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ABB NextMove e100 User Manual

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Summary of Contents for ABB NextMove e100

  • Page 1 NextMove e100 motion controller...

  • Page 3: Table Of Contents

    Mounting the NextMove e100 ........
  • Page 4 Starting the NextMove e100........5-2...
  • Page 5 SupportMe feature ..........6-1 NextMove e100 indicators ....... 6-2 6.2.1...
  • Page 6 B Mint Keyword Summary Introduction ......... . B-1 B.1.1 Keyword listing .

  • Page 7: General Information

    This manual is copyrighted and all rights are reserved. This document or attached software may not, in whole or in part, be copied or reproduced in any form without the prior written consent of ABB. ABB makes no representations or warranties with respect to the contents hereof and specifically disclaims any implied warranties of fitness for any particular purpose.
  • Page 8 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...

  • Page 9: Introduction

    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.
  • Page 10 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.

  • Page 11: Receiving And Inspection

    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.

  • Page 12: Units And Abbreviations

    2.3 Units and abbreviations The following units and abbreviations may appear in this manual: V....Volt (also V AC and V DC) W ....Watt A.

  • Page 13: Basic Installation

     The NextMove e100 must be secured by the slots in the metal base.  The NextMove e100 must be installed in an ambient temperature of 0 °C to 45 °C (32 °F  to 113 °F). The NextMove e100 must be installed in relative humidity levels of less than 80% for ...

  • Page 14: Mounting The Nextmove E100

    C 11 mm 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.

  • Page 15: Other Requirements For Installation

    It is recommended that a separate fused 24 V DC 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.
  • Page 16 3-4 Basic Installation MN1941WEN...

  • Page 17: Input / Output

    4 Input / Output 4.1 Introduction This section describes the various digital input and output capabilities of the NextMove e100, with descriptions of each of the connectors on the front panel. The following conventions are used to refer to the inputs and outputs: I/O .

  • Page 18: Connector Locations

    4.1.1 Connector locations DIN19 DIN18 DIN17 DIN16 DIN15 X7 Encoder 2 X8 DIN 12-19 DIN14 DIN13 DIN12 CREF2 Shield DIN11 DIN10 DIN9 X6 Encoder 1 DIN8 Serial DIN7 X9 DIN 4-11 DIN6 DIN5 DIN4 CREF1 Ethernet Shield DIN3 X5 Encoder 0 Shield CREF0 DIN2...

  • Page 19: Analog I/O

    4.2 Analog I/O The NextMove e100 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).
  • Page 20 AIN0+ AIN0+ AIN0 AIN0- AIN0 ADC.(0) ADC.(0) Differential connection Single ended connection Figure 3: AIN0 analog input wiring +24 V DC 1.5 kΩ, 0.25 W 1 kΩ, 0.25 W potentiometer AIN0 ADC.(0) Figure 4: Typical input circuit to provide 0-10 V (approx.) input from a 24 V source 4-4 Input / Output MN1941WEN...

  • Page 21: Analog Outputs

    MicroFlex / servo amplifier NextMove e100 ‘X13’ ‘X3’ Demand0 AIN0+ Servo amplifier ±10 VDC demand Input AGND AIN0- Shield Connect overall shield at one end only Figure 6: Analog output - typical connection to an ABB MicroFlex MN1941WEN Input / Output 4-5...
  • Page 22 NextMove e100 ‘X1’ ‘X13’ FlexDrive / servo amplifier Demand0 AIN0+ Servo amplifier ±10 VDC demand Input AIN0- AGND Shield Connect overall shield at one end only Figure 7: Analog output - typical connection to a Baldor FlexDrive , Flex+Drive MintDrive...

  • Page 23: Digital I/O

    When the E-stop switch is triggered, the instantaneous contacts break, allowing the NextMove e100 to issue a software disable to stop the drive in a controlled manner. The time delayed contacts then break and disable the drive completely.
  • Page 24 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. NextMove e100 ‘X10’ 100R...
  • Page 25 4.3.1.4 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. NextMove e100 ‘X9’ 100R Mint DIN11 INX.(11) TLP281...
  • Page 26 ‘bounce’ could cause unwanted multiple triggering. User supply MicroFlex e100 / ‘X3’ ‘X9’ NextMove e100 equipment output Status+ 100R DIN4 Status- TLP 127 CREF1 TLP281 User supply Figure 13: Digital input - typical connections from an ABB MicroFlex e100 4-10 Input / Output MN1941WEN...
  • Page 27 User supply ‘X9’ NextMove e100 ‘X1’ FlexDrive / equipment output USR V+ 100R DIN4 DOUT0 NEC PS2562L-1 CREF1 TLP281 User supply Figure 14: Digital input - typical connections from a Baldor FlexDrive Flex+Drive or MintDrive MN1941WEN Input / Output 4-11...

