Baldor BXII - Manuals

General Information 1-1 MN1904 LT0158A01 Copyright Baldor (c) 2002. All rights reserved. This manual is copyrighted and all rights are reserved. This document or attached software may not, inwhole or in part, be copied or reproduced in any form without the prior written consent of BALDOR.BALDOR make...

1-2 General Information MN1904 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...

Introduction 2-1 MN1904 2.1 NextMove BX II features NextMove BX II is a high speed multi-axis intelligent motion controller, supporting up to four servo axes. NextMove BX II features the Mint motion control language. Mint is a structured form of Basic, custom designed for motion control applications...

2-2 Introduction MN1904 2.2 Receiving and inspection When you receive your NextMove BX II , 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 BX II . 2. Remove the NextMove BX II f...

Introduction 2-3 MN1904 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 . ....

Basic Installation 3-1 MN1904 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 BX II . This section describes the mechanical installation and power requirements of the NextMove BX II . 3.1.1 Pow...

3-2 Basic Installation MN1904 3.1.3 Tools and miscellaneous hardware H Your PC operating system user manual might be useful if you are not familiar withWindows H A small screwdriver (supplied) with a blade width less than 2.5mm (1/10 in). H M5 screws or bolts for mounting the NextMove BX II H Crimpi...

Basic Installation 3-3 MN1904 3.2 Mechanical installation and location requirements It is essential that you read and understand this section before beginning theinstallation . The safe operation of this equipment depends upon its use in the appropriate environment.The following points must be consi...

3-4 Basic Installation MN1904 3.2.1 Mounting the NextMove BX II Ensure you have read and understood the Mechanical installation and location requirements in section 3.2. Mount the NextMove BX II on its rear side, the side opposite the front panel. The NextMove BX II must be mounted upright to ensure...

Input / Output 4-1 MN1904 4.1 Introduction This section describes the location and purpose of each connector on the NextMove BX II . The following conventions will be used to refer to the inputs and outputs: I/O Input / Output . . . . . . . . . . . . . . DIN Digital Input . . . . . . . . . . . . . D...

Input / Output 4-3 MN1904 4.4 Power connections A 24VDC, 2A supply must be provided to power the control electronics. It is recommendedthat a separate fused 24V supply is provided for the NextMove BX II , with the fuse rated at 4A maximum. If other devices are to be powered from the same 24V supply,...

4-4 Input / Output MN1904 4.5 Analog I/O The NextMove BX II provides: H Eight 12-bit resolution analog inputs, available on connector X3. H Four 14-bit resolution analog outputs, available on connector X7. Sections 4.5.1 to 4.5.2 describe each analog input and output. 4.5.1 Analog inputs - X3 Locati...

4-6 Input / Output MN1904 4.5.2 Analog outputs (Demands) - X7 Location Connector X7(Mating connector: Weidmüller BL 3.5/10, 3.5mm pitch) Pin Name MintMT keyword / description 1 Demand0 DAC.0 2 AGND Analog ground 3 Demand1 DAC.1 4 AGND Analog ground 5 Demand2 DAC.2 6 AGND Analog ground 7 Demand3 DAC....

4-8 Input / Output MN1904 4.6.1 Digital inputs - X1 Location Connector X1(Mating connector: Weidmüller BL 3.5/10, 3.5mm pitch) Pin Name Mint keyword / description 1 DIN8 INX.8 2 DIN9 INX.9 3 DIN10 INX.10 4 DIN11 INX.11 5 DIN12 INX.12 6 DIN13 INX.13 7 DIN14 INX.14 8 DIN15 INX.15 9 CREF Common connect...

4-10 Input / Output MN1904 4.6.3 Digital inputs (Interrupts) - X6 Digital inputs FASTIN0 to FASTIN3 can be used as high speed position latches, allowing anycombination of axes to be captured by the hardware. Using FASTIN0, the latency betweeninput triggering and capture is 30µs. Using FASTIN1 to FAS...

