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Mint NextMove PCI Installation Manual

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NextMove PCI
Installation Manual
MN1277
Issue 2.3
MN1277 04.2001

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Summary of Contents for Mint NextMove PCI

  • Page 1 NextMove PCI Installation Manual MN1277 Issue 2.3 MN1277 04.2001...
  • Page 2 NextMove PCI Installation Manual MN1277 04.2001...
  • Page 3 Goods may be returned only with written notification including a BALDOR Return Authorization Number and any return shipments must be prepaid. Baldor UK Ltd Baldor ASR GmbH Mint Motion Centre Telephone: +49 (0) 89 90508-0 6 Bristol Distribution Park Fax:...
  • Page 4 NextMove PCI Installation Manual MN1277 04.2001...
  • Page 5 Safety Information 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 PCI Installation Manual 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 Sept 1999 UM00506-002 Substantial textual amendments Nov 1999 UM00506-003 Added detail on using the controller March 2000 UM00506-004 Updated for NextMove PCI issue 4 August 2000 UM00506-005 Updated for Mint v4.2 release April 2001 UM00506-006 Updates from 04.2001 errata MN1277 04.2001...
  • Page 8 NextMove PCI Installation Manual viii MN1277 04.2001...

  • Page 9: Table Of Contents

    Encoder Interface ...................18 Relay ......................19 Stepper Drive Outputs ................21 CAN Bus....................22 Reset State.....................24 3.10 LEDs.......................25 3.11 NextMove PCI Expansion Card ..............26 3.12 Miscellaneous ..................28 3.13 NextMove PCI Breakout Unit ..............28 Operation and Setup..............37 Installing NextMove PCI................38 Baldor Motion Toolkit CD ................40 Configuring your System ................42...
  • Page 10 NextMove PCI Installation Manual Motion.....................70 Options and Accessories ............71 NextMove PCI..................72 NextMove PCI Expansion Card ..............72 Digital Output Modules ................73 Breakout Unit..................74 NextMove PC System Adapter ...............75 Spares ....................75 CAN Nodes.....................76 NextMove PCI CAN Bracket Board............77 Encoder Splitter/Buffer Board ..............79 Specifications and Product Data ..........

  • Page 11: Read Me First

    Read Me First 1. Read Me First Details of the symbols used throughout this document. MN1277 04.2001...

  • Page 12: Key To Symbols Used In This Manual

    The screwdriver icon indicates that it is necessary to make a physical connection to NextMove PCI by way of screw terminations. The disk icon together with filename is used to indicate that a Mint program ( the motion control language used to program NextMove PCI ) should be downloaded to the controller.

  • Page 13: Product Overview

    Product Overview 2. Product Overview A brief overview of NextMove PCI and the software tools available on the Baldor Motion Toolkit. MN1277 04.2001...
  • Page 14 NextMove PCI Installation Manual NextMove PCI is a high speed multi-axis intelligent motion controller for use in PCI bus based PC systems. Figure 2-1: NextMove PCI, Expansion Card and Breakout Unit 4 x Servo-amplifier demands 4k by 32 bit Dual Ported...
  • Page 15 Instruments TMS320C3x compiler. See the ‘Mint v4 Embedded Programming Guide’ for details. Mint Code Analyzer Tool is a utility designed to help in the process of upgrading to Mint v4. The utility will scan existing Mint and C application files and highlight the keywords and functions that have been changed from older firmware versions.
  • Page 16 NextMove PCI Installation Manual MN1277 04.2001...

  • Page 17: Hardware Guide

    Hardware Guide 3. Hardware Guide This chapter describes in detail the hardware interface to NextMove PCI. MN1277 04.2001...

  • Page 18: Operating Environment

    NextMove PCI Installation Manual Figure 3-1: NextMove PCI Assembly Operating Environment The safe operation of this equipment depends upon its use in the appropriate environment: ≤ • At an altitude of 2000m (6560ft) above sea level ° ° ° °...

  • Page 19: Connection To The Pcb

    Section 5.4. Figure 3-2: NextMove PCI Breakout Unit For ease of transition from NextMove PC to NextMove PCI, a converter is available to allow NextMove PC Breakout Unit to be used (contact factory). See section 6.3 for connector details.
  • Page 20 NextMove PCI Installation Manual As well as the general purpose I/O, NextMove PCI also supports fast position latch inputs (IN0 to IN3) and optionally, digital outputs for stepper control. The stepper outputs can be programmed in software as general purpose outputs. The stepper outputs are discussed in section 3.5.
  • Page 21 Hardware Guide The digital inputs use ac opto-isolators. The switching level is 12 to 24V (supplied by the user). If the driving signal switches high with reference to a low ground, the driving signal ground should be connected to the input common. If the driving signal switches low with reference to a driving signal supply rail, the driving supply rail should be connected to the input common.