  • Page 28: Digital Outputs And Relay

    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. NextMove e100 Voltage regulator ‘X11’...
  • Page 29 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.

  • Page 30: Stepper Control Outputs - Models Nxe100-16Xxdx

    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.

  • Page 31: Stepper Control Outputs - Models Nxe100-16Xxsx

    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.

  • Page 32: Other I/O

    9 +5V out Power supply to encoder Three incremental encoders may be connected to NextMove e100, 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.
  • Page 33 CHZ- Twisted pair DGND DGND Shield Connect overall shield to connector backshells / shield connections Figure 20: Encoder input 0 - typical connection from a servo amplifier (e.g. ABB MicroFlex, FlexDrive , Flex+Drive or MintDrive MN1941WEN Input / Output 4-17...

  • Page 34: Node Id Selector Switches

    4.4.2 Node ID selector switches The NextMove e100 has two selector switches which determine the unit’s node ID on EPL networks. Each switch has 16 positions, allowing selection of the hexadecimal values 0 - F. In combination, the two switches allow values of 0 - 255 (hexadecimal FF) to be selected.
  • Page 35 Note: If the node ID selector switches are set to FF, the node’s firmware will not run on power up. However, Mint WorkBench will still be able to detect the NextMove e100 and download new firmware. MN1941WEN Input / Output 4-19...
  • Page 36 In many networking environments, the node ID may also be referred to as the address. On EPL networks, limitations apply to the node IDs that may be selected: Node ID 0 (00) is reserved for special purposes and cannot be used. ...

  • Page 37: Usb And Serial Communication

    USB 3.0 (5 Gbps) host PC or hub, communication speed will remain at the USB 1.1 specification of the NextMove e100. Ideally, the NextMove e100 should be connected directly to a USB port on the host PC. If it is connected to a hub shared by other USB devices, communication could be affected by the activity of the other devices.

  • Page 38: Serial Port

    RTS and CTS lines, these must also be connected. Pins 4 and 6 are linked on the NextMove e100. The maximum recommended cable length is 3 m (10 ft) at 57.6 Kbaud (the factory preset rate). When using lower baud rates, longer cable lengths may be used up to maximum of 15 m (49 ft) at 9600 baud.

  • Page 39: Multidrop Using Rs485 / Rs422

    (slave) devices on the network. The network master can be a controller such as NextMove e100, a host application such as Mint WorkBench (or other custom application), or a programmable logic controller (PLC). RS422 may be used for multi-drop applications as shown in Figure 23.

  • Page 40: Connecting Serial Baldor Hmi Operator Panels

    4.5.5 Connecting serial Baldor HMI Operator Panels Serial Baldor HMI Operator Panels use a 15-pin male D-type connector (marked PLC PORT), but the NextMove e100 Serial connector uses a 9-pin male D-type connector. The NextMove e100 may be connected as shown in Figure 24:...

  • Page 41: Ethernet Interface

    (which includes the destination address of the receiving device) but has no influence on whether the packet is delivered correctly. TCP/IP allows the NextMove e100 to support standard Ethernet communication with a host PC running Mint WorkBench. The connection uses a high level ICM (Immediate Command Mode) protocol to allow Mint commands, Mint programs and even firmware to be sent to the controller over the Ethernet network.

  • Page 42: Ethernet Powerlink

    ‘real-time’ communication over a 100 Mbit/s (100Base-T) Fast Ethernet (IEEE 802.3u) connection. This makes it suitable for the transmission of control and feedback signals between the NextMove e100 and other EPL enabled controllers such as MicroFlex e100. The EPL protocol implemented in Mint is based on the CANopen DS402 Device Profile for Drives and Motion Control.

