Baldor NXE100-1608Dx Installation Manual
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Baldor NXE100-1608Dx Installation Manual

Baldor NXE100-1608Dx Installation Manual

Nextmove e100 series motion controller
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Summary of Contents for Baldor NXE100-1608Dx

  • Page 3 ........4-22 4.5.5 Connecting serial Baldor HMI Operator Panels ..... . 4-23 Ethernet interface .
  • Page 4 CAN interface ......... . 4-27 4.7.1 CAN connector...
  • Page 5 5.10 Local servo axis - eliminating steady-state errors ... . 5-38 5.11 Local digital input/output configuration ..... 5-39 5.11.1 Digital input configuration .
  • Page 6 B CE Guidelines ........Outline .

  • Page 7: General Information

    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.
  • Page 8 www.baldormotion.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...

  • Page 9: Introduction

    www.baldormotion.com Introduction 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.
  • Page 10 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: Mint WorkBench This is the user interface for communicating with the NextMove e100. Installing Mint WorkBench will also install firmware for NextMove e100.

  • Page 11: Receiving And Inspection

    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.

  • Page 12: Units And Abbreviations

    www.baldormotion.com 2.3 Units and abbreviations The following units and abbreviations may appear in this manual: ....Volt (also VAC and VDC) ....Watt .

  • Page 13: Basic Installation

    www.baldormotion.com Basic Installation 3.1 Introduction You should read all the sections in Basic Installation. It is important that the correct steps are followed when installing the NextMove 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.

  • Page 14: Mounting The Nextmove E100

    www.baldormotion.com 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. NOTICE Ensure you have read and understood the location requirements in section 3.1.1. Mount the NextMove e100 using the supplied M4 screws.

  • Page 15: Other Requirements For Installation

    www.baldormotion.com 3.1.3 Other requirements for installation 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.
  • Page 16 www.baldormotion.com 3-4 Basic Installation MN1941...

  • Page 17: Input / Output

    www.baldormotion.com Input / Output 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: ....Input / Output .

  • Page 18: Connector Locations

    www.baldormotion.com 4.1.1 Connector locations DIN19 DIN18 DIN17 DIN16 DIN15 DIN14 X8 DIN 12-19 X7 Encoder2 DIN13 DIN12 CREF2 Shield DIN11 DIN10 DIN9 X6 Encoder1 DIN8 Serial DIN7 X9 DIN 4-11 DIN6 DIN5 DIN4 CREF1 Ethernet Shield DIN3 X5 Encoder0 Shield CREF0 DIN2 X10 DIN 0-3...

  • Page 19: Analog I/O

    www.baldormotion.com 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). Differential inputs. Voltage range: ±10 V.
  • Page 20 www.baldormotion.com AIN0+ AIN0+ AIN0 AIN0 AIN0- ADC(0) ADC(0) Differential connection Single ended connection Figure 3 - AIN0 analog input wiring +24 VDC 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 MN1941...

  • Page 21: Analog Outputs

    MicroFlex / servo amplifier ‘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 a Baldor MicroFlex MN1941 Input / Output 4-5...
  • Page 22 ‘X13’ Demand0 AIN0+ Servo amplifier ±10 VDC demand input AGND AIN0- Shield Connect overall shield at one end only Figure 7 - Analog output - typical connection to a Baldor FlexDrive , Flex+Drive or MintDrive 4-6 Input / Output MN1941...

  • Page 23: Digital I/O

    www.baldormotion.com 4.3 Digital I/O The NextMove e100 provides: 20 general purpose digital inputs. 12 general purpose digital outputs. 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.
  • Page 24 www.baldormotion.com 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. NextMove e100 ‘X9’ 100R Mint DIN11 INX(11) TLP281 CREF1 Shield DGND...
  • Page 25 MicroFlex e100 / NextMove e100 ‘X9’ ‘X3’ supply equipment output 24 V Status+ 100R Status- DIN4 TLP 127 CREF1 TLP281 User supply Figure 13 - Digital input - typical connections from a Baldor MicroFlex e100 MN1941 Input / Output 4-9...
  • Page 26 / equipment output NextMove e100 ‘X1’ ‘X9’ supply 24 V USR V+ 100R DOUT0 DIN4 NEC PS2562L-1 CREF1 TLP281 User supply Figure 14 - Digital input - typical connections from a Baldor FlexDrive Flex+Drive or MintDrive 4-10 Input / Output MN1941...