Input / Output 4-11 MN1904 4.6.4 Digital outputs - X4 Location Connector X4(Mating connector: Weidmüller BL 3.5/10, 3.5mm pitch) Pin Name Mint keyword / description 1 DOUT0 OUTX.0 2 DOUT1 OUTX.1 3 DOUT2 OUTX.2 4 DOUT3 OUTX.3 5 DOUT4 OUTX.4 6 DOUT5 OUTX.5 7 DOUT6 OUTX.6 8 DOUT7 OUTX.7 9 USR V+ Custom...

4-12 Input / Output MN1904 4.7 Other I/O 4.7.1 Encoder interfaces - X9, X10, X11, X12, X13 Location Connectors X9, X11, X11, X12, X13 Pin Name Description 1 CHA+ Channel A signal 2 CHB+ Channel B signal 3 CHZ+ Index channel signal 4 (NC) Not connected 5 DGND Power supply ground 6 CHA- Channel A sign...

4-14 Input / Output MN1904 4.7.3 Relay and user power - X5 Location Connector X5(Mating connector: Weidmüller BL 3.5/10, 3.5mm pitch) Pin Name Description 1 Relay COM Common relay connection 2 Relay NC Normally closed relay connection 3 Relay NO Normally open relay connection 4 Relay COM Common rela...

Input / Output 4-15 MN1904 4.7.4 RS232 - X15 Location Top panel, connector X15 Pin Name 1 Shield 2 RXD 3 TXD 4 DTR (internally connected to pin 6) 5 0V 6 DSR (internally connected to pin 4) 7 RTS 8 CTS 9 0V Description RS232 connections on a single 9-pin male D-type connector The NextMove BX II has ...

4-16 Input / Output MN1904 NextMove BX II (DTE) 9-- pin Computer COM Port (DCE / DTE) RS232 RXD 2 TXD 3 GND 5 2 RXD 3 TXD 5 GND RTS 7 CTS 8 7 RTS 8 CTS COM Connect overall shield to connector backshell. Figure 9 - RS232 serial port connections The maximum recommended cable length is 3m (10ft) at 57....

Input / Output 4-17 MN1904 4.7.5 Connecting Baldor HMI Operator Panels Baldor HMI Operator Panels use a 15-pin male D-type connector (marked PLC PORT), butthe NextMove BX II RS232 connector is a 9-pin male D-type connector. If you do not require hardware handshaking then use the connections shown in...

4-18 Input / Output MN1904 4.7.6 RS422 / RS485 - X14 If you will be using RS422 / RS485 and your PC does not have an RS422 / RS485 connector,an RS232 to 4-wire RS422 / RS485 converter will be required. These commercially availabledevices convert the signals from the PC RS232 port to the signals nece...

4-20 Input / Output MN1904 4.7.7 CAN connectors - X16 & X17 CAN (Controller Area Network) offers very reliable serial communications over a two wiretwisted pair cable. In an industrial environment, the probability of an undetected error is4.7x10 -11 . CAN also offers high speed data transfer (up...

Input / Output 4-21 MN1904 4.7.8 CANopen CANopen is a networking system based on the serial bus CAN. It uses the international CANstandard ISO 11898 as the basis for communication. The Mint firmware implements aCANopen protocol on CAN bus 1, based on the ‘Communication Profile’ CiA DS-301, whichsupp...

4-22 Input / Output MN1904 4.8 Reset states During power up, NextMove BX II is held in a safe non-operational state known as hardware reset. It will also go into hardware reset if the 24V logic supply drops below approximately18V. This prevents uncontrolled operation due to the electronics losing po...

Input / Output 4-23 MN1904 4.9 Connection summary - minimum system wiring As a guide, Figure 14 shows an example of the typical minimum wiring required to allow theNextMove BX II and a single servo amplifier (motor drive) to work together. Host PC NextMove BX II Servo amplifier (axis 0) Encoder outp...