  • Page 43: Ethernet Connectors

    (NC) (NC) To connect the NextMove e100 to other EPL devices use CAT5e Ethernet cables - either S/ UTP (unshielded screened/foiled twisted pairs) or preferably S/FTP (fully shielded screened/ foiled twisted pairs). To ensure CE compliance, Ethernet cables longer than 3 m should be S/ FTP cables bonded to the metal backplane at both endes using conductive clamps (see section C.1.5).

  • Page 44: Can Interface

    120 Ω. This is to reduce reflections of the electrical signals on the bus, which helps a node to interpret the bus voltage levels correctly. If the NextMove e100 is at the end of the network then ensure that a 120 Ω terminating resistor is fitted (normally inside the D-type connector).

  • Page 45: Canopen

    2761871) provides a 9-pin D-type female connector with easily accessible terminal block connections. CAN cables supplied by ABB are ‘category 5’ and have a maximum current rating of 1 A, so the maximum number of NextMove e100 units that may be used on one network is limited to ten.
  • Page 46 The configuration and management of a CANopen network must be carried out by a single node acting as the network master. This role can be performed by the NextMove e100 when it is configured to be the Network Manager node (node ID 1), or by a third party CANopen master device.

  • Page 47: Connection Summary - Minimum Wiring (Local Axis)

    4.8 Connection summary - minimum wiring (local axis) As a guide, Figure 31 shows an example of the typical minimum wiring required to allow the NextMove e100 and a single axis servo amplifier to work together. Details of the connector pins are shown in Table 2.
  • Page 48 NextMove e100 Name of Function Connection on amplifier connector signal (Note: connections may be labeled differently) Control supply ground +24 V Control supply +24 V input Encoder0 Encoder0 feedback input Encoder output REL NO Normally open relay contact Enable +24 V...

  • Page 49: Connection Summary - Minimum Wiring (Remote Axis)

    As a guide, Figure 32 shows an example of the typical minimum wiring required to allow the NextMove e100 and a single axis EPL servo amplifier (e.g. MicroFlex e100) to work together. Details of the connector pins are shown in Table 3.
  • Page 50 NextMove e100 Name of Function Connection on amplifier connector signal (Note: connections may be labeled differently) Control supply ground +24 V Control supply +24 V input REL NO Normally open relay contact Drive Enable + (closed to enable drive) REL COM...

  • Page 51: Operation

    5 Operation 5.1 Introduction Before powering the NextMove e100 you will need to connect it to the PC using a USB or serial cable and install the Mint WorkBench software. This includes a number of applications and utilities to allow you to configure, tune and program the NextMove e100. Mint WorkBench and other utilities can be found on the Mint Motion Toolkit CD (OPT-SW-001), or downloaded from www.abbmotion.com.

  • Page 52: Installing Mint Workbench

    Status LED should start to flash green. If the Status LED is not lit then re-check the power supply connections. If the Status LED flashes red, this indicates that the NextMove e100 has detected a fault - see section 6. 5-2 Operation...

  • Page 53: Installing The Usb Driver

    The NextMove e100 is now ready to be configured using Mint WorkBench. Note: If the NextMove e100 is later connected to a different USB port on the host computer, Windows may report that it has found new hardware. Either install the driver files again for the new USB port, or connect the NextMove e100 to the original USB port where it will be recognized in the usual way.

  • Page 54: Configuring The Tcp/Ip Connection (Optional)

    5.1.7 Configuring the TCP/IP connection (optional) If you have connected the NextMove e100 to the PC using the Ethernet connection, it will be necessary to alter the PC’s Ethernet adapter configuration to operate correctly with the NextMove e100. You cannot connect an ordinary office PC to the NextMove e100 without first altering the PC’s Ethernet adapter configuration.

  • Page 55: Mint Machine Center

    Individual controllers and drives are configured using Mint WorkBench. Note: If you have only a single NextMove e100 connected to your PC, then MMC is probably not required. Use Mint WorkBench (see section 5.3) to configure the NextMove e100.
  • Page 56 MintDrive Mint WorkBench RS232 MintDrive Mint WorkBench RS485/422 Host PC Mint Machine Center Mint WorkBench NextMove e100 Mint WorkBench MicroFlex e100 Ethernet MicroFlex e100 Mint WorkBench Figure 34: Typical network visibility provided by Mint Machine Center 5-6 Operation MN1941WEN...