  • Page 27: Digital Outputs And Relay

    www.baldormotion.com 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.
  • Page 28 www.baldormotion.com 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.

  • Page 29: Stepper Control Outputs - Models Nxe100-16Xxdx

    DGND Twisted pairs DS26LS31 DIR0+ Output DIR0- DGND Shield Connect shields at one end only Figure 17 - Stepper output - typical connection to a Baldor MicroFlex ‘X2’ ‘X9’ FlexDrive / servo amplifier NextMove e100 DS26LS31 STEP0+ Pulse+ Step Output...

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

    STEP0 Output 74AHCT244 CW/CCW direction ULN2803 Direction input DIR0 Output 74AHCT244 DGND +5 V ‘X12’ REL COM Enable Enable input REL NC Figure 19 - Connections to a typical stepper drive (e.g. Baldor DSM series) 4-14 Input / Output MN1941...

  • Page 31: Other I/O

    www.baldormotion.com 4.4 Other I/O 4.4.1 Encoder inputs 0-2 Location X5, X6, X7 Mating connectors: 9-pin male D-type Pin Name Description Enc 0 Enc 1 Enc 3 1 CHA+ Channel A signal 2 CHB+ Channel B signal 3 CHZ+ Index channel signal 4 Shield Shield connection 5 DGND...
  • Page 32 Do not connect other end. Shield Connect overall shield to connector backshells / shield connections. Figure 20 - Encoder input 0 - typical connection from a servo amplifier (e.g. Baldor MicroFlex, FlexDrive , Flex+Drive or MintDrive 4-16 Input / Output MN1941...

  • Page 33: Node Id Selector Switches

    www.baldormotion.com 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 34 www.baldormotion.com Node ID Node ID Node ID Node ID Figure 21 - Decimal node IDs and equivalent HI / LO hexadecimal switch settings Note: If the node ID selector switches are set to FF, the node’s firmware will not run on power up.
  • Page 35 www.baldormotion.com 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. Node IDs 1 - 239 (01 - EF) cause the node to become a ‘controlled node’, a node that will accept commands from the manager node.

  • Page 36: Usb And Serial Communication

    www.baldormotion.com 4.5 USB and serial communication 4.5.1 USB port Location Mating connector: USB Type B (downstream) plug Name Description VBUS USB +5 V Data- Data+ Ground The USB connector is used to connect the NextMove e100 to a PC running Mint WorkBench. The NextMove e100 is a self-powered, USB 1.1 (12 Mbps) compatible device.

  • Page 37: Serial Port

    RS485/422 serial port for programming, connection to an HMI operator panel, or for communication with other devices such as PLCs or other Baldor servo drives. The port is fully ESD protected to IEC 1000-4-2 (15 kV). When the NextMove e100 is connected to Mint WorkBench, the Connectivity Wizard can be used to configure the serial port.

  • Page 38: Multidrop Using Rs485 / Rs422

    Figure 23. Four-wire RS485 may be used for single point-to-point applications involving only one Baldor controller. If firmware is updated over RS485/RS422, it can only be downloaded to the controller that was chosen in the Select Controller dialog in Mint WorkBench.

  • Page 39: Connecting Serial Baldor Hmi Operator Panels

    RXD 2 2 RXD TXD 3 5 GND GND 5 Figure 24 - RS232 cable wiring Alternatively, the Baldor HMI panel may be connected using RS485/422, as shown in Figure 25: Baldor HMI NextMove e100 PLC PORT Serial Port Twisted pair...

