Page 3 - Contents i; Contents; General Information
Contents i MN1903 Contents 1 General Information 1-1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2 Introduction 2-1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2.1 NextMove PCI features 2-1 . . . . . . . . . . . . . . . . . . . . . . . . . . ...
Page 4 - ii Contents; Operation
ii Contents MN1903 4.6 CAN Connections 4-20 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4.6.1 CAN1 (CANopen) - X17 4-21 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4.6.2 CAN2 (Baldor CAN) - X18 4-22 . . . . . . . . . . . . . . ....
Page 5 - Contents iii; Troubleshooting; Specifications; Introduction; Appendices; A Accessories; Introduction
Contents iii MN1903 6 Troubleshooting 6-1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.1 Introduction 6-1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.1.1 Problem diagnosis 6-1 . . . . . . . . . . . . . . . . . . . . . . . . ....
Page 6 - iv Contents
Page 7 - General Information 1-1; Mint; General Information
General Information 1-1 MN1903 LT0166A00 Copyright Baldor (c) 2002. All rights reserved. This manual is copyrighted and all rights are reserved. This document or attached software may not,in whole or in part, be copied or reproduced in any form without the prior written consent of BALDOR.BALDOR make...
Page 8 - -2 General Information; Safety Notice
1-2 General Information MN1903 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 arecontrolled by this equipment. Improper use can cause serious or fatal...
Page 9 - NextMove PCI features
Introduction 2-1 MN1903 2.1 NextMove PCI features NextMove PCI is a high speed multi-axis intelligent motion controller for use in PCI bus basedPC systems. NextMove PCI features the MintMT motion control language. MintMT is a structured form ofBasic, custom designed for stepper or servo motion contr...
Page 11 - Receiving and inspection; Description
Introduction 2-3 MN1903 2.2 Receiving and inspection When you receive your NextMove PCI, there are several things you should do immediately: 1. Check the condition of the packaging and report any damage immediately to the carrier that delivered your NextMove PCI. 2. Remove the NextMove PCI from the ...
Page 12 - Units and abbreviations; Ctrl
2-4 Introduction MN1903 2.3 Units and abbreviations The following units and abbreviations may appear in this manual: V Volt (also VAC and VDC) . . . . . . . . . . . . . . . W Watt . . . . . . . . . . . . . . A Ampere . . . . . . . . . . . . . . . Ω Ohm . . . . . . . . . . . . . . . µF microfarad . ....
Page 13 - Basic Installation 3-1; Other information needed for installation; Basic Installation
Basic Installation 3-1 MN1903 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 PCI.This section describes the mechanical and electrical installation of the NextMove PCI. 3.1.1 Hardware requireme...
Page 14 - -2 Basic Installation; Location requirements; CAUTION
3-2 Basic Installation MN1903 3.2 Location requirements It is essential that you read and understand this section before beginning theinstallation . CAUTION : To prevent equipment damage, be certain that input and output signals are powered and referenced correctly. CAUTION : To ensure reliable perf...
Page 15 - Basic Installation 3-3; metal bracket lines up with the screw hole in the PC case.; NextMove PCI Expansion card and CAN Bracket board; connections to the NextMove PCI card.; This completes the basic installation.; You should read the following sections in
Basic Installation 3-3 MN1903 3.3 Installation NextMove PCI can be installed into an AT style personal computer that has a free 7 inch PCIcard slot. The Baldor Motion Toolkit CD supports the following operating systems:Windows 95, Windows 98, Windows ME, Windows NT4 and Windows 2000. 3.3.1 Installin...
Page 16 - -4 Basic Installation
Page 20 - The NextMove PCI provides:
4-4 Input / Output MN1903 4.3 Analog I/O The NextMove PCI provides: H Four 12-bit resolution analog inputs.The inputs are available on connector X6 on the NextMove PCI Breakout module. H Four 14-bit resolution analog outputs.The outputs are available on connector X7 on the NextMove PCI Breakout modu...
Page 21 - keyword; ADCMODE
Input / Output 4-5 MN1903 4.3.1 Analog inputs - X6 Location Breakout module, connector X6 Pin Name MintMT keyword / description 1 AGND Analog ground 2 AIN0+ AIN0 3 AIN0- AIN0 4 AIN1+ AIN1 5 AIN1- AIN1 6 Shield Shield connection 7 AGND Analog ground 8 AIN2+ AIN2 9 AIN2- AIN2 10 AIN3+ AIN3 11 AIN3- AI...
Page 22 - Figure 1 - Analog input wiring, AIN0 shown
4-6 Input / Output MN1903 NextMove PCI - + AIN0+ AIN0- AGND MintMT ADC.0 Breakout module 3 1 2 X6 100 pin cable - + Figure 1 - Analog input wiring, AIN0 shown For differential inputs connect input lines to AIN+ and AIN-. Leave AGND unconnected.For single ended inputs, connect signal to AIN+. Connect...
