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Baldor NextMove BX Installation Manual

Baldor NextMove BX Installation Manual

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NextMove BX
Installation Manual for Mint v4
Issue 4.0
MN1258V4 08/2000

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Summary of Contents for Baldor NextMove BX

  • Page 1 NextMove BX Installation Manual for Mint v4 Issue 4.0 MN1258V4 08/2000...
  • Page 2 NextMove BX Installation Manual for Mint™ v4 MN1258V4 08/2000...
  • Page 3 Limited Warranty For a period of one (1) year from the date of original purchase, BALDOR will repair or replace without charge controls 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.
  • Page 4 NextMove BX Installation Manual for Mint™ v4 MN1258V4 08/2000...
  • Page 5 Copyright Safety Notice: Only qualified personnel should attempt the start-up procedure or troubleshoot this equipment. This equipment may be connected to other machines that have rotating parts or parts that are controlled by this equipment. Improper use can cause serious or fatal injury. Only qualified personnel should attempt to start-up, program or troubleshoot this equipment.
  • Page 6 NextMove BX Installation Manual for Mint™ v4 WARNING: 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. Only qualified personnel should attempt to program, start- up or troubleshoot this equipment.
  • Page 7 Reference May 1998 MN00278-000 First release of Installation Manual comprising: • NextMove BX Overview • Getting Started Guide • cTERM for Windows User Guide • NextMove BX Hardware Guide 1.01 Sept 1998 MN00278-001 KeypadNode 4 information included. 1.02 Nov 1998 UM00507-000 New revision raised.
  • Page 8 NextMove BX Installation Manual for Mint™ v4 viii MN1258V4 08/2000...

  • Page 9: Table Of Contents

    Read Me First ................1 Key to Symbols Used in this Manual............2 Product Overview ..............3 Hardware Guide ................. 7 Operating Environment................9 NextMove BX PCB Settings..............9 Power Connection ..................11 3.3.1 Front Panel Power Connection: J8.............12 Digital I/O....................13 3.4.1 Digital Inputs: J1 and J2..............13 3.4.2 Fast Interrupts: J6 ................15...
  • Page 10 NextMove BX Installation Manual for Mint™ v4 3.11 EEPROM ....................32 3.12 System Watchdog ..................32 3.13 LED Status Display.................32 Operation and Setup..............35 Communicating with NextMove BX ............36 Baldor Motion Toolkit CD ................36 Configuring your System ................37 4.3.1 Minimum System Wiring Example............38 4.3.2 Starting with the Mint Configuration Tool..........40...
  • Page 11 Miscellaneous and Mechanical Specification ..........73 EMC & CE Marking ..................74 6.3.1 Machinery Directive 89/392/EEC............74 6.3.2 Low Voltage Directive 72/23/EEC ............74 6.3.3 EMC Directive 89/336/EEC ..............74 EMC Performance of NextMove BX............75 EMC Advice ....................75 Troubleshooting Guide............77 Trouble Shooting Guide................78 Bibliography ................81...
  • Page 12 NextMove BX Installation Manual for Mint™ v4 MN1258V4 08/2000...

  • Page 13: Read Me First

    Read Me First 1. Read Me First This chapter provides an overview of the manual and symbols used throughout this document. MN1258V4 08/2000...

  • Page 14: Key To Symbols Used In This Manual

    NextMove BX Installation Manual for Mint™ v4 This manual is intended for use with NextMove BX running Mint v4. If Mint v3 is being used, then the NextMove BX installation manual MN1258 should be used in preference. The hardware details are common between these manuals but the software references are different.

  • Page 15: Product Overview

    Hardware Features 2. Product Overview A brief overview of NextMove BX and the software tools available on the Baldor Motion Toolkit. MN1258V4 08/2000...
  • Page 16 NextMove BX Installation Manual for Mint™ v4 NextMove BX is an intelligent servo motion controller which supports up to four servo axes. It is supplied in an metal enclosure for the convenience of those customers who do not wish to install a rack system for a single card.
  • Page 17 In addition, Mint includes a wide range of powerful commands for complex applications. Included with NextMove BX is the Baldor Motion Toolkit CD. This contains a number of utilities and useful resources to get the most from you Mint controller. These include: Mint Configuration Tool is a rapid getting started and configuration utility designed for use with a number of Mint v4 controllers.
  • Page 18 NextMove BX Installation Manual for Mint™ v4 MN1258V4 08/2000...