  • Page 40: Ethernet Interface

    TCP/IP allows the NextMove e100 to support standard Ethernet communication with a host PC running Mint WorkBench. The connection uses Baldor’s 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 41: Ethernet Powerlink

    www.baldormotion.com 4.6.2 ETHERNET Powerlink NextMove e100 supports the deterministic ETHERNET Powerlink (EPL) protocol. This protocol provides very precise and predictable ‘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.

  • Page 42: Ethernet Connectors

    TX pins of the connector at one end of the cable wired to the RX pins of the RJ45 connector at the other end of the cable. Provided the network consists of only Baldor EPL controllers and drives (and any hub), straight or crossed cables may be used. This is because many Ethernet devices, including hubs and all Baldor EPL products, incorporate Auto-MDIX switching technology which automatically compensates for the wiring of the straight cable.

  • Page 43: Can Interface

    The two-wire data bus line may be routed parallel, twisted and/or shielded, depending on EMC requirements. Baldor recommend a twisted pair cable with the shield/screen connected to the connector backshell, in order to reduce RF emissions and provide immunity to conducted interference.

  • Page 44: Canopen

    9-pin D-type female connector with easily accessible terminal block connections. CAN cables supplied by Baldor 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 45 Figure 30 shows a typical CANopen network with two NextMove e100 units and a Baldor HMI operator panel: Baldor HMI NextMove e100 NextMove e100 Operator Panel D-type D-type node CANopen D-type Twisted pair Twisted pairs Phoenix SUBCON-PLUS F3 ‘X1’...

  • Page 46: Connection Summary - Minimum Wiring (Local Axis)

    www.baldormotion.com 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 47 www.baldormotion.com 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 (closed to enable drive) REL COM Common relay connection...

  • Page 48: Connection Summary - Minimum Wiring (Remote Axis)

    www.baldormotion.com 4.9 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 49 www.baldormotion.com 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 Common relay connection Drive Enable -...
  • Page 50 www.baldormotion.com 4-34 Input / Output MN1941...

  • Page 51: Operation

    NextMove e100. If you do not have experience of software installation or Windows applications you may need further assistance for this stage of the installation. The Baldor Motion Toolkit CD containing the software can be found separately within the packaging.

  • Page 52: Installing Mint Machine Center And Mint Workbench

    www.baldormotion.com 5.1.2 Installing Mint Machine Center and Mint WorkBench You need to install the Mint Machine Center (MMC) and Mint WorkBench. Any previous versions of MMC or Mint WorkBench must be uninstalled before proceeding with this installation: 1. Insert the CD into the drive. 2.

  • Page 53: Starting The Nextmove E100

    1. Follow the on-screen instructions to select and install the driver. The driver files are available on the supplied Baldor Motion Toolkit CD. If you are using a copy of the driver located on the hard disk, a floppy disk or another CD, the two driver files must be in the same folder.

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

    www.baldormotion.com 5.2.4 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

    www.baldormotion.com 5.3 Mint Machine Center The Mint Machine Center (MMC) is used to view the network of connected controllers in a system. 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.
  • Page 56 www.baldormotion.com MintDrive Mint WorkBench RS232 MintDrive Mint WorkBench RS485/422 Host PC Mint Machine Center NextMove e100 Mint WorkBench MicroFlex e100 Mint WorkBench Ethernet MicroFlex e100 Mint WorkBench Figure 34 - Typical network visibility provided by Mint Machine Center 5-6 Operation MN1941...

  • Page 57: Starting Mmc

    www.baldormotion.com 5.3.1 Starting MMC 1. On the Windows Start menu, select Programs, Mint Machine Center, Mint Machine Center. 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’...