  • Page 22: Digital Outputs

    See section ‘Fast Position Latch’ in the ‘Mint v4 Programming Guide’ for more details. 3.3.3 Digital Outputs There are twelve opto-isolated digital outputs driven via a module fitted to NextMove PCI. Two modules types are available: Current sourcing, ‘PNP’ Darlington with overcurrent and short circuit protection (fitted as standard).
  • Page 23 Hardware Guide Figure 3-5: Digital Outputs with Current Sourcing Module Figure 3-6: Digital Outputs with Current Sinking Module The outputs are available on connectors X4 and X5 on the NextMove PCI Breakout Unit. MN1277 04.2001...
  • Page 24 NextMove PCI Installation Manual X5: Digital Outputs 0-5 Signal Function Chassis Shield connection DIG_OUT_0 Digital output 0 DIG_OUT_1 Digital output 1 DIG_OUT_2 Digital output 2 DIG_OUT_3 Digital output 3 DIG_OUT_4 Digital output 4 DIG_OUT_5 Digital output 5 Not connected Not connected...

  • Page 25: Analog I/O

    Both the filtered and unfiltered signals are converted using a multiplexed 12-bit ADC, which has four software-selectable input voltage ranges: 0-5V, ±5V, 0-10V and ±10V. The analog inputs are sampled by Mint at a rate of 2.5kHz. MN1277 04.2001...
  • Page 26 There are four 14bit resolution analog outputs. The outputs are available on connector X7 on the NextMove PCI Breakout Unit. By default Mint™ and the Mint™ Motion Library use the analog outputs to control servo drives. Outputs 0 to 3 correspond to axes 0 to 3 respectively.
  • Page 27 DAC channels 4 – 7 can therefore be used to trim channels 0 - 3 (trim range ±0.625V). The analog output buffer circuit is shown below. Figure 3-9: Analog Output Buffer Associated Mint keywords are: DACLIMITMAX, DAC, DACMODE, DACOFFSET MN1277 04.2001...

  • Page 28: Encoder Interface

    Up to five incremental encoders may be connected to NextMove PCI. The signals are brought out onto the NextMove PCI Breakout Unit via signals X12, X13, X14, X15 and X16. These are 9-pin D-type female sockets. The shell of the connector is connected to chassis. When possible, the use of individually screened twisted pair cable is recommended.
  • Page 29 This equates to a maximum frequency for the A and B signals of 1.87MHz. Within Mint, ‘complement loss detection’ is highlighted as an ‘encoder transition warning’ within the AXISWARNING keyword. It must be enabled with the AXISWARNINGDISABLE keyword.

  • Page 30: Relay

    Relay A single pole change-over relay is included on the card to provide a volt-free contact for system enabling or general use. The relay signals are available on the NextMove PCI Breakout Unit via connector X8. X8: Relay and CAN Power...

  • Page 31: Stepper Drive Outputs

    Hardware Guide The relay is controlled by a latch, which is cleared during reset of NextMove PCI. Reset occurs on power-down, watchdog error or under control of the host PC. The relay is energized under software control. The relay is the default global error output channel.

  • Page 32: Can Bus

    CAN (Controller Area Network) is a 1Mb/s local area network. Two transceivers for the CAN are fitted to NextMove PCI. Access to both channels it is made via a 10 pin 2mm pin header J11. The connections are as follows: Figure 3-13: NextMove PCI CAN Header Location Pin No.
  • Page 33 CAN connections on the Breakout Unit are one RJ45 connector for CAN2 and a 9 pin D-type for CAN1; used for connection to CANopen networks. If NextMove PCI is at the end of either network a termination resistor must be connected by fitting the termination jumper on the Breakout Unit.

  • Page 34: Reset State

    It is also possible for NextMove PCI to be in a state known as software reset. This is a safe operational state where only the bootloader firmware present on NextMove PCI is running.