  • Page 19: Hardware Guide

    Hardware Features 3. Hardware Guide This chapter describes in detail the hardware interface to the NextMove BX controller. MN1258V4 08/2000...
  • Page 20 NextMove BX Installation Manual for Mint™ v4 Figure 3-1: NextMove BX Top Panel Figure 3-2: NextMove BX Hardware MN1258V4 08/2000...

  • Page 21: Operating Environment

    The product shall be secured by the slots in the flange, the protective earth/ground stud shall be bonded to a safety earth/ground by a 25A conductor. NextMove BX PCB Settings Anti-static pre-cautions must be taken before handling the printed circuit board (PCB).
  • Page 22 NextMove BX Installation Manual for Mint™ v4 Figure 3-3: Board Settings MN1258V4 08/2000...

  • Page 23: Power Connection

    650mA from the 5V (including the encoders). If the encoders require more than 650mA total, some of them (or all) must be powered from an external 5V supply. This additional supply must NOT be connected to the NextMove BX 5V supply.

  • Page 24: Front Panel Power Connection: J8

    Using a power supply of 24V dc at 2A is sufficient to drive all the outputs at 50mA and with all the inputs on. - WARNING - Applying mains voltages to NextMove BX (110V/220V) will damage the unit. Ensure that the power input voltages comply. MN1258V4 08/2000...

  • Page 25: Digital I/O

    The digital outputs can be programmed as a drive enable output for any axis or general error output. Again, axes can share the same output. The active level of the output is also software programmable. As well as the general purpose I/O, NextMove BX also supports four fast position latch inputs (described in section 3.4.2). 3.4.1...
  • Page 26 NextMove BX Installation Manual for Mint™ v4 Connector J1: Pin No Signal Function din 8 Digital input bit 8 din 9 Digital input bit 9 din 10 Digital input bit 10 din 11 Digital input bit 11 din 12 Digital input bit 12...

  • Page 27: Fast Interrupts: J6

    Interrupt inputs may be 12 to 24V positive or negative with respect to usr-com. usr-com is shared with the digital inputs. There is a facility for 4 high speed external interrupts on NextMove BX. These are isolated using high speed opto-isolators and full bridge rectification. They are driven in the same way as the digital inputs, see the digital input section for details on the voltage levels.

  • Page 28: Digital Outputs: J4

    NextMove BX Installation Manual for Mint™ v4 3.4.3 Digital Outputs: J4 Pin No Signal Function out 0 Digital output bit 0 Digital output bit 1 out 1 out 2 Digital output bit 2 out 3 Digital output bit 3 Digital output bit 4...
  • Page 29 Hardware Features USR-V+ CURRENT SENSE OUT-5V FROMCPU CONTROL LOGIC Front Panel OUTPUT n USR-GND Main Board ONE OF OUT-5V EIGHT CHASIS COMMON RESET ERROR LOGIC OUTPUT RESET USR-GND OUT-5V USR-GND OUTPUT ERROR Figure 3-7: Digital Output Circuit If the device is reset too often during a short circuit condition (greater than twice per second) the device will eventually overheat and will be damaged.
  • Page 30 NextMove BX Installation Manual for Mint™ v4 Number Of Outputs On Simultaneously % D tC l Figure 3-8: Output Current Power to the output circuit is protected with a 750mA PTC style self re-setting fuse and a 30V transient suppressor. A 5V supply (out-5V) is generated from the user voltage to power the isolation stage, allowing any user voltage to function with the same characteristics.

  • Page 31: Analog I/O

    Hardware Features Analog I/O 3.5.1 Analog Inputs: J3 Pin No Signal Function ain 0 Analog Input 0 (differential input 0-) ain 1 Analog Input 1 (differential input 0+) Analog Input 2 (differential input 1-) ain 2 ain 3 Analog Input 3 (differential input 1+) ain 4 Analog Input 4 (differential input 2-) ain 5...

  • Page 32: Analog Outputs (Drive Command: J7)

    NextMove BX Installation Manual for Mint™ v4 NextMove BX uses a Data Acquisition Chip (Maxim MAX180). This device has: • 12 bit resolution with ½ LSB linearity • Built in track and hold • A 2us sample window. The chip can operate with either bipolar or unipolar input voltages, the selection of which is made under software control.