  • Page 57: Starting Mmc

    2. In the controller pane, ensure that Host is selected. In the information pane, click Scan. 3. When the search is complete, click once on ‘NextMove e100’ in the controller pane to select it, then double click to open an instance of Mint WorkBench. The NextMove e100 will be already connected to the instance of Mint WorkBench, ready to configure.

  • Page 58: Viewing Remote Nodes Connected Over Ethernet (Optional)

    For the following procedure, it is essential that the NextMove e100’s node ID selector switches are not set to F0. Although F0 is the correct node ID to make the NextMove e100 an EPL manager node, the remote nodes have not yet been configured for EPL operation so will be ignored if the NextMove e100 is operating as a manager node.

  • Page 59: Mint Workbench

    Mint WorkBench is a fully featured application for programming and controlling the NextMove e100. The main Mint WorkBench window contains a menu system, the Toolbox and other toolbars. Many functions can be accessed from the menu or by clicking a button - use whichever you prefer.

  • Page 60: Help File

    5.3.1 Help file Mint WorkBench includes a comprehensive help file that contains information about every Mint keyword, how to use Mint WorkBench and background information on motion control topics. The help file can be displayed at any time by pressing F1. On the left of the help window, the Contents tab shows the tree structure of the help file.

  • Page 61: Starting Mint Workbench

    5.3.2 Starting Mint WorkBench Note: If you have already used MMC to start an instance of Mint WorkBench then the following steps are unnecessary. Go to section 5.4 to continue configuration. 1. On the Windows Start menu, select Programs, Mint WorkBench, Mint WorkBench. 2.
  • Page 62 Click Scan to search for the NextMove e100. When the search is complete, click ‘NextMove e100’ in the list to select it, and then click Select.. Note: If the NextMove e100 is not listed, check the USB or serial cable between the NextMove e100 and the PC.

  • Page 63: Configuring Axes

    5.4 Configuring axes The NextMove e100 is capable of controlling its own 4 stepper and 3 servo axes, plus further ‘remote’ axes over Ethernet POWERLINK (EPL). Each axis must be assigned a unique axis number. The axis number is used throughout Mint WorkBench and the NextMove e100’s Mint programs to identify a particular axis.

  • Page 64: Configuring Remote Axes

    5.4.2 Configuring remote axes When configuring a remote axis on the NextMove e100, there is no requirement to determine the type of axis, for example servo or stepper. Basic configuration requires only a node ID and an axis number to be selected. In Mint WorkBench, the System Configuration Wizard is used to assign the node IDs and axis numbers.
  • Page 65 In this example, the remote axis has been assigned axis number 5. This means that when a Mint program running on the NextMove e100 contains a statement such as MOVER(5)=20, the NextMove e100 will send a demand to the remote axis (5) to move 20 units.

  • Page 66: Configuring Local Axes

    5. Click OK to close the Configure Local Axis window. The axis is now listed in the Axis Config page. Click Next > to continue to the end of the System Configuration Wizard, where the configuration will be downloaded and stored on the NextMove e100. 5-16 Operation MN1941WEN...

  • Page 67: Selecting A Scale

    The actual positional data transmitted between the NextMove e100 and the remote axis is converted into ‘raw’ encoder counts. This means that no matter what SCALEFACTOR has been set on the remote axis (if at all), positional commands sent by the NextMove e100 are always received and interpreted correctly by the remote axis.
  • Page 68 Click in the Active column and enter a value for the scale factor. This immediately sets the scaling factor for the selected axis, which will remain in the NextMove e100 until another scale is defined or power is removed. A yellow ‘C’ icon will appear to the left of the ScaleFactor entry to indicate that the value has been changed.

  • Page 69: Setting The Drive Enable Output (Optional, Local Axes Only)

    For a remote axis (e.g. MicroFlex e100), a physical drive enable connection from the NextMove e100 may not be required. The remote axis’ drive enable input can be wired to external safety stop circuits to provide a fail-safe method for disabling the drive, while in normal operation commands over the EPL network can be used to enable/disable the drive.
  • Page 70 To configure multiple axes with same drive enable output, repeat this step for the other axes. 5. Click Apply at the bottom of the screen. This sends the output configuration to the NextMove e100. 5-20 Operation MN1941WEN...

  • Page 71: Testing The Drive Enable Output

    If this is not working, or the action of the button is reversed, check the electrical connections between the NextMove e100 and drive amplifier. If you are using the relay, check that you are using the correct normally open (REL NO) or normally closed (REL NC) connections.