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

    www.baldormotion.com 5.3.2 Viewing remote nodes connected over Ethernet (optional) When a remote node such as MicroFlex e100 is connected to the NextMove e100 using Ethernet, it is possible to view the connection in MMC. The PC is able to connect to the remote node, even though the PC only has a physical USB connection to the NextMove e100.

  • Page 59: Mint Workbench

    www.baldormotion.com 5.4 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

    www.baldormotion.com 5.4.1 Help file Mint WorkBench includes a comprehensive help file that contains information about every Mint keyword, how to use MMC and 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

    www.baldormotion.com 5.4.2 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 5.5 to continue configuration. 1. On the Windows Start menu, select Programs, Mint Machine Center, Mint WorkBench. 2.
  • Page 62 www.baldormotion.com 3. In the Select Controller dialog, go to the drop down box near the top and select the PC serial port to which the NextMove e100 is connected. If you are unsure which PC serial port is connected to the NextMove e100, increase the value in the Search up to serial node address box.

  • Page 63: Configuring Axes

    www.baldormotion.com 5.5 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

    www.baldormotion.com 5.5.2 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 www.baldormotion.com 5. In the Map to manager resource drop down box, select one of the available axis numbers and click OK. This is the axis number that NextMove e100 will use to reference the EPL device’s axis hardware. The three radio button options refer to the way the remote axis will be controlled - see section 5.5.1.

  • Page 66: Configuring Local Axes

    www.baldormotion.com 5.5.3 Configuring local axes A local axis can be configured as either a servo, stepper or virtual axis. The factory preset configuration sets all axes as unassigned (off), so it is necessary to configure an axis as either stepper, servo or virtual before it can be used. The number of servo and stepper hardware channels defines how many servo and stepper axes may be configured.

  • Page 67: Selecting A Scale

    www.baldormotion.com 5.5.4 Selecting a scale Mint defines all positional and speed related motion keywords in terms of encoder quadrature counts (for servo motors) or steps for stepper motors. The number of quadrature counts (or steps) is divided by the SCALEFACTOR allowing you to use units more suitable for your application.
  • Page 68 www.baldormotion.com 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)

    www.baldormotion.com 5.5.5 Setting the drive enable output (optional) Note: In many applications, a drive amplifier will have its drive enable input activated by other circuitry (often including an emergency stop switch) so a physical drive enable signal from the NextMove e100 is not required. A drive enable output allows NextMove e100 to enable the external drive amplifier to allow motion, or disable it in the event of an error.
  • Page 70 www.baldormotion.com 4. If you are going to use the relay, drag the OUT12 icon (the relay output) to the grey Drive Enable OP icon on the right of the screen. To configure multiple axes to use the relay output, repeat this step for the other axes. If you are going to use a digital output, drag the bright blue OUT...

  • Page 71: Testing The Drive Enable Output

    www.baldormotion.com 5.5.6 Testing the drive enable output 1. On the main Mint WorkBench toolbar, click the Axes button. In the Select Default Axes dialog, select the axes to be controlled. Click OK to close the dialog. 2. On the main Mint WorkBench toolbar, click the Drive enable button.

  • Page 72: Local Stepper Axis - Testing

    www.baldormotion.com 5.6 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 5.5.3 for details about creating a stepper axis.

  • Page 73: Local Servo Axis - Testing And Tuning

    www.baldormotion.com 5.7 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 5.5.3 for details about creating a servo axis.
  • Page 74 www.baldormotion.com 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.

  • Page 75: An Introduction To Closed Loop Control

    www.baldormotion.com 5.7.2 An introduction to closed loop control This section describes the basic principles of closed loop control. If you are familiar with closed loop control go straight to section 5.8.1. When there is a requirement to move an axis, the NextMove e100 control software translates this into a demand output voltage (or just a numerical value over EPL).
  • Page 76 www.baldormotion.com 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 disturbances and load variations.
  • Page 77 www.baldormotion.com Figure 37 - The NextMove e100 servo loop MN1941 Operation 5-27...