  • Page 33: Encoder Interface

    GND. If the encoders require more than 650mA total, some of them (or all) must be powered from an external 5V supply. This additional supply must NOT be connected to the NextMove BX 5V supply. The encoders are the position sensors used by the controller to measure axis position and consist of two pulse trains, 90 degrees out of phase.
  • Page 34 NextMove BX Installation Manual for Mint™ v4 The encoder must be wired to a 9 pin 'D' male plug, using good quality multi- core/conductor screened/shielded cable, according to the diagram shown in Error! Reference source not found.. Although there is a Screen/Shield pin, the cable screen/shield should be connected to the connector shell.
  • Page 35 Hardware Features Frequency Max. Length 1.3MHz 2m (6½ ft approx.) 500kHz 10m (33ft approx.) 250kHz 20m (65½ ft approx.) 100kHz 50m (164ft approx.) 50kHz 100m (328ft approx.) 20kHz 300m (984ft approx.) 10kHz 700m (2296ft approx.) 7kHz 1000m (3280ft approx.) The input receiver circuit allows encoders with either single ended or differential line drivers to be used.

  • Page 36: Relay: J5

    NextMove BX Installation Manual for Mint™ v4 Relay: J5 The relay connections on the connector are shown as the shaded boxes. Pin No Signal Function err-com Relay common contact err-nc Relay normally closed contact Relay normally open contact err-no err-com...

  • Page 37: Rs232

    Hardware Features The baud rate of both ports is user-configurable with the RS232 capable of 19,200 and the RS485 up to 9,600. Hardware handshaking (RTS / CTS) is permanently enabled. Both serial ports are brought out on the top of the unit on 9 pin 'D'-type connectors. 3.8.1 RS232 The RS232 connections are brought out onto a male 9 pin D-type connector on the top panel of the...

  • Page 38: Rs485

    NextMove BX Installation Manual for Mint™ v4 The following table shows the wiring required for a standard PC 25 pin or 9 pin connector: Controller Signal Name Function Wire to: Wire to: Pin No. 25 Pin 9 Pin scrn Cable screen/shield...

  • Page 39: Rs485 Multi-Drop

    Each card is distinguished by a unique address which is set by software. This address value is stored in EEPROM within the NextMove BX and is restored at power up. Software details on RS485 multi-drop can be found in the Mint v4 Programmers Manual.

  • Page 40: Can Bus

    500m (approx. 1640ft) in length. CAN offers very high reliability of communications in an industrial environment, the probability of an undetected error is 4.7x10 A range of CAN based I/O expansion modules is available for NextMove BX. See section 5.2 for further details.
  • Page 41 CAN networks. When NextMove BX is at the end of a CAN network, the terminator for that channel must be activated. The terminators are activated by fitting a link on the jumpers located next to the RJ-45 connectors.

  • Page 42: Reset State

    See the Mint v4 CAN Programmers Guide for details on using CAN. Reset State The NextMove BX will go into reset if the power supply drops below approximately 4.75V in order to prevent any uncontrolled operation of any of the integrated circuits during power down.

  • Page 43: Battery Backup Of Memory

    Hardware Features Communications During reset CAN controller will have no effect on the CAN bus. If a reset occurs during the transmission of a message CAN errors are likely to occur. When the controller goes into a reset state all serial communications will be terminated immediately, this may result in incomplete or corrupted messages.

  • Page 44: Charging The Battery

    3.13 LED Status Display The LED display on the front panel of the NextMove BX provides an indication of the status of the controller. The following symbols will be seen during normal operation: Display...
  • Page 45 Hardware Features When updating firmware on the controller, the following sequence will be seen. When update is complete, the boot sequence above should be seen. Display Meaning Performing RAM test. Erasing FLASH memory. Updating firmware. The following symbols are error conditions. Errors are denoted by the flashing of the ‘dot’ on the display at approximately 10Hz.
  • Page 46 NextMove BX Installation Manual for Mint™ v4 MN1258V4 08/2000...

  • Page 47: Operation And Setup

    Getting Started 4. Operation and Setup This chapter is step by step guide to setting up a NextMove BX servo control system. Basic familiarity with PC’s and the Windows environment is assumed. Introduction to servo systems and tuning. Determining system gains and fine-tuning.