  • Page 72: Local Stepper Axis - Testing

    5.5 Local stepper axis - testing This section describes the method for testing a local stepper axis. The stepper control is an open loop system so no tuning is necessary. See section 5.4.3 for details about creating a stepper axis. 5.5.1 Testing the output This section tests the operation and direction of the output.

  • Page 73: Local Servo Axis - Testing And Tuning

    5.6 Local servo axis - testing and tuning This section describes the method for testing and tuning a local servo axis. The drive amplifier must already have been tuned for basic current or velocity control of the motor. See section 5.4.3 for details about creating a servo axis. 5.6.1 Testing the demand output This section tests the operation and direction of the demand output for axis 0.
  • Page 74 5. To repeat the tests for negative (reverse) demands, type: TORQUEREF(0)=-5 This should cause a demand of -5% of maximum output (-0.5 V) to be produced at the DEMAND0 output. Correspondingly, the Spy window’s Velocity display should show a negative value. 6.

  • Page 75: An Introduction To Closed Loop Control

    [Demand stopped so you stopped too, but not quite level ]. The NextMove e100 tries to correct the error, but because the error is so small the amount of torque demanded might not be enough to overcome friction.
  • Page 76 The remaining gain terms are Velocity Feed forward (KVELFF) and Acceleration Feed forward (KACCEL) described below. In summary, the following rules can be used as a guide: KPROP: Increasing KPROP will speed up the response and reduce the effect of ...
  • Page 77 Figure 37: The NextMove e100 servo loop MN1941WEN Operation 5-27...

  • Page 78: Local Servo Axis - Tuning For Current Control

    5.7 Local servo axis - tuning for current control 5.7.1 Selecting servo loop gains All servo loop parameters default to zero, meaning that the demand output will be zero at power up. Most drive amplifiers can be set to current (torque) control mode or velocity control mode;...
  • Page 79 0.15 seconds. 7. Click Go. The NextMove e100 will perform the move and the motor will turn. As the soon as the move is completed, Mint WorkBench will upload captured data from the NextMove e100. The data will then be displayed in the Capture window as a graph.

  • Page 80: Underdamped Response

    5.7.2 Underdamped response If the graph shows that the response is underdamped (it overshoots the demand, as shown in Figure 38) then the value for KDERIV should be increased to add extra damping to the move. If the overshoot is excessive or oscillation has occurred, it may be necessary to reduce the value of KPROP.

  • Page 81: Overdamped Response

    5.7.3 Overdamped response If the graph shows that the response is overdamped (it reaches the demand too slowly, as shown in Figure 39) then the value for KDERIV should be decreased to reduce the damping of the move. If the overdamping is excessive, it may be necessary to increase the value of KPROP.

  • Page 82: Critically Damped Response

    5.7.4 Critically damped response If the graph shows that the response reaches the demand quickly and only overshoots the demand by a small amount, this can be considered an ideal response for most systems. See Figure 40. Demand position Measured position Time(ms) Figure 40: Critically damped (ideal) response 5-32 Operation...

  • Page 83: Local Servo Axis - Tuning For Velocity Control

    3. Now calculate how many quadrature encoder counts there are per revolution. The NextMove e100 counts both edges of both pulse trains (CHA and CHB) coming from the encoder, so for every encoder line there are 4 ‘quadrature counts’. With a 1000 line...
  • Page 84 8. Click Go. The NextMove e100 will perform the move and the motor will turn. As the soon as the move is completed, Mint WorkBench will upload captured data from the NextMove e100. The data will then be displayed in the Capture window as a graph.
  • Page 85 9. Using the check boxes below the graph, select the Measured velocity and Demand velocity traces. Demand velocity Measured velocity Time(ms) Figure 41: Correct value of KVELFF It may be necessary to make changes to the calculated value of KVELFF. If the trace for Measured velocity appears above the trace for Demand velocity, reduce the value of KVELFF.

  • Page 86: Adjusting Kprop

    0.1. 2. Click Go. The NextMove e100 will perform the move and the motor will turn. As the soon as the move is completed, Mint WorkBench will upload captured data from the NextMove e100. The data will then be displayed in the Capture window as a graph.
  • Page 87 Demand position Measured position Time(ms) Figure 42: Correct value of KPROP The two traces will probably appear with a small offset from each other, which represents the following error. Adjust KPROP by small amounts until the two traces appear on top of each other (approximately), as shown in Figure 42.

