Axis E100 Specifications

www.baldormotion.com2-2 Introduction MN1941Included with NextMove e100 is the Baldor Motion Toolkit CD. This contains a number of utilitiesand useful

www.baldormotion.com7-2 Specifications MN19417.1.4 Digital inputsDescription Unit ValueType Opto-isolatedUSR V+ supply voltageNominalMinimumMaximumVDC

www.baldormotion.comSpecifications 7-3MN19417.1.7 Stepper control outputsDescription Unit NXE100-16xx NXE100-16xxSOutput type RS422 differentialoutput

www.baldormotion.com7-4 Specifications MN19417.1.11 CAN interfaceDescription Unit ValueSignal 2-wire, isolatedChannels 1Protocol CANopenBit rates Kbit

www.baldormotion.comAccessories A-1MN1941A.1 CablesA.1.1 Feedback cablesThe Baldor cables listed in Table 4 connect the ‘Encoder Out’ signal from a dr

www.baldormotion.comA-2 Accessories MN1941A.1.3 24 V power suppliesA range of compact 24 V DIN rail mounting power supplies are available. The supplie

www.baldormotion.comCE Guidelines B-1MN1941B.1 OutlineThis section provides general informationregarding recommended methods of installationfor CE com

www.baldormotion.comB-2 CE Guidelines MN1941B.1.3 Use of CE compliant componentsThe following points should be considered:H Using CE approved componen

IndexMN1941AAbbreviations, 2-4Analog I/O, 4-3analog inputs, 4-3analog outputs, 4-5BBasic Installation, 3-1location requirements, 3-1mounting, 3-2CCalc

IndexMN1941IIndicators, 6-2CAN LEDs, 6 -2ETHERNET LEDs, 6-3STATUS LED, 6-2Input / Output, 4-1analog inputs, 4-3, 7-1analog outputs, 4-5, 7-1CAN interf

IndexMN1941digital outputs, 7-2encoder inputs, 7-3environmental, 7-4Ethernet interface, 7-3input power , 7-1relay output, 7-2serial port, 7-3stepper c

www.baldormotion.comIntroduction 2-3MN19412.2 Receiving an d inspectionWhen you receive your NextMove e100, there are several things you should do imm

IndexMN1941

CommentsMN1941If you have any suggestions for improvements to this manual, please let us know . Write yourcomments in the space provided below, remove

Comments MN1941Thank you for taking the time to help us.

www.baldormotion.com2-4 Introduction MN19412.3 Units an d abbreviationsThe following units and abbreviations may appear in this manual:V Volt (also VA

www.baldormotion.comBasic Installa tion 3-1MN19413.1 IntroductionYou should read all the sections in Basic Installation.It is important that the corre

www.baldormotion.com3-2 Basic Installation MN19413.1.2 Mounting the NextMove e100Before touching the unit be sure to discharge static electricity from

www.baldormotion.comBasic Installa tion 3-3MN19413.1.3 Other requirements for installationH The NextMove e100 requires a 24 VDC power supply capable o

www.baldormotion.com3-4 Basic Installation MN1941

www.baldormotion.comInput / Output 4-1MN19414.1 IntroductionThis section describes the input and output capabilities of the NextMove e100.The followin

www.baldormotion.com4-2 Input / Output MN19414.1.1 Connector locationsTightening torque for terminal blockconnections is 0.3 N·m (2.65 lb-in).Use 60/7

www.baldormotion.comInput / Output 4-3MN19414.2 Analog I/OThe NextMove e100 provides:H Two 12-bit resolution analog inputs.H Four 12-bit resolution an

www.baldormotion.com4-4 Input / Output MN1941AIN0ADC(0)X12AIN0ADC(0)123X12AIN0-Differential connection Single ended connectionAIN0+123AIN0+GNDFigure 3

www.baldormotion.comInput / Output 4-5MN19414.2.2 Analog outputsThe four analog outputs are available on connector X13, as shown in section 4.1.1.H Fo

www.baldormotion.com4-6 Input / Output MN1941NextMove e100Demand0AGND2FlexDriveII/ servo amplifierAIN0+AIN0-Connect overall shield atone end only3Shie

www.baldormotion.comInput / Output 4-7MN19414.3 Digital I/OThe NextMove e100 provides:H 20 general purpose digital inputs.H 12 general purpose digital

