Baldor NXE100-1608Dx, NXE100-1608Sx, NXE100-1612Dx, NXE100-1612Sx, NXE100-1616Dx Installation Manual

Contents i

MN1941

Contents

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

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

2.1 NextMove e100 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 Location requirements 3-1..........................................

3.1.2 Mounting the NextMove e100 3-2....................................

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

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

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

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

4.2 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 and relay 4-11.........................................

4.3.3 Stepper control outputs - models NXE100-16xxDx 4-13...................

4.3.4 Stepper control outputs - models NXE100-16xxSx 4-14...................

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

4.4.1 Encoder inputs 0-2 4-15.............................................

4.4.2 Node ID selector switches 4-17.......................................

4.5 USB and serial communication 4-20...........................

4.5.1 USB port 4-20.....................................................

4.5.2 Serial port 4-21.....................................................

4.5.3 Using RS232 4-21..................................................

4.5.4 Multidrop using RS485 / RS422 4-22..................................

4.5.5 Connecting serial Baldor HMI Operator Panels 4-23......................

4.6 Ethernet interface 4-24.......................................

4.6.1 TCP/IP 4-24.......................................................

4.6.2 ETHERNET Powerlink 4-25..........................................

4.6.3 Ethernet connectors 4-26............................................

ii Contents

MN1941

4.7 CAN interface 4-27..........................................

4.7.1 CAN connector 4-27................................................

4.7.2 CAN wiring 4-27....................................................

4.7.3 CANopen 4-28.....................................................

4.8 Connection summary - minimum wiring (local axis) 4-30..........

4.9 Connection summary - minimum wiring (remote axis) 4-32........

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

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

5.1.1 Connecting the NextMove e100 to the PC 5-1..........................

5.1.2 Installing Mint Machine Center and Mint WorkBench 5-2.................

5.2 Starting the NextMove e100 5-3..............................

5.2.1 Preliminary checks 5-3.............................................

5.2.2 Power on checks 5-3...............................................

5.2.3 Installing the USB driver 5-3.........................................

5.2.4 Configuring the TCP/IP connection (optional) 5-4.......................

5.3 Mint Machine Center 5-5....................................

5.3.1 Starting MMC 5-7..................................................

5.3.2 Viewing remote nodes connected over Ethernet (optional) 5-8............

5.4 Mint WorkBench 5-9........................................

5.4.1 Help file 5-10......................................................

5.4.2 Starting Mint WorkBench 5-11........................................

5.5 Configuring axes 5-13........................................

5.5.1 Local axes, remote axes and profilers 5-13.............................

5.5.2 Configuring remote axes 5-14........................................

5.5.3 Configuring local axes 5-16..........................................

5.5.4 Selecting a scale 5-17...............................................

5.5.5 Setting the drive enable output (optional) 5-19...........................

5.5.6 Testing the drive enable output 5-21...................................

5.6 Local stepper axis - testing 5-22...............................

5.6.1 Testing the output 5-22..............................................

5.7 Local servo axis - testing and tuning 5-23.......................

5.7.1 Testing the demand output 5-23.......................................

5.7.2 An introduction to closed loop control 5-25..............................

5.8 Local servo axis - tuning for current control 5-28.................

5.8.1 Selecting servo loop gains 5-28.......................................

5.8.2 Underdamped response 5-30.........................................

5.8.3 Overdamped response 5-31..........................................

5.8.4 Critically damped response 5-32......................................

5.9 Local servo axis - tuning for velocity control 5-33................

5.9.1 Calculating KVELFF 5-33............................................

5.9.2 Adjusting KPROP 5-36..............................................

Contents iii

MN1941

5.10 Local servo axis - eliminating steady-state errors 5-38............

5.1 1 Local digital input/output configuration 5-39.....................