  • Page 35: Leds

    3.10 LEDs There are four bicolour LED’s on NextMove PCI. Two LEDs, S1 and S2, are status indicators and two, C1 and C2, are CAN traffic indicators. The LED’s can be red or green and may be steady or flashing. These states are shown in the following table for the status LED’s:...

  • Page 36: Nextmove Pci Expansion Card

    All red, go off sequentially (C1,S1,S2,C2) There are two bicolour LED’s on the NextMove PCI Expansion card. The LED’s can be red or green and may be steady or flashing. These states are shown in the following table: Figure 3-16: Status and CAN indicator LEDs...
  • Page 37 Expansion Card accessories. The NextMove PCI Expansion card is available in 4 or 8 axis variants, providing an additional 4 or 8 servo / stepper axes. Each expansion card also adds 20 digital inputs, 12 digital outputs, 4 analog inputs, 4 analog outputs (drive command) and a relay.

  • Page 38: Miscellaneous

    3.13 NextMove PCI Breakout Unit Two Breakout Units are available for use with the NextMove PCI Expansion Card, one with single part screw down terminals and the other with two part screw down terminals. The Breakout Unit is approximately 292mm (11.50 inches) long by 70mm (2.76 inches) wide by 62 mm (2.45 inches) high.
  • Page 39 Hardware Guide 3.13.1 X1 - Inputs 12-19 Signal Function Shield connection Chassis Digital input 12 (referenced to Common8-19) DIG_IN_12 Digital input 13 (referenced to Common8-19) DIG_IN_13 Digital input 14 (referenced to Common8-19) DIG_IN_14 Digital input 15 (referenced to Common8-19) DIG_IN_15 Digital input 16 (referenced to Common8-19) DIG_IN_16 Digital input 17 (referenced to Common8-19)
  • Page 40 NextMove PCI Installation Manual 3.13.3 X3 - High Speed Inputs Signal Function Digital input 0 DIG_IN_0 Reference for inputs 0-7 Common0-7 Shield connection Chassis Digital input 1 DIG_IN_1 Reference for inputs 0-7 Common0-7 Shield connection Chassis Digital input 2 DIG_IN_2...
  • Page 41 Hardware Guide 3.13.5 X5 - Outputs 0-5 Signal Function Shield connection Chassis Digital output 0 DIG_OUT_0 Digital output 1 DIG_OUT_1 Digital output 2 DIG_OUT_2 Digital output 3 DIG_OUT_3 Digital output 4 DIG_OUT_4 Digital output 5 DIG_OUT_5 Not connected Not connected Chassis Shield connection ∗...
  • Page 42 NextMove PCI Installation Manual 3.13.7 X7 – Command Signals Signal Function Command signal for axis 0 DEMAND_0 Analog ground AGND Shield connection Chassis Command signal for axis 1 DEMAND_1 Analog ground AGND Shield connection Chassis Command signal for axis 2...
  • Page 43 Hardware Guide 3.13.9 X9 - Encoder Power Signal Function 5V power connection (from the PC) 5V power connection (from the PC) Power to the encoder connectors (normally +5V) Encoder V+ Power to the encoder connectors (normally +5V) Encoder V+ Digital ground (from the PC) Digital ground (from the PC) Output power supply USR-V+...
  • Page 44 NextMove PCI Installation Manual 3.13.11 X12, X13, X14, X15, X16 - Encoders Figure 3-20: Encoder Connector Signal Function Cabling ∗ ∗ ∗ ∗ Power to the Encoder (not always 5V) Encoder V+ Power and signal ground Channel A true signal...
  • Page 45 Hardware Guide 3.13.12 X17, X18 - CAN Figure 3-21: CAN Connectors Signal Function D-type Pin RJ-45 Pin Cabling can+ CAN data signal can- CAN data signal can V+ Power to the CAN Nodes Signal ground Screen pin chassis No connection 4,5,6,8 3,6,7,8 chassis...
  • Page 46 NextMove PCI Installation Manual MN1277 04.2001...

  • Page 47: Operation And Setup

    Operation and Setup 4. Operation and Setup This chapter is step by step guide to setting up a NextMove PCI servo and stepper control system. Basic familiarity with PC’s and the Windows environment is assumed. Installing NextMove PCI into the PC.