www.baldormotion.com4-8 Input / Output MN19414.3.1.2 DIN4 - DIN11Digital inputs DIN4 to DIN11 have a common specification:H Opto-isolated digital inpu

www.baldormotion.comInput / Output 4-9MN19414.3.1.4 Typical digital input wiringNextMove e10089DIN4CREF1TLP281UsersupplyGNDUsersupply24 V‘X9’6k2100RFi

www.baldormotion.com4-10 Input / Output MN1941NextMove e100USR V+DOUT089FlexDriveII/ equipment outputNEC PS2562L-1‘X1’UsersupplyGNDUsersupply24 V618DI

www.baldormotion.comInput / Output 4-11MN19414.3.2 Digital outputs and relayThe digital outputs are available on connectors X4 and X11, as shown in se

www.baldormotion.com4-12 Input / Output MN19414.3.2.3 DOUT12 (relay) connectionsThe relay connections are available on connector X12, as shown in sect

www.baldormotion.comInput / Output 4-13MN19414.3.3 Stepper control outputs - models NXE100-16xxThe stepper control outputs are available on connectors

Contents iMN1941Contents1 General Information 1-1...2 Introduction 2-1...2.1 NextMo

www.baldormotion.com4-14 Input / Output MN19414.3.4 Stepper control outputs - models NXE100-16xxSThe stepper control outputs are available on connecto

www.baldormotion.comInput / Output 4-15MN19414.4 Other I/O4.4.1 Encoder inputs 0-2Location X5, X6, X7Mating connectors: 9-pin male D-typePin Name Desc

www.baldormotion.com4-16 Input / Output MN1941CHA-CHA+to CP UVccNextMove e100MAX3096120R10k16Shield4Connect overall shield toconnector ba ckshells /sh

www.baldormotion.comInput / Output 4-17MN19414.4.2 Node ID selector switchesThe NextMove e100 has two selector switches which determine the unit’snode

www.baldormotion.com4-18 Input / Output MN1941HI LOHI Node IDLOHI Node IDLOHI Node IDLONode ID32 2 0 96 6 0 160 A 0 224 E 033 2 1 97 6 1 161 A 1 225 E

www.baldormotion.comInput / Output 4-19MN1941In many networking environments, the node ID may also be referred to as the address. On EPLnetworks, limi

www.baldormotion.com4-20 Input / Output MN19414.5 USB and serial communication4.5.1 USB portLocation USBMating connector: USB T ype B (downstream) plu

www.baldormotion.comInput / Output 4-21MN19414.5.2 Serial portLocation SerialMating connector: 9-pin female D-typePin RS232 name RS485 / RS422 name1 S

www.baldormotion.com4-22 Input / Output MN1941NextMove e100(DTE)9-pinComputerCOM Port(DTE)SerialRXD 2TXD 3GND 52RXD3TXD5GNDRTS 7CTS 87RTS8CTSCOMConnec

www.baldormotion.comInput / Output 4-23MN1941(cable) being used. Unmatched impedance causes the transmitted signal to not be fullyabsorbed by the load

ii ContentsMN19414.7 CAN interface 4-27...4.7.1 CAN connector 4-27...

www.baldormotion.com4-24 Input / Output MN19414.6 Ethernet in terfaceThe Ethernet interface provides TCP/IP and ETHERNET Powerlink networking capabili

www.baldormotion.comInput / Output 4-25MN19414.6.2 ETHERNET PowerlinkNextMove e100 supports the deterministic ETHERNET Powerlink (EPL) protocol. This

www.baldormotion.com4-26 Input / Output MN19414.6.3 Ethernet connectorsEthernet connections are made using the identical RJ45 Ethernet receptacles.Loc

www.baldormotion.comInput / Output 4-27MN19414.7 CAN in terfaceThe CAN bus is a serial based network originally developed for automotive applications,

www.baldormotion.com4-28 Input / Output MN1941H All cables and connectors should have a nominal impedance of 120 Ω. Cables should havea length related

www.baldormotion.comInput / Output 4-29MN1941Figure 30 shows a typical CANopen network with two NextMove e100 units and a Baldor HMIoperator panel:726

www.baldormotion.com4-30 Input / Output MN19414.8 Connectio n summary - minimum wiring (local axis)As a guide, Figure 31 shows an example of the typic

www.baldormotion.comInput / Output 4-31MN1941NextMove e100connectorPin Name ofsignalFunction Connection on amplifier(Note: connections maybe labeled d

www.baldormotion.com4-32 Input / Output MN19414.9 Connection summary - minimum wiring (remote axis)As a guide, Figure 32 shows an example of the typic

www.baldormotion.comInput / Output 4-33MN1941NextMove e100connectorPin Name ofsignalFunction Connection on amplifier(Note: connections maybe labeled d