5.11.1 Digital input configuration 5-39........................................

5.11.2 Digital output configuration 5-40.......................................

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

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

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

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

6.2 NextMove e100 indicators 6-2...............................

6.2.1 STATUS LED 6-2..................................................

6.2.2 CAN LEDs 6-2....................................................

6.2.3 ETHERNET LEDs 6-3..............................................

6.2.4 Communication 6-4................................................

6.2.5 Motor control 6-4..................................................

6.2.6 Mint WorkBench 6-5...............................................

6.2.7 Ethernet 6-6......................................................

6.2.8 CANopen 6-6.....................................................

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

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 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 port 7-3.....................................................

7.1.10 Ethernet interface 7-3..............................................

7.1.11 CAN interface 7-4.................................................

7.1.12 Environmental 7-4.................................................

7.1.13 Weights and dimensions 7-4........................................

Appendices

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

A.1 Cables A-1................................................

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

A.1.2 Ethernet cables A-1................................................

A.1.3 24 V power supplies A-2............................................

iv Contents

MN1941

B CE Guidelines B-1......................................

B.1 Outline B-1................................................

B.1.1 EMC Conformity and CE marking B-1.................................

B.1.2 NextMove e100 compliance B-1......................................

B.1.3 Use of CE compliant components B-2.................................

B.1.4 EMC installation suggestions B-2.....................................

B.1.5 Wiring of shielded (screened) encoder cables B-2.......................

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General Information 1-1MN1941

LT0231A04 Copyright Baldor (c) 2009. All rights reserved.

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

Mintt is a registered trademark of Baldor.
Windows 2000, Windows XP and Windows Vista are registered trademarks of the Microsoft Corporation.

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

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

See rear cover for other international offices.

1 General Information

1

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1-2 General Information MN1941

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.

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.

WARNING

WARNING

CAUTION

CAUTION

NOTICE

NOTICE

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Introduction 2-1MN1941

2.1 NextMove e100 features

NextMove e100 is a high performance multi-axis intelligent controller for servo and stepper
motors.

NextMove e100 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:

H Control of up to 16 axes, including 4 stepper and 3 servo axes (on board), plus external axes

over the ETHERNET Powerlink connection.

H Point to point moves, software cams and gearing, complex path control, splines etc.

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

H 12 general purpose digital outputs and 1 relay output.

H 2 differential analog inputs with 12-bit resolution.

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

H USB 1.1 serial port (compatible with USB2.0).

H RS232 / RS485/422 serial port for programming or connection to an HMI operator panel.

H ETHERNET Powerlink & TCP/IP support: Twin Ethernet ports with integrated hub for

communication with host PC or other ETHERNET Powerlink devices.

H CANopen protocol for communication with Mint controllers and other third party devices.

H Programmable in Mint.

2 Introduction

2

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2-2 Introduction MN1941

Included with NextMove e100 is the Baldor Motion Toolkit CD. This contains a number of utilities
and useful resources to get the most from your Mint controller. These include:

H Mint WorkBench

This is the user interface for communicating with the NextMove e100. Installing Mint
WorkBench will also install firmware for NextMove e100.

H Mint Machine Center

This is used to view and configure a multi-axis network of connected controllers.

H PC Developer Libraries

Installing Mint WorkBench will install ActiveX interfaces that allow PC applications to be
written that communicate with the NextMove e100.

This manual is intended to guide you through the installation of NextMove e100.

The chapters should be read in sequence.

The Basic Installation section describes the mechanical installation of the NextMove e100.
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/supportme

.

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Introduction 2-3MN1941

2.2 Receiving and inspection

When you receive your NextMove e100, 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 e100.

2. Remove the NextMove e100 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 e100 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 e100 for external damage during shipment and report any damage to
the carrier that delivered it.

5. If the NextMove e100 is to be stored for several weeks before use, be sure that it is stored
in a location that conforms to the storage humidity and temperature specifications shown in
section 3.1.1.

2.2.1 Identifying the catalog number

Different models of NextMove e100 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.

NextMove e100 catalog number:

NXE100-16___D_ or NXE100-16___S_

Installed in: ________________________ Date: ______

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

Catalog number

Description

NXE100-1608Dx 8 axes, RS422 differential stepper outputs.

NXE100-1608Sx 8 axes, open collector (single-ended) stepper outputs.