Page 23 - Figure 2 - Analog output circuit - Demand0 shown
Input / Output 4-7 MN1903 4.3.2 Analog outputs (Drive Demand/Command) - X7 Location Breakout module, connector X7 Pin Name Description 1 Demand0 Demand output signal for axis 0 2 AGND Analog ground 3 Shield Shield connection 4 Demand1 Demand output signal for axis 1 5 AGND Analog ground 6 Shield Shi...
Page 28 - FAST; Location; Figure 4 - Digital input circuit - fast interrupts
4-12 Input / Output MN1903 4.4.3 Digital inputs - X3 Digital inputs DIN0 to DIN3 can be used as high speed position latches. The fast positioninputs are routed through a programmable cross-point switch which allows any input to causethe position of any combination of axes to be captured (by the hard...
Page 34 - Figure 8 - Relay connections
4-18 Input / Output MN1903 4.5.4 Relay and CAN power - X8 Location Breakout module, connector X8 Pin Name Description 1 CAN1 V+ Power input for CAN1 (CANopen)network (12-24V) 2 CAN1 GND Ground for CAN1 (CANopen) network 3 CAN2 V+ Power input for CAN2 (Baldor CAN)network (12-24V) 4 CAN2 GND Ground fo...
Page 35 - STEPPERIO
Input / Output 4-19 MN1903 4.5.5 Stepper drive outputs - X10, X11 Location Connectors X10, X11 Pin X10 Name X11 Name Description 1 Step0+ Step2+ Step signal 2 Dir0+ Dir2+ Direction signal 3 GND GND Signal ground 4 Dir1+ Dir3+ Direction signal 5 Step1+ Step3+ Step signal 6 Step0- Step2- Step signal c...
Page 36 - Application Layer and Communication; Cable length
4-20 Input / Output MN1903 4.6 CAN Connections CAN (Controller Area Network) is a 1Mb/s local area network.Two CAN channels are supported by NextMove PCI - CANopen andBaldor CAN. Access to both channels is configured by a 10-pin 2mmpin header, J11, mounted along the top edge of the NextMove PCIcard....
Page 38 - Breakout module, connector X18; Pin Name; Ground/earth reference for CAN signal; Baldor proprietary CAN interface using a RJ45 connector.
4-22 Input / Output MN1903 4.6.2 CAN2 (Baldor CAN) - X18 Baldor CAN connections are made using the breakout module connector X18. Location Breakout module, connector X18 Pin Name Description 1 - (NC) 2 - (NC) 3 - (NC) 4 CAN2 0V Ground/earth reference for CAN signal 5 CAN2 V+ CAN remote node power V+...
Page 39 - Communications
Input / Output 4-23 MN1903 4.7 Other I/O 4.7.1 Emulator connection An 11-pin footprint on the rear of the card marked ‘ICE’ provides access to the processor forboundary scan emulation. To connect the Texas Instruments emulator pod, a two row 12-pin0.1in pitch surface mount pin header with pin 8 miss...
Page 40 - Connection summary - minimum system wiring; Host PC; Error out; Figure 9 - Example minimum system wiring
4-24 Input / Output MN1903 4.9 Connection summary - minimum system wiring As a guide, Figure 9 shows an example of the typical minimum wiring required to allow theNextMove PCI and a single axis servo amplifier (motor drive) to work together. Details of theconnector pins are shown in Table 4. NextMov...
Page 43 - into the CDROM drive.; Next; This is on the CD in the folder:; Operation
Operation 5-1 MN1903 5.1 Introduction The software provided includes a number of applications and utilities to allow you to configure,tune and program the NextMove PCI. If you do not have experience of software installation orWindows applications you will need to seek further assistance for this sta...
Page 44 - Remove the checks from all the search locations, and click; Select the ‘Disable the device’ option, and click; Finish; Restart the PC. The hardware wizard should not appear this time.
5-2 Operation MN1903 5.1.2 Installing the driver software - Windows NT Windows NT does not support ‘plug and play’ so there will be no indication that a new cardhas been installed. The device driver for NextMove PCI must be installed from the BaldorMotion Toolkit CD. 1. Place the Baldor Motion Toolk...
Page 46 - Start; Programs; Close; In the small opening dialog box, click
5-4 Operation MN1903 5.1.5 Starting WorkBench v5 1. On the Windows Start menu, select Programs , WorkBench v5, WorkBench v5 . WorkBench v5 will start, and the Tip of the Day dialog will be displayed. You can prevent the Tip of the Day dialog appearing next time by removing the checkmark next to Show...
Page 47 - Do not scan serial ports; Scan; to search for the NextMove PCI.; Select; Click; Yes; to search for firmware.