  • Page 88: Local Servo Axis - Eliminating Steady-State Errors

    0.1. 2. Click in the KINTLIMIT box and enter a value of 5. With NextMove e100, the action of KINT and KINTLIMIT can be set to operate in various modes: Never - the KINT term is never applied ...

  • Page 89: Local Digital Input/Output Configuration

    5.10 Local digital input/output configuration The Digital I/O window can be used to setup other digital I/O on the NextMove e100. 5.10.1 Digital input configuration The Digital Inputs tab allows you to define how each digital input will be triggered, and if it should be assigned to a special purpose function such as a Home or Limit input.

  • Page 90: Digital Output Configuration

    4. Now drag the IN1 icon onto the Fwd Limit ico This will setup IN1 as the Forward Limit input of axis 0. 5. Click Apply to send the changes to the NextMove e100. Note: If required, multiple inputs can be configured before clicking Apply.

  • Page 91: Troubleshooting

    If you have followed all the instructions in this manual in sequence, you should have few problems installing the NextMove e100. If you do have a problem, read this section first. In Mint WorkBench, use the Error Log tool to view recent errors and then check the help file.

  • Page 92: Nextmove E100 Indicators

    STATUS STATUS displays overall condition NextMove e100. Further details about error codes can be found in the Mint WorkBench help file. Press F1 and locate the Error Handling book. Solid green: Initialization OK, controller enabled (normal operation). Flickering green (very fast flashing): Firmware download in progress.

  • Page 93: Ethernet Leds

    Green (status) Off: Node in NOT ACTIVE state. If the NextMove e100 is the manager node, it is checking there is no other EPL manager node already operating. If the NextMove e100 is a controlled node, it is waiting to be triggered by the manager node.

  • Page 94: Communication

    In the “Search up to Nodexx“ option in Mint WorkBench’s Select Controller dialog, check  that the NextMove e100’s node ID for the bus is not higher than this value, or search up to a greater node ID. Cannot communicate with the controller: Verify that Mint WorkBench is loaded and that NextMove e100 is the currently selected ...

  • Page 95: Mint Workbench

    Ensure that the encoder cable uses shielded twisted pair cable, with the outer shield  connected at both ends and the inner shields connected only at the NextMove e100 end. (Local stepper outputs only) The motor is not maintaining synchronization with the ...

  • Page 96: Ethernet

    6.2.7 Ethernet Cannot connect to the controller over TCP/IP: Check that there is not an EPL manager node (for example NextMove e100 with node ID  240) on the network. If there is a manager node on the network, then an EPL compatible router must be used to allow TCP/IP communication on the EPL network.
  • Page 97 Try power-cycling the node in question.  If the node in question does not conform to DS401 or DS403 and is not a ABB CANopen node, communication is still possible using a set of general purpose Mint keywords. See the Mint help file for further details.
  • Page 98 6-8 Troubleshooting MN1941WEN...

  • Page 99: Specifications

    Specifications 7 Specifications 7.1 Introduction This section provides technical specifications of the NextMove e100. 7.1.1 Input power Description Value Input power Nominal input voltage 24 V DC (±20%) Power consumption 50 W (2 A @24 V) 7.1.2 Analog inputs Description...

  • Page 100: Digital Inputs

    7.1.4 Digital inputs Description Unit Value Type Opto-isolated USR V+ supply voltage V DC Nominal Minimum Maximum Input voltage V DC Active > 12 Inactive < 2 Input current (maximum per input, USR V+ = 24 V) Sampling interval 7.1.5 Digital outputs Description Unit Value...

  • Page 101: Stepper Control Outputs

    7.1.7 Stepper control outputs Description Unit NXE100-16xxDx NXE100-16xxSx Output type RS422 differential Darlington outputs step (pulse) and direction Maximum output frequency 5 MHz 500 kHz Output current 20 mA 50 mA (typical) (maximum sink, per output) 7.1.8 Encoder inputs Description Unit Value Encoder input...