NXE100-1612Dx 12 axes, RS422 differential stepper outputs.

NXE100-1612Sx 12 axes, open collector (single-ended) stepper outputs.

NXE100-1616Dx 16 axes, RS422 differential stepper outputs.

NXE100-1616Sx 16 axes, open collector (single-ended) stepper outputs.

Note: The x represents a letter indicating the hardware revision. This does not affect the

capabilities of the NextMove e100 unless otherwise stated.

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2-4 Introduction MN1941

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

mΩ milliohm.............

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

EPL ETHERNET Powerlink............

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

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Basic Installation 3-1MN1941

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 e100.
This section describes the mechanical installation of the NextMove e100.

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 e100 are shielded correctly.

Avoid locating the NextMove e100 immediately above or beside heat generating
equipment, or directly below water steam pipes.

Avoid locating the NextMove e100 in the vicinity of corrosive substances or vapors,
metal particles and dust.

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

H The NextMove e100 is designed to be mounted indoors, permanently fixed and located.

H The NextMove e100 must be secured by the slots in the metal base.

H The NextMove e100 must be installed in an ambient temperature of 0 °C to 45 °C (32 °F to

113 ° F ) .

H The NextMove e100 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.

H The NextMove e100 must be installed where the pollution degree according to IEC664 shall

not exceed 2.

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

3 Basic Installation

3

NOTICE

NOTICE

NOTICE

NOTICE

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3-2 Basic Installation MN1941

3.1.2 Mounting the NextMove e100

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 e100 using the supplied M4 screws. For effective cooling, the NextMove e100 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.

140 (5.51)

129 (5.08)

170 (6.69)

250 (9.84)

All dimensions shown as

mm (inches)

40.3 (1.59)

Mounting keyhole and slot detail

A

B

C

A 4.5 mm
B 10 mm
C 11 m m

A

Drawings not to scale

Figure 1 - Package dimensions

There must be at least 20 mm (0.8 in) clearance between the NextMove e100 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.

NOTICE

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Basic Installation 3-3MN1941

3.1.3 Other requirements for installation

H The NextMove e100 requires a 24 VDC power supply capable of supplying 2 A continuously.

It is recommended that a separate fused 24 VDC supply is provided for the NextMove e100,
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.

H A PC that fulfills the following specification:

Minimum specification Recommended specification

Processor Intel PentiumIII

500 MHz

Intel PentiumIII / 4 or equivalent

1 GHz or faster

RAM 128 MB 1GB

Hard disk space 50 MB 50 MB

CD-ROM ACD-ROMdrive

Communication USB port, RS232 / RS485/422 serial port, or Ethernet* port

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

Mouse A mouse or similar pointing device

Operating

system

Windows 2000, Windows XP or Windows Vista

* The Ethernet configuration used by a normal office PC is not suitable for direct
communication with the NextMove e100. It is recommended to install a separate dedicated
Ethernet adapter in the PC, which can be configured for use with the NextMove e100. See
section 5.2.4.

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

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

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3-4 Basic Installation MN1941

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Input / Output 4-1MN1941

4.1 Introduction

This section describes the input and output capabilities of the NextMove e100.

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...........

Common electrical connections use the following abbreviations:

AGND Analog ground. Used by the analog input and output circuits...........

USR V+ User power supply V+. Provides power to the digital outputs..........

USR GND User power supply ground. Return connection for the user power supply........

CREFx Common reference. The common connection for a group of digital inputs...........

DGND Digital ground. Used by the stepper control outputs...........

4 Input / Output

4

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4-2 Input / Output MN1941

4.1.1 Connector locations

Tightening torque for terminal block
connections is 0.25 N·m (2.25 lb-in).
Use 60/75 or 75 °C copper (Cu) wire only.