Contents iiiMN19415.10 Local servo axis - eliminating steady-state errors 5-38...5.11 Local digital input/output configuration 5-39...

www.baldormotion.com4-34 Input / Output MN1941

www.baldormotion.comOperation 5-1MN19415.1 IntroductionBefore powering the NextMove e100 you will need to connect it to the PC using a USB orEthernet

www.baldormotion.com5-2 Operation MN19415.1.2 Installing Mint Machine Center and Mint WorkBenchYou need to install the Mint Machine Center (MMC) and M

www.baldormotion.comOperation 5-3MN19415.2 Starting the NextMove e100If you have followed the instructions in the previous sections, you should have n

www.baldormotion.com5-4 Operation MN19415.2.4 Configuring the TCP/IP connection (optional)If you have connected the NextMove e100 to the PC using the

www.baldormotion.comOperation 5-5MN19415.3 Mint Machine CenterThe Mint Machine Center (MMC) is used to view the network of connected controllers in as

www.baldormotion.com5-6 Operation MN1941NextMove e100Mint Machine CenterUSBRS232RS485/422MintDriveIIMicroFlex e100MintDriveIIMicroFlex e100USBMint Wor

www.baldormotion.comOperation 5-7MN19415.3.1 Starting MMC1. On the Windows Start menu, select Programs, Mint Machine Center , Mint Machine Center.2. I

www.baldormotion.com5-8 Operation MN19415.3.2 Viewing remote nodes connected over Ethernet (optional)When a remote node such as MicroFlex e100 is conn

www.baldormotion.comOperation 5-9MN19415.4 Mint WorkBenchMint WorkBench is a fully featured application for programming and controlling theNextMove e1

iv ContentsMN1941B CE Guidelines B-1...B.1 Outline B-1...B.1.1 EMC Con

www.baldormotion.com5-10 Operation MN19415.4.1 Help fileMint WorkBench includes a comprehensive help file that contains information about every Mintke

www.baldormotion.comOperation 5-11MN19415.4.2 Starting Mint WorkBenchNote: If you have already used MMC to start an instance of Mint WorkBench then th

www.baldormotion.com5-12 Operation MN19413. In the Select Controller dialog, go to the drop down box near the top and select the PC serialport to whic

www.baldormotion.comOperation 5-13MN19415.5 Configuring axesThe NextMove e100 is capable of controlling its own 4 stepper and 3 servo axes, plus furth

www.baldormotion.com5-14 Operation MN19415.5.2 Configuring remote axesWhen configuring a remote axis on the NextMove e100, there is no requirement to

www.baldormotion.comOperation 5-15MN19415. In the Map to manager resource drop downbox, select one of the available axisnumbers and click OK. This is

www.baldormotion.com5-16 Operation MN19415.5.3 Configuring local axesA local axis can be configured as either a servo, stepper or virtual axis. The fa

www.baldormotion.comOperation 5-17MN19415.5.4 Selecting a scaleMint defines all positional and speed related motion keywords in terms of encoder quadr

www.baldormotion.com5-18 Operation MN1941Click in the Active column and enter a value for the scale factor . This immediately setsthe scaling factor f

www.baldormotion.comOperation 5-19MN19415.5.5 Setting the drive enable output (optional)Note: In many applications, a drive amplifier will have its dr

www.baldormotion.comGeneral Information 1-1MN1941LT0231A02 Copyright Baldor (c) 2007. All rights reserved.This manual is copyrighted and all rights ar

www.baldormotion.com5-20 Operation MN19414. If you are going to usethe relay , drag theOUT12icon(therelayoutput) to the greyDrive Enable OP iconon the

www.baldormotion.comOperation 5-21MN19415.5.6 Testing the drive enable output1. On the main Mint WorkBench toolbar , clickthe Axes button. In the Sele

www.baldormotion.com5-22 Operation MN19415.6 Local step p er axis - testingThis section describes the method for testing a local stepper axis. The ste