  • Page 48: Installing Nextmove Pci

    4.1.2 Installing Software NextMove PCI is a plug and play device. Once the card has been inserted into the PC it will be detected the next time the PC is turned on. This detection process varies depending on the operating system running on the PC.
  • Page 49 Under Windows NT there will be no indication that a new card has been installed. The device driver for NextMove PCI will need to be installed from the Baldor Motion Toolkit. Place the Baldor Motion Toolkit CD into the CDROM of the computer. The CD should auto-run and display the ‘Welcome to the Baldor Motion Toolkit’...

  • Page 50: Baldor Motion Toolkit Cd

    The Windows NT device driver can be used under Windows 2000. After installing the NextMove PCI card, turn the PC on. Enter the BIOS and disable the ‘Plug and Play’ option or select ‘Operating system is not plug and play compatible’. Exit the BIOS and let Windows 2000 boot.
  • Page 51 Operation and Setup Figure 4-2: Baldor Motion Toolkit - Home Page Select the NextMove link and then select the ‘NextMove PCI’ option. This opens the page that allows the various NextMove PCI related applications to be installed. Figure 4-3: Baldor Motion Toolkit – NextMove PCI page...

  • Page 52: Configuring Your System

    Mint Configuration Tool is a rapid getting started and configuration utility designed for use with a number of Mint v4 controllers. The rest of this chapter makes use of both of these applications and it is recommended that both of these are installed.
  • Page 53 Normally open connection of relay Amplifier/Digital Ground relay-no 4.3.2 Starting with the Mint Configuration Tool Start the Mint Configuration Tool by clicking the icon of the same name which can be found in the ‘Mint v4’ program group. MN1277 04.2001...
  • Page 54 NextMove PCI then select the card number from the list. The card numbers are allocated automatically by the PCI and cannot be changed. If NextMove PCI does not appear in the list then refer to trouble shooting in section 7.
  • Page 55 From the list given, axis 0 has been selected as a servo and axis 1 as a stepper. NextMove PCI is available in a number of axis variants: 1, 2, 3, 4 or 8 axes. For the 1, 2, 3 and 4 axis cards, each axis, labeled 0 to 3, can be configured as a servo axis or a stepper axis.

  • Page 56: Servo Setup

    Figure 4-10: MCT Drive Enable Channel Drop-down The assigned drive enable channel allows NextMove PCI to shut down the drive in the event of an error. Clicking the ‘Drive Enable’ button should enable the drive and the ‘Drive Disable’ button should disable the drive.
  • Page 57 Operation and Setup Figure 4-11: 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 58 NextMove PCI Installation Manual Figure 4-13: MCT Advanced Encoder Mode Settings If the position does not change then check the following: • The encoder cable is connected to the correct encoder input. • The encoder has power and is correctly wired.
  • Page 59 "Under damped" line in Figure 4-14. In NextMove PCI, 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 60 NextMove PCI 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 61 Operation and Setup 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 4-15: Servo Loop Block Diagram The controller has six terms incorporating proportional, derivative, velocity feedback/feed forward, integral and acceleration feed forward gains.
  • Page 62 ‘on the bench’ and not in the machine (the motor or gearbox shaft should be in free air). The Mint Configuration Tool allows online tuning of the position loop. Continuing the example setup from section 4.4, proceed to the ‘Servo Tuning’ page. The ‘Position Loop Tuning’ tab allows tuning terms to be entered and a sample move performed.
  • Page 63 This can cause the machine to vibrate when at rest, especially if there is elasticity in the transmission such as a belt drive. Further tuning may be carried out using the Mint WorkBench which provides a similar tuning interface to the Mint Configuration Tool.
  • Page 64 NextMove PCI Installation Manual Figure 4-19: 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 65 Operation and Setup Figure 4-20: 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, KVEL. Start with a value of 1 and increase it until you feel some resistance in the motor. For some motors it may be necessary to apply fractional gains;...
  • Page 66 NextMove PCI Installation Manual Figure 4-21: MCT Step Move Plot If the motor starts to vibrate, increase the velocity feedback gain (damping), KVEL, or decrease the proportional gain, KPROP. Increase proportional gain, KPROP, until the motor shaft becomes stiff. Finally, set the velocity feed forward gain, KVELFF, to the same value as the velocity feedback gain, KVEL.
  • Page 67 In order to calculate the correct value for KVELFF, you need to consider the workings of the servo loop closure algorithms. In the servo loop, speeds are expressed in quadrature counts/servo loop closure time. For instance, a speed of 100 is 100 counts every 1ms with NextMove PCI (note that the default loop closure time is 1ms).
  • Page 68 NextMove PCI 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 69: Stepper Setup

    Figure 4-23: MCT Drive Enable Channel Drop-down The assigned drive enable channel allows NextMove PCI to shut down the drive in the event of an error. Clicking the ‘Drive Enable’ button should enable the drive and the ‘Drive Disable’ button should disable the drive.
  • Page 70 NextMove PCI Installation Manual Figure 4-24: MCT Drive Enable Test 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 71: Methods Of Programming

    Visual Basic myPCI.setMoveA 0, 10 For the host PC to communicate with NextMove PCI 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). However there may be many applications on the host, all communicating with the same NextMove PCI.