(NC) = Not Connected

X12 AIN 0-1
& relay

X7 Encoder2

X6 Encoder1

X4 DOUT 8-11

X2 STEP 0-1

AIN0+

AIN0­AGND
AIN1+

AIN1­Shield

REL COM

REL NC
REL NO

REL COM

CREF2
CREF1
CREF0
USR V+
USR GND
USR V+
DOUT11
DOUT10
DOUT9
DOUT8

Mating connectors:
Sauro CTF10008
Sauro CTF12008
Sauro CTF02008
9-pinD-typeplug(male)
9-pin D-type socket (female)
RJ45 plug
USB type B plug

1
2
3
4
5
6
7
8
9
10

12
11
10

9
8
7
6
5
4
3
2
1

10

9
8
7
6
5
4
3
2
1

X11 DOUT 0-7

DOUT0
DOUT1
DOUT2
DOUT3
DOUT4
DOUT5
DOUT6
DOUT7

USR V+

USR GND

1
2
3
4
5
6
7
8
9
10

X10 DIN 0-3
(fast interrupts)

DIN3

Shield

CREF0

DIN2

Shield

CREF0

DIN1

Shield

CREF0

DIN0

1
2
3
4
5
6
7
8
9
10

X9 DIN 4-11

DIN11
DIN10

DIN9
DIN8
DIN7
DIN6
DIN5
DIN4

CREF1

Shield

1
2
3
4
5
6
7
8
9
10

X8 DIN 12-19

DIN19
DIN18
DIN17
DIN16
DIN15
DIN14
DIN13
DIN12

CREF2

Shield

1
2
3
4
5
6
7
8
9
10

X13 AOUT 0-3
(demands)

Demand0

AGND
Shield

Demand1

AGND
Shield

Demand2

AGND
Shield

Demand3

AGND
Shield

1
2
3
4
5
6
7
8
9
10
11
12

X3 STEP 2-3

12
11
10

9
8
7
6
5
4
3
2
1

X5 Encoder0

X1 +24V in

+24 V
0V

2
1

CAN

USB

Shield
DIR1+
DIR1­STEP1+
STEP1­DGND
Shield
DIR0+
DIR0­STEP0+
STEP0­DGND

Shield
DIR3+
DIR3­STEP3+
STEP3­DGND
Shield
DIR2+
DIR2­STEP2+
STEP2­DGND

Ethernet

Serial

For model
NXE100-16xxSx:

Shield
DIR1
+5 V
STEP1

(NC)

DGND
Shield
DIR0
+5 V
STEP0

(NC)

DGND

Shield
DIR3
+5 V
STEP3

(NC)

DGND
Shield
DIR2
+5 V
STEP2

(NC)

DGND

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Input / Output 4-3MN1941

4.2 Analo g I/O

The NextMove e100 provides:

H Two 12-bit resolution analog inputs.

H 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).

H Differential inputs.

H Voltage range: ±10 V.

H Resolution: 12-bit with sign.

H Input impedance: 120 kΩ.

H 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.

NextMove e100

-

+

AIN0+

AIN0-

AGND

Mint

ADC(0)

-

+

2

3

1

+15 V

-15 V

‘X12’

Figure 2 - Analog input, AIN0 shown

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

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4-4 Input / Output MN1941

AIN0

ADC(0)

X12

AIN0

ADC(0)

1

2

3

X12

AIN0-

Differential connec tion Single ended connection

AIN0+

1

2

3

AIN0+

GND

Figure 3 - AIN0 analog input wiring

AIN0

1kΩ,0.25W

potentiometer

ADC(0)2

1

X12

1.5 kΩ,0.25W

0V

+24 VDC

3

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

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Input / Output 4-5MN1941

4.2.2 Analog outputs

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

H Four independent bipolar analog outputs.

H Output range: ±10 VDC (±0.1%).

H Resolution: 12-bit.

H Output current: 10 mA maximum.

H Update frequency: 1 kHz.

Mint and the Mint Motion Library use analog outputs Demand0 to Demand2 to control local drive
amplifiers. Demand outputs 0 to 2 are used by axes configured as servo (see section 5.5.3). All
of the outputs may be used as general purpose analog outputs, provided they have not been
assigned to an axis - see the DAC keyword in the Mint help file.

