR0

DGND

RELCOM

RELNC

+5V

X2

X12

3

5

1

7

8

4

Step

output

Direction

output

Enable

GND

GND

+5V

+5V

Servo Systems Co. • 115 Main Road • P.O. Box 97 • Montville, NJ,

07045-0097 • [phone] • Toll Free: [phone]

Fax: [phone] • www.servosystems.com

4.4.2 Stepper control outputs - models NSB203... / NSB205...

The stepper control outputs are available on connectors X2 and X3, as shown in section

4.1.1. There are four sets of stepper motor control outputs, operating in the range 0 Hz to
500 kHz. Each of the step (pulse) and direction signals from the NextMove ESB-2 is driven
by a ULN2803 open collector Darlington output device. The STEPPERDELAY keyword allows
a 0 - 4.25 μs delay to be introduced between state changes of the step and direction outputs.
The FREQ keyword can be used to directly control the output frequency, between 60 Hz and
500 kHz - see the Mint help file.

The ULN2803 drivers are static sensitive devices. Take appropriate ESD
precautions when handling the NextMove ESB-2. A 5 V, 600 mA supply is
provided on connectors X2 and X3 for powering external circuits, as shown in

Figure 19. The same 5 V supply is also present on connectors X5, X6, X7, X14
and X15 for powering encoders. Ensure that the total combined current demand of all 5 V
outputs does not exceed 1.8 A. In situations where induced noise is affecting a step or
direction output, it may be necessary to connect a 5 kΩ or 10 kΩ pull-up resistor between the
output and the 5 V supply (pin 4).

Figure 19: NSB203... / NSB205... only: Connections to a typical stepper drive

(e.g. Baldor DSMS series)

4-14 Input / Output MN1957

www.baldormotion.com

1

9

5

6

ENC 0
ENC 1
ENC 2
ENC 3

DIN17
DIN18
DIN19

ENC 4

Print ENCODER(0)
Print ENCODER(1)
Print ENCODER(2)
Print ENCODER(3)

Print AUXENCODER(1)
Print FASTAUXENCODER(1)

Print AUXENCODER(0)

Input InputExampleExample

Servo Systems Co. • 115 Main Road • P.O. Box 97 • Montville, NJ,

07045-0097 • [phone] • Toll Free: [phone]

Fax: [phone] • www.servosystems.com

4.4.3 Encoder inputs 0-4

Location X5, X6, X7, X14, X15

Mating connectors: 9-pin male D-type

Pin Name Description

1 CHA+ Channel A signal

2 CHB+ Channel B signal

3 CHZ+ Index channel signal

4 Shield Shield connection

5 GND Digital ground

6 CHA- Channel A signal complement

7 CHB- Channel A signal complement

8 CHZ- Index channel signal complement

9 +5 V out Power supply to encoder

Five incremental encoders may be connected to NextMove ESB-2, each with
complementary A, B and Z channel inputs. Each input channel uses a MAX3095 differential
line receiver with pull up resistors and terminators. Encoders must provide RS422 differential
signals. The use of individually shielded twisted pair cable is recommended. A 5 V (±5%),
250 mA supply is provided on each connector for powering the encoder. The same 5 V
supply is also present on connectors X2 and X3 for powering external circuits (see sections

4.4.1 and 4.4.2). Ensure that the total combined current demand of all 5 V outputs does not
exceed 1.85 A.

 Encoder inputs ENC 0 - ENC 3 can be read and controlled with a range of Mint keywords

beginning with ENCODER... . When using these keywords, the encoder’s number is used

as the channel parameter. For example, Print ENCODER(2) reads the ENC 2 input.

 Encoder input ENC 4 can be read and controlled with a range of Mint keywords

beginning with AUXENCODER... . When its position has been latched by a fast interrupt

(see section 4.3.1.1) it can also be controlled using Mint keywords beginning with

FASTAUX... . When using the AUXENCODER... or FASTAUX... keywords, the channel

parameter 1 is used (i.e. auxiliary encoder channel 1). For example,
Print FASTAUXENCODER(1) reads the latched value read from ENC 4. Note that

auxiliary encoder channel 0 is used to reference the auxiliary encoder input formed by
digital inputs DIN17 - DIN19 (see section 4.3.1.4).

MN1957 Input / Output 4-15

Figure 20: Encoder inputs - keyword and channel summary