Operation 5-5 MN1903 3. In the Select Controller dialog, go to the drop down box near the top and select Do not scan serial ports . Click Scan to search for the NextMove PCI. When the search is complete, click ‘NextMove PCI card 0’ and then click Select . 4. A dialog box will appear to tell you that...
Page 48 - Open; to download the firmware.; OK
5-6 Operation MN1903 5. In the Open dialog, look in the sub folder ‘NextMove PCI’. Select the file with extension ‘.chx’ and click Open to download the firmware. The firmware will be downloaded to the NextMove PCI. (A dialog box may be displayed to tellyou that WorkBench v5 has detected the new firm...
Page 49 - See Also; Figure 10 - The WorkBench help file
Operation 5-7 MN1903 5.2 WorkBench v5 WorkBench v5 is a fully featured application for programming and controlling theNextMove PCI. The main WorkBench window contains a menu system, the Toolbox and othertoolbars. Many functions can be accessed from the menu or by clicking a button - usewhichever you...
Page 50 - Configuring an axis; Application; where
5-8 Operation MN1903 5.3 Configuring an axis The NextMove PCI is capable of controlling servo and stepper axes. This section describesthe basic setup for both types of axis. Commands typed in the Command window haveimmediate effect - they do not need to be separately downloaded to the NextMove PCI. ...
Page 51 - Setup
Operation 5-9 MN1903 5.3.3 Selecting a scale MintMT defines all positional and speed related motion keywords in terms of encoderquadrature counts (for servo motors) or steps for stepper motors. The number of quadraturecounts (or steps) is divided by the SCALE factor allowing you to use units more su...
Page 52 - Digital Outputs; If you are going to use the relay, ignore this
5-10 Operation MN1903 5.3.4 Setting the drive enable output The drive enable output allows NextMove PCI to disable the drive in the event of an error.Each axis can be configured with its own drive enable output, or can share an output withother axes. If an output is shared, an error on any of the ax...
Page 53 - Apply; at the bottom of the screen. This
Operation 5-11 MN1903 4. If you are going to use the relay, drag the grey Relay0 icon to the grey X axis icon on the right of the screen. To configure multiple axes to use the relay, repeat this step for the other axes. If you are using a digital output, drag the bright blue OUT icon to the grey X a...
Page 54 - Check that the Drive enable button is; then click
5-12 Operation MN1903 5.4 Servo axis - testing and tuning This section describes the method for testing and tuning a servo axis. To test a stepper axes,go straight to section 5.8. 5.4.1 Testing the drive command output This section tests the operation and direction of the axis command output. It is ...
Page 55 - An introduction to closed loop control; LOOPTIME
Operation 5-13 MN1903 6. To remove the demand and stop the test, type: STOP.0 This should cause the demand produced atthe Demand 0 output to become 0V. 5.4.2 An introduction to closed loop control This section describes the basic principles of closed loop control. If you are familiar withclosed loop...
Page 57 - Figure 11 - The NextMove PCI servo loop
Operation 5-15 MN1903 Figure 11 - The NextMove PCI servo loop
Page 58 - Servo axis - tuning for current control; KDERIV box and enter a starting value of 1.; and then turn the motor shaft by
5-16 Operation MN1903 5.5 Servo axis - tuning for current control 5.5.1 Selecting servo loop gains All servo loop parameters default to zero, meaning that the demand output will be zero atpower up. Most servo amplifiers can be set to current (torque) control mode or velocity controlmode; check that ...
Page 59 - Go
Operation 5-17 MN1903 3. Click in the KPROP box and enter a value that is approximately one quarter of the valueof KDERIV. If the motor begins to vibrate,decrease the value of KPROP or increasethe value of KDERIV until the vibration stops.Small changes may be all that is necessary. 4. In the Move Ty...
Page 60 - Figure 12 - Underdamped response; Click in the KDERIV and/or KPROP boxes
5-18 Operation MN1903 5.5.2 Underdamped response If the graph shows that the response is underdamped (it overshoots the demand, as shown inFigure 12) 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 ne...
Page 61 - Figure 13 - Overdamped response; Click in the KDERIV and/or KPROP boxes
Operation 5-19 MN1903 5.5.3 Overdamped response If the graph shows that the response is overdamped (it reaches the demand too slowly, asshown in Figure 13) then the value for KDERIV should be decreased to reduce the damping ofthe move. If the overdamping is excessive, it may be necessary to increase...
Page 64 - Servo axis - tuning for velocity control
5-22 Operation MN1903 5.7 Servo axis - tuning for velocity control Drives designed for velocity control incorporate their own velocity feedback term to providesystem damping. For this reason, KDERIV (and KVEL) can be set to zero. Correct setting of the velocity feed forward gain KVELFF is important ...