The analog outputs may be used to drive loads of 1 kΩ or greater. Shielded twisted pair cable
should be used. The shield connection should be made at one end only.

NextMove e100

Demand0

Demand

±100%

-

+

AGND

TL084

1

2

+15 V

-15 V

‘X13’

Figure 5 - Analog output - Demand0 shown

NextMove e100

Demand0

AGND

1

2

13

12

MicroFlex / servo amplifier

AIN0+

AIN0-

Connect overall shield at

one end only

3Shield

Servo
amplifier
±10 VDC
demand
input

-

+

‘X3’‘X13’

Figure 6 - Analog output - typical connection to a Baldor MicroFlex

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4-6 Input / Output MN1941

NextMove e100

Demand0

AGND

2

FlexDriveII/ servo amplifier

AIN0+

AIN0-

Connect overall shield at

one end only

3Shield

Servo
amplifier
±10 VDC
demand
input

-

+

1

2

1

‘X1’

‘X13’

Figure 7 - Analog output - typical connection to a Baldor FlexDriveII, Flex+DriveIIor MintDrive

II

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Input / Output 4-7MN1941

4.3 Digital I/O

The NextMove e100 provides:

H 20 general purpose digital inputs.

H 12 general purpose digital outputs.

H 1 general purpose relay output.

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 (using
the Mint INPUTMODE keyword).

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 and INSTATEX keywords. 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
LATCH...) allow specific functions to be performed as a result of fast position inputs becoming
active. See the Mint help file for details.

DIN3

6k2

TLP115A

DGND

Mint

Vcc

NextMove e100

CREF0

100R

1

3

Shield 2

‘X10’

Figure 8 - Fast interrupt digital input - DIN3 shown

Digital inputs DIN0 to DIN3 use CREF0 as their common connection.

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

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

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4-8 Input / Output MN1941

4.3.1.2 DIN4 - DIN11

Digital inputs DIN4 to DIN11 have a common specification:

H Opto-isolated digital inputs.

H Sampling frequency: 1 kHz.

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

DIN11

6k2

TLP281

DGND

Mint

INX(11)

Vcc

NextMove e100

CREF1

100R

1

9

Shield 10

‘X9’

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.

DIN19

6k2

TLP281

DGND

Mint

INX(19)

Vcc

NextMove e100

CREF2

100R

1

9

Shield 10

‘X8’

Figure 10 - General purpose digital input - DIN19 shown

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Input / Output 4-9MN1941

4.3.1.4 Typical digital input wiring

NextMove e100

8

9

DIN4

CREF1

TLP281

User
supply
GND

User
supply
24 V

‘X9’

6k2100R

Figure 11 - Digital input - typical ‘active high’ input connection using a switch

NextMove e100

8

9

DIN4

CREF1

TLP281

User
supply
GND

User
supply
24 V

‘X9’

6k2100R

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

Note: The circuits shown in Figures 11 and 12 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.

NextMove e100

Status+

Status-

8

9

MicroFlex e100 /
equipment output

DIN4

CREF1

TLP 127

TLP281

User
supply
GND

User
supply
24 V

11

1

‘X9’

‘X3’

6k2100R

Figure 13 - Digital input - typical connections from a Baldor MicroFlex e100

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4-10 Input / Output MN1941

NextMove e100

USR V+

DOUT0

8

9

FlexDriveII/ equipment output

NEC PS2562L-1

‘X1’

User
supply
GND

User
supply
24 V

6

18

DIN4

CREF1

‘X9’

TLP281

6k2100R

Figure 14 - Digital input - typical connections from a Baldor FlexDriveII,

Flex+Drive

II

or MintDrive

II

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Input / Output 4-11MN1941

4.3.2 Digital outputs and relay

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 controlled directly from Mint WorkBench, or by the Mint OUT
and OUTX keywords. 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 UDN2982 output devices, as shown
in Figure 15. When an output is activated, current is sourced from the user supply through a
UDN2982 output driver.

H 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). If the total current exceeds
1 A a self-resetting fuse will operate, which may take a few minutes to reset.