4-24 Input / Output MN1904 NextMove BX II connector Name ofsignal Function Servo amplifierconnection (Note: drive may belabelled differently) X1 DIN8 Error input Error output X5 Relay COM Common connection of relay Enable input Relay NC Normally closed connectionof relay Ground X7 Demand0 Command si...

Operation 5-1 MN1904 5.1 Introduction Before powering the NextMove BX II you will need to connect it to the PC using a serial cable and install the supplied PC software WorkBench v5 . This software includes a number of tools to allow you to configure, tune and program the NextMove BX II . If you do ...

5-2 Operation MN1904 5.1.5 Power on checks If at any time one of the Axis LEDs is illuminated red, this indicates that the NextMove BX II has detected a fault - see section 6. 1. Turn on the 24VDC supply. 2. After a brief test sequence the Status display should show the node number, for example (the...

Operation 5-3 MN1904 5.2 WorkBench v5 WorkBench v5 is a fully featured application for programming and controlling theNextMove BX II . The main WorkBench v5 window contains a menu system, the Toolbox and other toolbars. Many functions can be accessed from the menu or by clicking a button - usewhiche...

5-4 Operation MN1904 5.2.2 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 check marknext to Sho...

5-6 Operation MN1904 5.3 Configuring an axis The NextMove BX II is capable of controlling up to 4 servo axes, depending on model. Axis numbering always begin at 0. For example, a four axis model has axes numbered 0, 1, 2 and3. This section describes the basic setup for a single axis. Note: The NextM...

Operation 5-7 MN1904 4. Click in the Scale box and type a value. 5. Click Apply . This immediately sets the scaling factor for the selected axis. It will remain in the NextMove BX II until another scale is defined, or power is removed. 5.3.2 Setting the drive enable output The drive enable output al...

5-8 Operation MN1904 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 ax...

Operation 5-9 MN1904 5.4 Testing and tuning This section describes the method for testing and tuning an axis. 5.4.1 Testing the drive command output This section tests the operation and direction of the axis command output. It is recommendedthat the motor is disconnected for this test. 1. Check that...

Operation 5-11 MN1904 5.5 An introduction to closed loop control This section describes the basic principles of closed loop control. If you are familiar with closedloop control go straight to section 5.6.1. When there is a requirement to move an axis, the NextMove BX II control software translates t...

5-12 Operation MN1904 In summary, the following rules can be used as a guide: H KPROP: Increasing KPROP will speed up the response and reduce the effect of disturbancesand load variations. The side effect of increasing KPROP is that it also increases theovershoot, and if set too high it will cause t...

Operation 5-13 MN1904 Figure 16 - The NextMove BX II servo loop

5-14 Operation MN1904 5.6 Tuning an axis for current control 5.6.1 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 the s...

Operation 5-15 MN1904 4. In the Move Type drop down box, check that the move type is set to Step. 5. Click in the Distance box and enter a distance for the step move. It is recommended to set avalue that will cause the motor to turn a short distance, for example one revolution. Note: The distance de...

5-16 Operation MN1904 5.6.2 Underdamped response If the graph shows that the response is underdamped (it overshoots the demand, as shown inFigure 17) 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...

Operation 5-17 MN1904 5.6.3 Overdamped response If the graph shows that the response is overdamped (it reaches the demand too slowly, asshown in Figure 18) 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...

5-20 Operation MN1904 5.8 Tuning an axis 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 to ge...

5-22 Operation MN1904 Measured velocity Demand velocity Figure 20 - Correct value of KVELFF It may be necessary to make changes to the calculated value of KVELFF. If the trace forMeasured velocity appears above the trace for Demand velocity, reduce the value of KVELFF.If the trace for Measured veloc...

Operation 5-23 MN1904 5.8.2 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...

5-24 Operation MN1904 Measured position Demand position Figure 21 - 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 21.

Operation 5-25 MN1904 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...

Operation 5-27 MN1904 5.10 Saving setup information When power is removed from the NextMove BX II , configuration and tuning parameters are lost. You should therefore save this information in a file, which can be loaded after the unit isstarted. Alternatively, the information can be included in prog...