Page 66 - Using the check boxes below the graph,; Figure 15 - Correct value of KVELFF
5-24 Operation MN1903 9. Using the check boxes below the graph, select the Measured velocity and Demandvelocity traces. Measured velocity Demand velocity Figure 15 - Correct value of KVELFF It may be necessary to make changes to the calculated value of KVELFF. If the trace forMeasured velocity appea...
Page 67 - Click in the KPROP box and enter a starting; Using the check boxes below the graph,
Operation 5-25 MN1903 5.7.2 Adjusting KPROP The KPROP term can be used to reduce following error. Its value will usually be much smallerthan the value used for an equivalent current controlled system. A fractional value, for example0.1, will probably give the best response. 1. Click in the KPROP box...
Page 68 - Figure 16 - Correct value of KPROP
5-26 Operation MN1903 Measured position Demand position Figure 16 - Correct value of KPROP The two traces will probably appear with a small offset from each other. Adjust KPROP bysmall amounts until the two traces appear on top of each other (approximately), as shown inFigure 16.
Page 70 - the; Digital Inputs; icon
5-28 Operation MN1903 5.9 Digital input/output configuration The Digital I/O window can be used to setup other digital inputs and outputs. 5.9.1 Digital input configuration The Digital Inputs tab allows you to define how each digital input will be triggered and,optionally, if it is to be allocated t...
Page 72 - Saving setup information; File; A new program editing window will appear.; Tools
5-30 Operation MN1903 5.10 Saving setup information When power is removed from the NextMove PCI all data, including configuration and tuningparameters, is lost. You should therefore save this information in a file, which can be loadedwhen the card is next used. Alternatively, the information can be ...
Page 73 - . Locate a folder, enter a filename and click; Save; Locate the file and click
Operation 5-31 MN1903 4. On the main menu, choose File , Save File . Locate a folder, enter a filename and click Save . 5.10.1Loading saved information 1. In the Toolbox, click the Edit & Debug icon. 2. On the main menu, choose File , Open File... Locate the file and click Open . A Startup block...
Page 75 - feature; The SupportMe; Troubleshooting
Troubleshooting 6-1 MN1903 6.1 Introduction This section explains common problems and their solutions.If you want to know the meaning of the LED indicators, see section 6.2. 6.1.1 Problem diagnosis If you have followed all the instructions in this manual in sequence, you should have fewproblems inst...
Page 76 - NextMove PCI indicators; Meaning; NextMove PCI is not powered.; All red; Program is running OK.
6-2 Troubleshooting MN1903 6.2 NextMove PCI indicators 6.2.1 Status and CAN LEDs The backplate of the NextMove PCI contains four LEDs. S1 and S2represent general status information. C1 and C2 are CAN trafficindicators. The LEDs may illuminate red or green and can becontinuous or flashing. LED State(...
Page 77 - Check that the NextMove PCI driver has been installed.; Symptom
Troubleshooting 6-3 MN1903 6.2.2 Communication If the problem is not listed below please contact Baldor Technical Support. An oscilloscope willbe useful for many of the electrical tests described below. Symptom Check Cannot detect NextMovePCI Check that the NextMove PCI driver has been installed. Ca...
Page 78 - ENCODERMODE
6-4 Troubleshooting MN1903 Symptom Check Motor runs uncontrollablywhen controller is switchedon and servo loop gains areapplied or when a move isset in progress. Motor thenstops after a short time. Check that the axis’ corresponding encoder and demandsignals are connected to the same axes of motion....
Page 79 - Specifications
Specifications 7-1 MN1903 7.1 Introduction This section provides technical specifications of the NextMove PCI 7.1.1 Mechanical specifications Description Value Input power(from host PC) +5V at 1200mA±12V at 250mA Additional current will be required when powering theencoders from the host PC’s +5V su...
Page 83 - Figure 17 - NextMove PCI Expansion card; Accessories
Accessories A-1 MN1903 A.1 Introduction NextMove PCI is supplied with a software license to control 1, 2 ,3, 4 or 8 axes. Similarly, theNextMove PCI Expansion Card is supplied with a software license to control a further 4 or 8 axes. A license cannot be upgraded. A.1.1 NextMove PCI Expansion card Th...
Page 85 - The expansion card is not powered.; Both red
Accessories A-3 MN1903 A.1.3 Expansion card status LEDs The backplate of the NextMove PCI Expansion card contains two LEDs, S1 and S2. Theserepresent general status information. The LEDs may illuminate red or green and can becontinuous or flashing. Expansion card LEDState(s) Meaning Both off The exp...
Page 87 - Allows NextMove PCI to connect to a NextMove PC system.; NextMove PCI - Strip of 10 fuses for the digital outputs.
Accessories A-5 MN1903 A.1.5 Digital output modules The digital output drive on NextMove PCI is in the form of a removable module which allowsdifferent types of outputs for different applications. Currently there are two modules available: Catalognumber Description OPT025-508 NPN - N-channel unprote...