  • Page 72: Mint

    Figure 4-26: Baldor Motion Toolkit - Documentation Page 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.
  • Page 73 The use of the square brackets controls 2 axes in the system, where axis 0 is the first axis followed by axis 1 and so on. The use of the square brackets is optional as Mint is very flexible in its multi- axis syntax.
  • Page 74 NextMove PCI Installation Manual The Mint WorkBench has a built in editor which can be used to edit both Configuration and Program files. To create a new configuration file select ‘New…Config’ from the ‘File’ menu. This will open up an editor window into which you can type.
  • Page 75 The Mint Configuration Tool provides a graphical method for setting common parameters that would be placed in a configuration file. Having completed the Start Up Wizard, the Mint Configuration Tool can be started in wizard or manual modes. The wizard mode steps through each of the configuration screens for each axis selected during the Start Up Wizard.
  • Page 76 NextMove PCI Installation Manual 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 77 Operation and 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. Figure 4-32: MCT Axis Parameters Axis Errors This page allows the error modes to be set for each error type.
  • Page 78 NextMove PCI Installation Manual Miscellaneous This page allows the auxiliary encoder parameters to be set and the state of the Mint command line ECHO keyword. Figure 4-34: MCT Miscellaneous Parameters 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.
  • Page 79 4.8.2 The Program File The Mint WorkBench has a built in editor which can be used to edit both Configuration and Program files. To create a new configuration file select ‘New…Program’ from the ‘File’ menu. This will open up an editor window into which you can type.

  • Page 80: Motion

    Master / Slave following with imposed FOLLOW, FLY motion ratios. Software variable User definable software CAM profile. CAM, GO gearbox. Spline User definable cubic spline motion. SPLINE, GO For more details on motion keywords see the Mint v4 Programming Guide. MN1277 04.2001...

  • Page 81: Options And Accessories

    NextMove PCI supports a number of options, including an axis Expansion Card and CAN I/O card. This chapter summarizes those options. This chapter describes a lower-cost more compact alternative to using the Breakout Unit when NextMove PCI is being used only as a CAN network manager. MN1277 04.2001...

  • Page 82: Nextmove Pci

    NextMove PCI Expansion Card The NextMove PCI Expansion Card provides an additional 4 or 8 axes of control and a full suite of analog and digital IO as per the main NextMove PCI card. The Expansion Card is connected to the main card via an Expansion Interconnect card.

  • Page 83: Digital Output Modules

    Needed to connect NMPCI to two Expansion Cards Digital Output Modules The digital output drive on NextMove PCI is in the form of a removable module which allows different types of outputs for different applications. Currently there are two modules available: Current sourcing, ‘PNP’...

  • Page 84: Breakout Unit

    (‘PNP’) outputs Breakout Unit The NextMove PCI Breakout Unit is designed to give easy access to the various I/O and motor control signals. Figure 5-2: NextMove PCI Breakout Unit The Breakout Unit takes the NextMove PCI signals on the 100-way D-type connector and routes them to screw-down terminals for the digital I/O, 9-way D-types for the encoders and steppers.

  • Page 85: Nextmove Pc System Adapter

    Options and Accessories NextMove PC System Adapter The NextMove PC adapter takes the output from the 100 way connector of NextMove PCI and converts it to be compatible with the NextMove PC cable, allowing for machine conversion from NextMove PC to NextMove PCI with minimal change to the physical wiring of the machine.

  • Page 86: Can Nodes

    CAN Nodes Figure 5-4: ioNODE Product Family Digital I/O can be expanded easily on NextMove PCI using the Baldor CAN bus interface. This provides a high speed secure serial bus interface to a range of I/O devices as described: •...