  • Page 48: Communicating With Nextmove Bx

    NextMove BX Installation Manual Communicating with NextMove BX In order to communicate with NextMove BX, a RS232 or RS485 connection must be made to an AT style personal computer. The Baldor Motion Toolkit CD supports the following operating systems only: Windows 95, Windows 98 and Windows NT version 4.

  • Page 49: Configuring Your System

    Getting Started Select the NextMove link and then select the ‘NextMove BX’ option. This opens the page that allows the various NextMove BX related applications to be installed. Figure 4-2: Baldor Motion Toolkit – NextMove BX page The Mint WorkBench is the IDE and user interface for communicating with a Mint controller.

  • Page 50: Minimum System Wiring Example

    NextMove BX Installation Manual Motor/actuator – translates electrical power from the servo amplifier into rotary or linear movement. The motor is fitted with a position sensor that feeds the output position back to the controller. The controller works by sampling the position of the motor at regular intervals and comparing this position with its target position.
  • Page 51 Getting Started Servo Drive Encoder Output from drive or motor Screened/Shielded Twisted Pair Cable Demand/Command Demand/Command - Enable Power In Main Earth/ Ground Point Figure 4-3: Minimum configuration for a 1 axis system MN1258V4 08/2000...

  • Page 52: Starting With The Mint Configuration Tool

    ‘Mint v4’ program group. Figure 4-4: Mint Configuration Tool Start Up Page Select ‘Next’ and proceed to the ‘Controller Type Select’ page. NextMove BX should have been found automatically and will appear in the ‘Controller Select’ dropdown. If NextMove BX does not appear in the list then refer to trouble shooting in section Error! Reference source not found..
  • Page 53 From the list given, axis 0 has been selected as a servo. NextMove BX is available in a number of axis variants: 2, 3 or 4 axes. Axes are labeled from 0 to 3. The axes selection screen will show the current configuration of each axis and the possible configurations.

  • Page 54: Servo Setup

    ‘Perform Axes Configuration Test’. The first test checks that the drive enable is correctly wired. By default NextMove BX does not associate any physical output with a drive enable. In this example the relay will be used as the drive enable channel.
  • Page 55 Getting Started Figure 4-10: MCT Drive Enable Test The next test checks that the command and direction signals to the drive. A positive command signal should result in a positive encoder change and a negative command signal should result in a negative encoder change.

  • Page 56: Tuning A Servo Drive

    NextMove BX Installation Manual If the motor does not move, check the following: • The amplifier is enabled. • There is a voltage output from the command+ output. 4.4.1 Tuning a Servo Drive At the lowest level of control software, instantaneous axis position demands produced by the controller software must be translated into motor demands.
  • Page 57 "Under damped" line in Figure 4-12. In NextMove BX, an alternative damping method is provided in the form of the derivative of the error signal. Derivative action has the same effect as velocity feedback if the velocity feedback and feedforward terms are equal.
  • Page 58 NextMove BX Installation Manual Derivative Gain: This acts on the rate of change of following error. This term will speed up the response of an axis to the initial change in demand and reduce overshoot. As this term acts on the rate of change of following error when the axis is stationary the control effort generated by the derivative term should be zero.
  • Page 59 Getting Started Demand Acceleration KACCEL Acceleration Feedforward Power Amp KVELFF DACLIMITMAX Velocity Clip DAC output Feedforward Servo Motor Profile Generator Demand Velocity KPROP Proportional Gain Demand Position KVEL KINT Velocity Feedback Integral Gain Measured Velocity KDERIV Derivative Gain Measured Position Figure 4-13: Servo Loop Block Diagram The controller has six terms incorporating proportional, derivative, velocity feedback/feed forward, integral and acceleration feed forward gains.

  • Page 60: Selecting Servo Loop Gains

    NextMove BX Installation Manual determines the maximum value of the demand output as a percentage of the full scale DACLIMITMAX demand. Therefore if DACLIMITMAX = 50, the maximum demand output will be ±5V. Tuning terms can be controlled in Mint using the following keywords:...
  • Page 61 Getting Started Figure 4-15: MCT Tuning Terms are Entered in the ‘Gain Parameters’ Area Figure 4-16: MCT Tuning Move The 'rules of thumb' presented in the following sections for setting system gains, while adequate to get the system moving, will not provide the optimum response without further fine tuning of the system gains.
  • Page 62 NextMove BX Installation Manual Figure 4-17: Mint WorkBench Tuning After initial tuning has been completed, click ‘Next’ to proceed to the ‘Jog and Direction Test’ page. This allows a final check of system operation by jogging axis in either direction at selectable speeds, acceleration and deceleration rates.