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

    www.baldormotion.com 5.8 Local servo axis - tuning for current control 5.8.1 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; check that the drive amplifier will operate in the correct mode.
  • Page 79 www.baldormotion.com 3. Click in the KPROP box and enter a value that is approximately one quarter of the value of KDERIV. If the motor begins to vibrate, decrease the value of KPROP or increase the value of KDERIV until the vibration stops. Small changes may be all that is necessary.

  • Page 80: Underdamped Response

    www.baldormotion.com 5.8.2 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

    www.baldormotion.com 5.8.3 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. Measured position Demand position...

  • Page 82: Critically Damped Response

    www.baldormotion.com 5.8.4 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 Figure 40 - Critically damped (ideal) response 5-32 Operation...

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

    www.baldormotion.com 5.9 Local servo axis - tuning for velocity control Drive amplifiers designed for velocity control incorporate their own velocity feedback term to provide system damping. For this reason, KDERIV (and KVEL) can often be set to zero. Correct setting of the velocity feed forward gain KVELFF is important to get the optimum response from the system.
  • Page 84 www.baldormotion.com The analog demand output is controlled by a 12-bit DAC, which can create output voltages in the range -10 V to +10 V. This means a maximum output of +10 V corresponds to a DAC value of 2048. The value of KVELFF is calculated by dividing 2048 by the number of quadrature counts per servo loop, so: KVELFF 2048 / 200...
  • Page 85 www.baldormotion.com 9. Using the check boxes below the graph, select the Measured velocity and Demand velocity traces. Demand velocity Measured velocity 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

    www.baldormotion.com 5.9.2 Adjusting KPROP The KPROP term can be used to reduce following error. Its value will usually be much smaller than the value used for an equivalent current controlled system. A fractional value, for example 0.1, will probably be a good starting figure which can then be increased slowly. 1.
  • Page 87 www.baldormotion.com Demand position Measured position 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

    www.baldormotion.com 5.10 Local servo axis - eliminating steady-state errors In systems where precise and accurate positioning is required, it is often necessary to position within one encoder count. Proportional gain, KPROP, is not normally able to achieve this because a very small following error will only produce a small demand for the drive amplifier which may not be enough to overcome mechanical friction (this is particularly true in current controlled systems).

  • Page 89: Local Digital Input/Output Configuration

    www.baldormotion.com 5.11 Local digital input/output configuration The Digital I/O window can be used to setup other digital I/O on the NextMove e100. 5.11.1 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

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

  • Page 91: Troubleshooting

    The PC must have e-mail facilities to use the e-mail feature. If you prefer to contact Baldor technical support by telephone or fax, contact details are provided at the front of this manual. Please have the following information ready: The serial number of your NextMove e100 (if known).

  • Page 92: Nextmove E100 Indicators

    Initialization in progress. Flashing red: Initialization error. The NextMove e100 has detected a serious hardware or firmware error and cannot be used. Contact Baldor. 6.2.2 CAN LEDs The CAN LEDs display the overall condition of the CANopen interface once the startup sequence has completed. The LED codes conform to the CAN in Automation (CiA) DR303_3 indicator standard.

  • Page 93: Ethernet Leds

    www.baldormotion.com 6.2.3 ETHERNET LEDs ETHERNET The ETHERNET LEDs display the overall condition of the Ethernet interface once the startup sequence has completed. The LED codes conform to the ETHERNET Powerlink Standardization Group (EPSG) standard at the time of production. Green (status) Off: Node in NOT ACTIVE state.

  • Page 94: Communication

    6.2.4 Communication If the problem is not listed below please contact Baldor technical support. Status LED is off: Check that the 24 VDC control circuit supply is connected correctly to connector X1 and is switched on. Mint WorkBench fails to detect the detect NextMove e100: Ensure that the NextMove e100 is powered and the Status LED is illuminated (see section 6.2).