  • Page 87: Nextmove Pci Can Bracket Board

    Options and Accessories NextMove PCI CAN Bracket Board This is a lower-cost more compact alternative to using the Breakout Unit when the NextMove PCI controller is being used only as a CAN network manager. Both CAN channels are presented on 9 way D type connectors.
  • Page 88 NextMove PCI Installation Manual Figure 5-6: CAN Bracket: End View Signal Function D-type Pin Cabling CAN data signal can+ can- CAN data signal can V+ Power to the CAN nodes Signal ground chassis Screen pin No connection 4,5,6,8 chassis Screen Shell J5 if fitted terminates the CAN1 network.

  • Page 89: Encoder Splitter/Buffer Board

    Options and Accessories Item Order Code Description CAN bracket assembly OPT030-501 Provides alternative to Breakout Unit for CAN connection Encoder Splitter/Buffer Board This is a stand alone PCB that takes an encoder signal, either single ended or differential and gives differential outputs.
  • Page 90 NextMove PCI Installation Manual MN1277 04.2001...

  • Page 91: Specifications And Product Data

    Specifications and Product Data 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 PCI. MN1277 04.2001...

  • Page 92: Machine Control I/O

    NextMove PCI Installation Manual Machine Control I/O User Digital Inputs: • 20 input lines. • PNP or NPN opto-isolated relative to common. • 12 to 24V ±20% on, 2V max off. • Software programmable as limit, home, stop or error inputs for any axis.

  • Page 93: Miscellaneous And Mechanical Specification

    F Ambient Temperature: NextMove PCI is a standard 7 inch PCI plug-in card. The nominal overall dimensions are 175mm (6.875") long by 106.7mm (4.2") deep. The host must have a spare 7 inch PCI card slot. It must also be an AT type machine as this card cannot be fitted into MCA type machines.

  • Page 94: 100-Pin Connector

    Pin 2 column A of the 100 way connector is the square pin on the underside of the PCB. If you intend to design your own Breakout Unit, see the ‘Designing NextMove PCI Breakout Units’ manual.
  • Page 95 Specifications and Product Data ANIN1+ ANIN0+ ANIN1- ANIN0- ANIN3+ ANIN2+ ANIN3- ANIN2- Demand 1 Demand 0 Demand 3 Demand 2 AGND CAN2-TX CAN1-TX CAN2-RX CAN1-RX Encoder 0 !A Encoder 2 !A Encoder 0 A Encoder 2 A Encoder 0 !B Encoder 2 !B Encoder 0 B Encoder 2 B...

  • Page 96: Emc & Ce Marking

    This also applies to some mechanical sub-systems such as fans. Electronic sub-systems such as NextMove PCI do not fall within its scope. Note that to meet the safety requirements of this directive, the primary machine safety system can not be based on controller software (paying a notified body to audit the software and make-out a safety case is prohibitively expensive);...
  • Page 97 Specifications and Product Data Test Standard Comments EN50081-1, 1992 EN55022, Pass. Worst case margin >10.0 dB. Conducted 1994 emissions EN50081-1, 1992 EN55022, Pass. Maximized emissions at 10m, worst case margin 5.1 dB at Radiated 1994 33.09MHz. emissions EN50082-2, 1995 EN61000-4-3, Pass (A).
  • Page 98 NextMove PCI Installation Manual MN1277 04.2001...

  • Page 99: Trouble Shooting Guide

    Trouble Shooting Guide 7. Trouble Shooting Guide This chapter covers common problems found when using NextMove PCI. MN1277 04.2001...
  • Page 100 NextMove PCI Installation Manual Symptom Check Cannot detect NextMove PCI • Check that the NextMove PCI driver has been installed. Cannot communicate with the • Verify that the Mint WorkBench program is loaded and controller. that NextMove PCI is the currently selected controller.
  • Page 101 Trouble Shooting Guide Symptom Check Motor runs off uncontrollably • Check that encoder 0 and demand 0 are connected to when controller is switched on and the same axes of motion; repeat for axis 1 and 2. Check servo loop gains are applied or amplifier connection is correct with respect to polarity when a move is set in progress.
  • Page 102 NextMove PCI Installation Manual MN1277 04.2001...

  • Page 103: Bibliography

    Bibliography 8. Bibliography Bibliography. [1] Mint v4 Programming Guide (MN1262) [2] Mint v4 Advanced Programming Guide (MN1270) [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.
  • Page 104 NextMove PCI Installation Manual MN1277 04.2001...

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