  • Page 63: System Gains For Current Control By Empirical Method

    Getting Started Figure 4-18: MCT Jog Test 4.4.3 System Gains for Current Control by Empirical Method After having confirmed that the encoder and motor are correctly wired, start applying some velocity feedback, . Start with a value of 1 and increase it until you feel some resistance in the motor. KVEL For some motors it may be necessary to apply fractional gains;...
  • Page 64 NextMove BX Installation Manual Figure 4-19: MCT Step Move Plot If the motor starts to vibrate, increase the velocity feedback gain (damping), , or decrease the KVEL proportional gain, . Increase proportional gain, , until the motor shaft becomes stiff.

  • Page 65: System Gains For Velocity Control

    Getting Started 4.4.4 System Gains for Velocity Control Velocity controlled drives incorporate the velocity feedback term in the amplifier which provides system damping and therefore it is usually sufficient to have on the KVEL = KDERIV = 0 controller. Usually, the value of the proportional gain, , will be less than with an equivalent KPROP current controlled system.

  • Page 66: Eliminating Steady-State Errors

    NextMove BX Installation Manual Now the number of quadrature counts per loop closure time can be calculated by using the expression: speed in rev per sec * encoder line count * 4 number of loop closures per second The factor of 4 is included since the controller counts every edge of the pulse train coming from the encoder A and B channels, which gives four times better resolution than the number of lines.

  • Page 67: Methods Of Programming

    The integrator is only applied when the axis is at rest. This functionality is set using the keyword. KINTMODE Methods of Programming NextMove BX can be programmed using several different languages. These are: Language Location of Program Description Mint On Controller Basic style language supplied with controller.

  • Page 68: Documentation

    NextMove BX Installation Manual For the host PC to communicate with NextMove BX the controller must be running either Mint or an embedded application. The controller can only run one application at a time (either Mint or an embedded application).

  • Page 69: Mint

    Getting Started Mint Mint is a structured form of Basic which has been custom designed for motion control applications. The Mint language has been written to allow users to get started quickly with simple motion programs and also provides a wide range of more powerful commands for complex applications. Mint is used in thousands of applications worldwide, servicing many high demand industries such as textiles and packaging.

  • Page 70: The Configuration File

    NextMove BX Installation Manual Engineering units can be applied to an axis. In a linear table for example, there may be 1000 encoder counts per mm. The keyword SCALE (or SF for short) can be used to set the new scale...
  • Page 71 Getting Started The configuration editor will syntax highlight all Mint keywords as they are typed. The correct syntax for the firmware being used can be uploaded from the controller by selecting the ‘Load Syntax’ option from the ‘Edit’ menu. Figure 4-23: Download Button In order to execute the configuration file in the editor window it must be downloaded to the controller by pressing the ‘download’...
  • Page 72 NextMove BX Installation Manual Figure 4-24: MCT Digital Input Setup Digital Outputs Each of the digital output channels may be configured to be active high or low. Digital outputs may also be assigned for use as drive enable channels or as a global error output signal.
  • Page 73 Getting Started Analog Inputs Each analog input channel can be configured to read a number of voltage ranges and as single ended or differential inputs. Figure 4-26: MCT Analog Input Setup Axis Params This page allows basic axis parameters to be setup such as speed and acceleration. You may also specify if a datum cycle is to be included in the configuration file.
  • Page 74 NextMove BX Installation Manual Axis Errors This page allows the error modes to be set for each error type. When an error occurs, the action specified will occur. Figure 4-28: MCT Axis Errors Miscellaneous This page allows the auxiliary encoder parameters to be set and the state of the Mint command line ECHO keyword.

  • Page 75: The Program File

    Getting Started Create Config This page allows you to select whether to generate a Mint Configuration file or C source code suitable for use in an embedded application. Figure 4-30: MCT Create Configuration File 4.7.2 The Program File The Mint WorkBench has a built in editor which can be used to edit both Configuration and Program files.
  • Page 76 NextMove BX Installation Manual Figure 4-31: Mint WorkBench - Program Editor As with the Configuration file, in order to execute the Program file, it must be downloaded to the controller. Once the program has been downloaded to the controller it can be executed by either typing the Mint command line or pressing the ‘play’...