  • Page 95: Mint Workbench

    www.baldormotion.com Motor runs uncontrollably when controller is switched on and servo loop gains are applied or when a move is set in progress. Motor then stops after a short time: (Local servo outputs only) Check that the encoder feedback signal(s) are connected to the correct encoder input(s).

  • Page 96: Ethernet

    www.baldormotion.com 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 Baldor CANopen node, communication is still possible using a set of general purpose Mint keywords. See the Mint help file for further details.
  • Page 98 www.baldormotion.com 6-8 Troubleshooting MN1941...

  • Page 99: Specifications

    www.baldormotion.com 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 VDC (±20%) Power consumption 50 W (2 A @24 V) 7.1.2 Analog inputs Description Unit Value Type Differential Common mode voltage range...

  • Page 100: Digital Inputs

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

  • Page 101: Stepper Control Outputs

    www.baldormotion.com 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 μA 50 mA (typical) (maximum sink, per output) 7.1.8 Encoder inputs Description Unit Value...

  • Page 102: Can Interface

    www.baldormotion.com 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 7.1.12 Environmental 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: A.1 Cables

    * Available in North and South America only. Table 4 - Drive amplifier to NextMove e100 feedback cables If you are not using a Baldor cable, be sure to obtain a cable that is a shielded twisted pair 0.34 mm (22 AWG) wire minimum, with an overall shield.

  • Page 104: A.1.3 24 V 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. Baldor catalog Baldor catalog Input voltage Input voltage Output voltage Output voltage...

  • Page 105: B Ce Guidelines

    It is assumed that the installer of the NextMove e100 is sufficiently qualified to perform the task, and is aware of local regulations and requirements. Baldor products that meet the EMC directive requirements are indicated with a “CE” mark. A duly signed CE declaration of conformity is available from Baldor.

  • Page 106: B.1.3 Use Of Ce Compliant Components

    www.baldormotion.com B.1.3 Use of CE compliant components The following points should be considered: Using CE approved components will not guarantee a CE compliant system! The components used in the controller, installation methods used, materials selected for interconnection of components are important. The installation methods, interconnection materials, shielding, filtering and earthing / grounding of the system as a whole will determine CE compliance.
  • Page 107 Index Connectors CAN, 4-27 Abbreviations, 2-4 Ethernet, 4-26 Analog I/O, 4-3 locations, 4-2 analog inputs, 4-3 serial, 4-21 analog outputs, 4-5 USB, 4-20 Axes, 5-13 Critically damped response, 5-32 Basic Installation, 3-1 Demand outputs, 4-5, 5-23 location requirements, 3-1 Digital I/O, 4-7 mounting, 3-2 configuration, 5-39 digital inputs, 4-7...
  • Page 108 Safety Notice, 1-2 LED indicators Scale, selecting, 5-17 CAN LEDs, 6-2 Serial port, 4-21 ETHERNET LEDs, 6-3 connecting serial Baldor HMI panels, 4-23 STATUS LED, 6-2 Servo axis, 5-23 adjusting KPROP, 5-36 calculating KVELFF, 5-33 Mint Machine Center (MMC), 5-5...
  • Page 109 CAN interface, 7-4 CANopen, 6-6 digital inputs, 7-2 communication, 6-4 digital outputs, 7-2 Ethernet, 6-6 encoder inputs, 7-3 ETHERNET LEDs, 6-3 environmental, 7-4 help file, 5-10 Ethernet interface, 7-3 Mint WorkBench, 6-5 input power, 7-1 motor control, 6-4 relay output, 7-2 problem diagnosis, 6-1 serial port, 7-3 STATUS LED, 6-2...
  • Page 110 Index MN1941...
  • Page 111 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 Baldor UK Ltd Mint Motion Centre 6 Bristol Distribution Park...
  • Page 112 Thank you for taking the time to help us. Comments MN1941...

This manual is also suitable for:

Nxe100-1608sxNxe100-1612dxNxe100-1612sxNxe100-1616dxNxe100-1616sx

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