5-28 Operation MN1904 4. On the main menu, choose File , Save File . Locate a folder, enter a filename and click Save . 5.11 Loading 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 . WorkBench v5 wil...

Troubleshooting 6-1 MN1904 6.1 Introduction This section explains common problems that may be encountered, together with possiblesolutions. 6.1.1 Problem diagnosis If you have followed all the instructions in this manual in sequence, you should have fewproblems installing the NextMove BX II . If you...

6-2 Troubleshooting MN1904 6.2 NextMove BX II indicators 6.2.1 Status display The Status LED normally displays the unit’s node number. To displayinformation about a specific axis, use the LED keyword (see the MintMT help file). When a specific axis is selected, its LED (numbered 0-3) will beillumina...

Troubleshooting 6-3 MN1904 Jog. The axis is jogging. In the Mint help file, see the topics JOG , JOGCOMMAND and Jog mode . Offset move. The axis is performing an offset move. Positional Move. The axis is performing a linear move. See the Mint keywords MOVEA and MOVER . Stop. A STOP command has been ...

6-4 Troubleshooting MN1904 6.2.2 Motor control Symptom Check NextMove BX II appears to be working but will notcause motor to turn. Check that the connections between motor and drive arecorrect. Use WorkBench v5 to perform the basic system tests(see section 5.4). Ensure that while the NextMove BX II ...

Troubleshooting 6-5 MN1904 Symptom Check Motor is under control, butwhen moved to a positionand then back to the startit does not return to thesame position. Using an oscilloscope, check: H all encoder channels are clear signals and free fromelectrical noise; H they are correctly wired to the contro...

Specifications 7-1 MN1904 7.1 Introduction This section provides technical specifications of the NextMove BX II . 7.1.1 Input power Description Unit Value Logic supply input voltage VDC 24 Minimum input voltage VDC 18 Maximum input voltage 30 Logic supply input current (maximum) mA 700 User supply i...

Accessories A-1 MN1904 A.1 Introduction The capabilities of the NextMove BX II can be expanded using additional peripheral devices. A.1.1 Baldor CAN nodes Digital I/O can be expanded easily on NextMove BX II using the Baldor CAN (CAN2) connection. This provides a high speed serial bus interface to a...

Index MN1904 A Abbreviations, 2-3Accessories, A-1 Baldor CAN nodes, A-1encoder splitter/buffer board, A-2 Analog I/O, 4-4 analog inputs - X3, 4-4analog outputs - X7, 4-6 B Baldor CAN nodes, A-1Basic Installation, 3-1 C CAN accessories, A-1Baldor CAN, 4-21CANopen, 4-21connectors, 4-20specifications, ...

Index MN1904 I Indicators, 6-2 axis LEDs, 6-2, 6-5status display, 6-2, 6-5 Input / Output analog I/O, 4-4analog inputs - X3, 4-4, 7-1analog outputs (Demands) - X7, 4-6, 7-2CAN - X16 & X17, 4-20connection summary, 4-23digital I/O, 4-7digital inputs (Interrupts) - X6, 4-10, 7-2digital inputs - X1,...

Comments MN1904 If you have any suggestions for improvements to this manual, please let us know. Write yourcomments in the space provided below, remove this page from the manual and mail it to: ManualsBaldor UK LtdMint Motion Centre6 Bristol Distribution ParkHawkley DriveBristolBS32 0BFUnited Kingdo...

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Printed in UK E Baldor UK Ltd LT0158A01 Europe (Southern) Baldor ASR AG, SwitzerlandTel: +41 52 647 4700 Fax: +41 52 659 2394 Europe Baldor ASR GmbH, GermanyTel: +49 (0) 89 905 080 Fax: +49 (0) 89 905 08491 Australia Australian Baldor PTY LtdTel: +61 2 9674 5455 Fax: +61 2 9674 2495 Mexico Baldor de...