  • Page 77: Motion

    Getting Started Motion NextMove BX supports a wide range of motion: Type of Motion Description Associated Mint Keywords Constant torque Constant torque output. TORQUE Constant velocity Constant velocity with imposed acceleration and deceleration ramps. Homing Datum to a known starting point.
  • Page 78 NextMove BX Installation Manual MN1258V4 08/2000...

  • Page 79: Options And Accessories

    Options and Accessories 5. Options and Accessories This chapter describes the option and accessories for NextMove BX. MN1258V4 08/2000...

  • Page 80: Nextmove Bx

    NextMove BX Installation Manual NextMove BX NextMove BX is supplied with a software license to control 2,3 or 4 axes. This license cannot be upgraded in the field. Item Order Code Description Card Type No. of axes NextMove BX NMX004-501 NextMove BX standalone controller.

  • Page 81: Encoder Splitter/Buffer Board

    Options and Accessories Digital I/O can be expanded easily on NextMove BX using the Baldor CAN bus interface. This provides a high speed secure serial bus interface to a range of I/O devices as described: • inputNode 8: 8 opto isolated digital inputs.
  • Page 82 NextMove BX Installation Manual MN1258V4 08/2000...

  • Page 83: Specifications And Product Data

    Options and Accessories 6. Specifications and Product Data This chapter provides a product summary and describes the basis for CE marking and describes how to avoid common EMC problems when using NextMove BX. MN1258V4 08/2000...

  • Page 84: Machine Control I/O

    NextMove BX Installation Manual Machine Control I/O User Digital • 16 input lines. Inputs: • PNP or NPN opto-isolated relative to common. • 12 to 24V ±20% on, 3V max off. • Software programmable as limit, home, stop or error inputs for any axis.

  • Page 85: Miscellaneous And Mechanical Specification

    • 10% to 90% non condensing at sea level to 2000m/6560ft. Bookcase Format Motion Controller Overall Dimensions 59 mm 2.3" 40mm 1.5" NextMove DSP multi-axis servo controller Baldor 236mm 9.3" Figure 6-1: NextMove BX Bookcase Format Overall Dimensions MN1258V4 08/2000...

  • Page 86: Machinery Directive 89/392/Eec

    This also applies to some mechanical sub-systems, such as fans. Electronic sub-systems, such as NextMove BX , do not fall within its scope. It should be noted that to meet the safety requirements of this directive, the primary machine safety system cannot be based on controller software.

  • Page 87: Emc Performance Of Nextmove Bx

    Troubleshooting Guide EMC Performance of NextMove BX It should be noted that the equipment is suitable for light or heavy industrial use. The text from the full report is appended. Test Standard Comments Generic Radiated Emissions Connections to all ports as recommended in this...
  • Page 88 NextMove BX Installation Manual MN1258V4 08/2000...

  • Page 89: Troubleshooting Guide

    Troubleshooting Guide 7. Troubleshooting Guide This chapter covers common problems found when using the NextMove BX controller. MN1258V4 08/2000...
  • Page 90 Symptom Check Cannot detect NextMove BX in • The NextMove BX must be running a version of Mint v4 the Mint WorkBench of the Mint to be detected. If upgrading from Mint v3 firmware then Configuration Tool. the select ‘controller with no firmware’ from the Mint WorkBench and ‘update firmware’...
  • Page 91 Troubleshooting Guide Motor runs off uncontrollably • Check that encoder 0 and demand 0 are connected to the when controller is switched on same axes of motion; repeat for axis 1 and 2. Check and servo loop gains are applied amplifier connection is correct with respect to polarity of or when a move is set in progress.
  • Page 92 NextMove BX Installation Manual MN1258V4 08/2000...

  • Page 93: Bibliography

    [3] Mint v4 PC Programming Guide (MN1278) [4] Mint v4 Embedded Programming Guide (MN1279) [5] Mint v4 Function Reference Guide (MN1280) [6] Mint v4 CAN Programming Guide (MN1282) All manuals can be found in the Baldor Motion Toolkit CD which accompanies the controllers. MN1258V4 08/2000...
  • Page 94 NextMove BX Installation Manual MN1258V4 08/2000...

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