www.baldormotion.comOperation 5-23MN19415.7 Local servo axis - testing an d tuningThis section describes the method for testing and tuning a local ser

www.baldormotion.com5-24 Operation MN19415. To repeat the tests for negative (reverse) demands, type:TORQUEREF(0)=-5This should cause a demand of -5%

www.baldormotion.comOperation 5-25MN19415.7.2 An introduction to closed loop controlThis section describes the basic principles of closed loop control

www.baldormotion.com5-26 Operation MN1941The remaining gain terms are Velocity Feed forward (KVELFF) and Acceleration Feedforward (KACCEL) described b

www.baldormotion.comOperation 5-27MN1941Figure 37 - The NextMove e100 servo loop

www.baldormotion.com5-28 Operation MN19415.8 Local servo axis - tuning for current cont rol5.8.1 Selecting servo loop gainsAll servo loop parameters d

www.baldormotion.comOperation 5-29MN19413. Click in the KPROP box and enter a valuethat is approximately one quarter of the valueof KDERIV. If the mot

www.baldormotion.com1-2 General Information MN1941Safety NoticeOnly qualified personnel should attempt to start-up, program or troubleshoot this equip

www.baldormotion.com5-30 Operation MN19415.8.2 Underdamped responseIf the graph shows that the response is underdamped (it overshoots the demand, as s

www.baldormotion.comOperation 5-31MN19415.8.3 Overdamped responseIf the graph shows that the response is overdamped (it reaches the demand too slowly,

www.baldormotion.com5-32 Operation MN19415.8.4 Critically damped responseIf the graph shows that the response reaches the demand quickly and only over

www.baldormotion.comOperation 5-33MN19415.9 Local servo axis - tuning for velocity controlDrive amplifiers designed for velocity control incorporate t

www.baldormotion.com5-34 Operation MN1941The analog demand output is controlled by a 12-bit DAC, which can create output voltages in therange -10 V to

www.baldormotion.comOperation 5-35MN19419. Using the check boxes below the graph,select the Measured velocity and Demandvelocity traces.Measured veloc

www.baldormotion.com5-36 Operation MN19415.9.2 Adjusting KPROPThe KPROP term can be used to reduce following error . Its value will usually be much sm

www.baldormotion.comOperation 5-37MN1941Measured positionDemand positionFigure 42 - Correct value of KPROPThe two traces will probably appear with a s

www.baldormotion.com5-38 Operation MN19415.10 L o cal servo axis - eliminating steady-state errorsIn systems where precise and accurate positioning is

www.baldormotion.comOperation 5-39MN19415.11 Local digital input/output configurationThe Digital I/O window can be used to setup other digital I/O on

www.baldormotion.comIntroduction 2-1MN19412.1 NextMove e100 featuresNextMove e100 is a high performance multi-axis intelligent controller for servo an

www.baldormotion.com5-40 Operation MN19414. Now drag the IN1 icon onto the Fwd Limit icon .This will setup IN1 as the Forward Limit input of axis 0.5.

www.baldormotion.comTroubleshooting 6-1MN19416.1 IntroductionThis section explains common problems and their solutions. If you want to know the meanin

www.baldormotion.com6-2 Troubleshooting MN19416.2 NextMove e100 ind icators6.2.1 STATUS LEDThe STATUS LED displays the overall condition of the NextMo

www.baldormotion.comTroubleshooting 6-3MN19416.2.3 ETHERNET LEDsThe ETHERNET LEDs display the overall condition of the Ethernetinterface once the star

www.baldormotion.com6-4 Troubleshooting MN19416.2.4 CommunicationIf the problem is not listed below please contact Baldor technical support.Status LED

www.baldormotion.comTroubleshooting 6-5MN1941Motor runs uncontrollably when controller is switched on and servo loop gains areapplied or when a move i

www.baldormotion.com6-6 Troubleshooting MN19416.2.7 EthernetCannot connect to the controller over TCP/IP:H Check that there is not an EPL manager node

www.baldormotion.comTroubleshooting 6-7MN1941The Manager node cannot scan/recognize a node on the network using the MintNODESCAN keyword:Assuming that

www.baldormotion.com6-8 Troubleshooting MN1941

www.baldormotion.comSpecifications 7-1MN19417.1 IntroductionThis section provides technical specifications of the NextMove e100.7.1.1 Input powerDescr