H 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

.

H The maximum allowable power dissipation for the UDN2982 driver is 1.5 W.

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.

TLP281

NextMove e100

Mint

OUTX(0)

DOUT0

USR GND

1

10

UDN2982

User
supply
24 V

User
supply
GND

Output
Load

USR V+

9

GND

Voltage

regulator

‘X11’

Figure 15 - 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
UDN2982 output driver. Because only four of the UDN2982’s eight outputs are being used, the
average current available on DOUT8 - DOUT11 is increased:

H 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). If the total current exceeds
1 A a self-resetting fuse will operate, which may take a few minutes to reset.

H 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

.

H The maximum allowable power dissipation for the UDN2982 driver is 1.5 W.

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4-12 Input / Output MN1941

4.3.2.3 DOUT12 (relay) connections

The relay connections are available on connector X12, as shown in section 4.1.1. The relay
outputs are isolated from any internal circuits in the NextMove e100. In normal operation, while
there is no error, the relay is energized and REL COM is connected to REL NO. In the event of
an error or power loss, the relay is de-energized, and REL COM is connected to REL NC. For
control purposes the relay is considered to be another digital output (DOUT12), and can be
controlled directly using the Mint OUT or OUTX keywords. The relay can be configured as the
global error output by setting GLOBALERROROUTPUT to 12. See the Mint help file.

Relay

REL COM

REL NC

REL NO

7

9

‘X12’

8

Mint

GLOBALERROROUTPUT

or

DRIVEENABLEOUTPUT

+5 VNextMove e100

Figure 16 - Relay connections

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Input / Output 4-13MN1941

4.3.3 Stepper control outputs - models NXE100-16xxDx

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 60 Hz to 5 MHz. Each
of the step (pulse) and direction signals from the NextMove e100 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 5 MHz. Values less than 60 Hz will produce no output - see
the Mint help file.

The DS26LS31 drivers are static sensitive devices. Take appropriate ESD
precautions when handling the NextMove e100. 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.

STEP0+

DGND

1

DS26LS31

STEP0-

3

NextMove e100

Step

Output

GND

MicroFlex / servo amplifier

DGND

Step

Connect shields at

one end only

6Shield

‘X3’

‘X2’

10

11

DIR0+

DS26LS31

DIR0-

5

Dir

Output

Twisted pairs

Dir

9

Figure 17 - Stepper output - typical connection to a Baldor MicroFlex

STEP0+

DGND

1

DS26LS31

STEP0-

3

NextMove e100

Step

Output

GND

Pulse
GND

Pulse+

Connect shields at

one end only

6Shield

‘X9’

‘X2’

1

6

DIR0+

DS26LS31

DIR0-

5

Dir

Output

Twisted pairs

Dir+

2

FlexDriveII/ servo amplifier

Dir
GND

7

Figure 18 - Stepper output - typical connection to a Baldor FlexDriveII,

Flex+Drive

II

or MintDrive

II

NOTICE

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4-14 Input / Output MN1941

4.3.4 Stepper control outputs - models NXE100-16xxSx

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 60 Hz to 500 kHz.
Each of the step (pulse) and direction signals from the NextMove e100 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. Values less
than 60 Hz will produce no output - see the Mint help file.

The ULN2003 drivers are static sensitive devices. Take appropriate ESD
precautions when handling the NextMove e100. A 5 V 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 and X7 for powering
encoders. Ensure that the total combined current demand of all 5 V outputs does not
exceed 600 mA. 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).

NextMove e100

STEP0

ULN2803

Step

Output

74AHCT244

GND

3

Stepper drive opto-isolated inputs

Optocoupler
reference

Step clock
input

+5 V

4+5 V

DIR0

ULN2803

Direction

Output

74AHCT244

GND

5

CW/CCW
direction
input

REL NC

7

Enable input

‘X2’

‘X12’

+5 V

REL COM

1

DGND

8

Enable

Figure 19 - Connections to a typical stepper drive (e.g. Baldor DSM series)

NOTICE