  • Page 102: Can Interface

    7.1.11 CAN interface Description Unit Value Signal 2-wire, isolated Channels Protocol CANopen Bit rates Kbit/s 10, 20, 50, 100, 125, 250, 500, 1000 7.1.12Environmental Description Unit Operating temperature range °C °F +113 Maximum humidity % 80% for temperatures up to 31 °C (87 °F) decreasingly linearly to 50% relative humidity at 45 °C (113 °F), non-condensing...

  • Page 103: Cables

    MicroFlex, FlexDrive , Flex+Drive or MintDrive ), to the ‘Enc0’, ‘Enc1’ and ‘Enc2’ encoder input connectors on the NextMove e100. One cable is required for each servo axis. See section 4.4.1 for the connector pin configuration. Length Cable assembly description...

  • Page 104: Power Supplies

    A.1.3 24 V power supplies A range of compact 24 V DIN rail mounting power supplies are available. The supplies include short circuit, overload, over-voltage and thermal protection. Part Input voltage Output voltage Output rating DR-75-24 75 W (3.2 A) DR-120-24 110-230 V AC 24 V DC...

  • Page 105: B Mint Keyword Summary

    The following table summarizes the Mint keywords supported by the NextMove e100. Note that due to continuous developments of the NextMove e100 and the Mint language, this list is subject to change. Check the latest Mint help file for full details of new or changed keywords.
  • Page 106 Keyword Description To read the node number used to host the axis. AXISNODE To read the stepper pulse/direction output channel used to AXISPDOUTPUT control the specified axis. To select the source of the position signal used in dual AXISPOSENCODER encoder feedback systems. To read the remote channel number on the node used to AXISREMOTECHANNEL host the axis.
  • Page 107 Keyword Description To specify the array names to be used in a cam profile on CAMTABLE the specified axis. To stop motion and clear errors on an axis. CANCEL To stop motion and clear errors on all axes. CANCELALL To read the total size of the capture buffer. CAPTUREBUFFERSIZE To control the operation of capture.
  • Page 108 Keyword Description To set the configuration of an axis for different control CONFIG types. To enable a connection between two remote nodes to be CONNECT made or broken. Returns the status of the connection between this node CONNECTSTATUS and another node. To enable contouring for interpolated moves.
  • Page 109 Keyword Description To get and reset the state of an axis’ encoder Z latch. ENCODERZLATCH To return the last error code read from the error list. ERRCODE To return data associated with the last error read from the ERRDATA error list. To return the line number of the last error read from the ERRLINE error list.
  • Page 110 Keyword Description To create a flying shear by following a master axis with controlled acceleration and deceleration. To return the instantaneous following error value. FOLERROR To set the maximum permissible following error before an FOLERRORFATAL error is generated. To determine the action taken on the axis in the event of a FOLERRORMODE following error.
  • Page 111 Keyword Description Starts the hold to analog mode of motion. To specify the analog input to use for a particular axis HTACHANNEL while in Hold To Analog (HTA) mode. Specifies the damping term used in the Hold To Analog HTADAMPING (HTA) algorithm.
  • Page 112 Keyword Description To set the servo loop derivative gain on the servo axes. KDERIV To set the servo loop integral gain. KINT To restrict the overall effect of the integral gain KINT. KINTLIMIT To control when integral action will be applied in the servo KINTMODE loop.
  • Page 113 Keyword Description To set the user digital input configured to be the forward LIMITFORWARDINPUT end of travel limit switch input for the specified axis. To control the default action taken in the event of a for- LIMITMODE ward or reverse hardware limit switch input becoming active.
  • Page 114 Keyword Description To access a controller’s network data array, storing values NETFLOAT in floating-point format. To access a controller’s network data array, storing values NETINTEGER as integers. To determine if a CAN node on the bus is currently live or NODELIVE dead.
  • Page 115 Keyword Description To set or read the axis associated with a particular preci- PRECISIONAXIS sion channel. Sets or reads the theoretical distance between each of the PRECISIONINCREMENT values in the leadscrew compensation tables. Controls the action of leadscrew compensation. PRECISIONMODE Sets the distance between the start of the leadscrew and PRECISIONOFFSET axis zero position.
  • Page 116 Keyword Description To control the update mode for a remote node. REMOTEMODE To access the Object Dictionary of any CANopen node REMOTEOBJECT present on the network. To access ‘floating-point’ entries in the Object Dictionary REMOTEOBJECTFLOAT of a remote node present on the network. To access ‘Vis-String’...
  • Page 117 Keyword Description To set or read the mode used by a sentinel channel. SENTINELTRIGGERMODE To specify the ‘lowVal’ or ‘highVal’ parameter, as a float- SENTINELTRIGGERVALUE- ing-point number, to be used in a sentinel channel’s trig- FLOAT ger criteria. To specify the ‘lowVal’ or ‘highVal’ parameter, as an inte- SENTINELTRIGGERVALUE- ger number, to be used in a sentinel channel’s trigger cri- INTEGER...
  • Page 118 Keyword Description To set or read the stepper wrap range for a stepper output STEPPERWRAP channel. To perform a controlled stop during motion. STOP To set or read the digital input to be used as the stop STOPINPUT switch input for the specified axis. To set or read the action taken when an axis is stopped.
  • Page 119 Keyword Description Controls the triggering of a move. TRIGGERMODE To specify the source when axis triggering is using an TRIGGERSOURCE axis/encoder position. To specify an absolute value on which to trigger motion. TRIGGERVALUE To perform an interpolated vector move on two or more VECTORA axes with absolute co-ordinates.
  • Page 120 B-16 Mint Keyword Summary MN1941WEN...

  • Page 121: C Ce & Environmental Guidelines

    EMC compliance. NextMove e100 EMC compliance When installed as directed in this manual, NextMove e100 units meet the emission and immunity limits for an “industrial” environment, as defined by the EMC directives (EN 61000-6-4 and EN 61000-6-2).

  • Page 122: Use Of Ce Compliant Components

    NextMove e100 is UL listed; file NMMS.E195954. C.2.1 RoHS Compliance NextMove e100 is in conformity with Directive 2011/65/EU of the European parliament and of the council of 8th June 2011 on the restriction of the use of certain hazardous substances in electrical and electronic equipment.

  • Page 123: China Rohs Marking

    C.2.2 China RoHS marking The People's Republic of China Electronic Industry Standard (SJ/T 11364- 2014) specifies the marking requirements for hazardous substances in electronic and electrical products. The green mark is attached to the drive to verify that it does not contain toxic and hazardous substances or elements above the maximum concentration values, and that it is an environmentally- friendly product which can be recycled and reused.
  • Page 124 C-4 CE & Environmental Guidelines MN1941WEN...
  • Page 125 Index Index eliminating steady-state errors, 5-38 overdamped response, 5-31 Abbreviations, 2-4 selecting a scale, 5-17 Accessories, A-1 selecting servo loop gains, 5-28 Analog I/O, 4-3 servo axis - testing and tuning, 5-23 analog inputs, 4-3 setting the drive enable output, 5-19 analog outputs, 4-5 stepper axis - testing, 5-22 Axes, 5-13...
  • Page 126 USB driver, 5-3 digital outputs, 4-12, 7-2 power on checks, 5-2 encoder inputs, 4-16, 7-3 preliminary checks, 5-2 Ethernet, 4-25 starting NextMove e100, 5-2 node ID selector switches, 4-18 Operator panels relay, 4-13 HMI operator panels, 4-24 serial port, 4-22...
  • Page 127 RS232, 4-22 demand output, 5-23 drive enable output, 5-21 RS485, 4-22 servo axis, 5-23 multidrop using RS485/RS422, 4-23 stepper axis, 5-22 specifications, 7-3 stepper output, 5-22 Troubleshooting, 5-1, 6-1 Safety Notice, 1-2 CAN LEDs, 6-2 CANopen, 6-6 Scale communication, 6-4 selecting, 5-17 Ethernet, 6-6 Serial port, 4-22...
  • Page 128 Index MN1941WEN...
  • Page 129 If you have any suggestions for improvements to this manual, please let us know. Write your comments in the space provided below, remove this page from the manual and mail it to: Manuals ABB Motion Ltd 6 Hawkley Drive Bristol BS32 0BF United Kingdom.
  • Page 130 Thank you for taking the time to help us. Comments MN1941WEN...
  • Page 132 Contact us ABB Oy ABB Inc. ABB Beijing Drive Systems Co. Ltd. Drives Automation Technologies No. 1, Block D, A-10 Jiuxianqiao Beilu P.O. Box 184 Drives & Motors Chaoyang District FI-00381 HELSINKI 16250 West Glendale Drive Beijing, P.R. China, 100015...

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