Baldor NXE100-1608Dx User manual

Contents i
MN1941
Contents
1 General Information 1-1.................................
2 Introduction 2-1........................................
2.1 NextMove e100 features 2-1.................................
2.2 Receiving and inspection 2-3................................
2.2.1 Identifying the catalog number 2-3....................................
2.3 Units and abbreviations 2-4..................................
3 Basic Installation 3-1....................................
3.1 Introduction 3-1............................................
3.1.1 Location requirements 3-1..........................................
3.1.2 Mounting the NextMove e100 3-2....................................
3.1.3 Other requirements for installation 3-3................................
4 Input / Output 4-1......................................
4.1 Introduction 4-1............................................
4.1.1 Connector locations 4-2............................................
4.2 Analog I/O 4-3.............................................
4.2.1 Analog inputs 4-3..................................................
4.2.2 Analog outputs 4-5.................................................
4.3 Digital I/O 4-7..............................................
4.3.1 Digital inputs 4-7..................................................
4.3.2 Digital outputs and relay 4-11.........................................
4.3.3 Stepper control outputs - models NXE100-16xxDx 4-13...................
4.3.4 Stepper control outputs - models NXE100-16xxSx 4-14...................
4.4 Other I/O 4-15..............................................
4.4.1 Encoder inputs 0-2 4-15.............................................
4.4.2 Node ID selector switches 4-17.......................................
4.5 USB and serial communication 4-20...........................
4.5.1 USB port 4-20.....................................................
4.5.2 Serial port 4-21.....................................................
4.5.3 Using RS232 4-21..................................................
4.5.4 Multidrop using RS485 / RS422 4-22..................................
4.5.5 Connecting serial Baldor HMI Operator Panels 4-23......................
4.6 Ethernet interface 4-24.......................................
4.6.1 TCP/IP 4-24.......................................................
4.6.2 ETHERNET Powerlink 4-25..........................................
4.6.3 Ethernet connectors 4-26............................................

ii Contents MN1941
4.7 CAN interface 4-27..........................................
4.7.1 CAN connector 4-27................................................
4.7.2 CAN wiring 4-27....................................................
4.7.3 CANopen 4-28.....................................................
4.8 Connection summary - minimum wiring (local axis) 4-30..........
4.9 Connection summary - minimum wiring (remote axis) 4-32........
5 Operation 5-1..........................................
5.1 Introduction 5-1............................................
5.1.1 Connecting the NextMove e100 to the PC 5-1..........................
5.1.2 Installing Mint Machine Center and Mint WorkBench 5-2.................
5.2 Starting the NextMove e100 5-3..............................
5.2.1 Preliminary checks 5-3.............................................
5.2.2 Power on checks 5-3...............................................
5.2.3 Installing the USB driver 5-3.........................................
5.2.4 Configuring the TCP/IP connection (optional) 5-4.......................
5.3 Mint Machine Center 5-5....................................
5.3.1 Starting MMC 5-7..................................................
5.3.2 Viewing remote nodes connected over Ethernet (optional) 5-8............
5.4 Mint WorkBench 5-9........................................
5.4.1 Help file 5-10......................................................
5.4.2 Starting Mint WorkBench 5-11........................................
5.5 Configuring axes 5-13........................................
5.5.1 Local axes, remote axes and profilers 5-13.............................
5.5.2 Configuring remote axes 5-14........................................
5.5.3 Configuring local axes 5-16..........................................
5.5.4 Selecting a scale 5-17...............................................
5.5.5 Setting the drive enable output (optional) 5-19...........................
5.5.6 Testing the drive enable output 5-21...................................
5.6 Local stepper axis - testing 5-22...............................
5.6.1 Testing the output 5-22..............................................
5.7 Local servo axis - testing and tuning 5-23.......................
5.7.1 Testing the demand output 5-23.......................................
5.7.2 An introduction to closed loop control 5-25..............................
5.8 Local servo axis - tuning for current control 5-28.................
5.8.1 Selecting servo loop gains 5-28.......................................
5.8.2 Underdamped response 5-30.........................................
5.8.3 Overdamped response 5-31..........................................
5.8.4 Critically damped response 5-32......................................
5.9 Local servo axis - tuning for velocity control 5-33................
5.9.1 Calculating KVELFF 5-33............................................
5.9.2 Adjusting KPROP 5-36..............................................

Contents iii
MN1941
5.10 Local servo axis - eliminating steady-state errors 5-38............
5.11 Local digital input/output configuration 5-39.....................
5.11.1 Digital input configuration 5-39........................................
5.11.2 Digital output configuration 5-40.......................................
6 Troubleshooting 6-1....................................
6.1 Introduction 6-1............................................
6.1.1 Problem diagnosis 6-1..............................................
6.1.2 SupportMe feature 6-1.............................................
6.2 NextMove e100 indicators 6-2...............................
6.2.1 STATUS LED 6-2..................................................
6.2.2 CAN LEDs 6-2....................................................
6.2.3 ETHERNET LEDs 6-3..............................................
6.2.4 Communication 6-4................................................
6.2.5 Motor control 6-4..................................................
6.2.6 Mint WorkBench 6-5...............................................
6.2.7 Ethernet 6-6......................................................
6.2.8 CANopen 6-6.....................................................
7 Specifications 7-1......................................
7.1 Introduction 7-1............................................
7.1.1 Input power 7-1...................................................
7.1.2 Analog inputs 7-1..................................................
7.1.3 Analog outputs 7-1.................................................
7.1.4 Digital inputs 7-2..................................................
7.1.5 Digital outputs 7-2.................................................
7.1.6 Relay output 7-2...................................................
7.1.7 Stepper control outputs 7-3..........................................
7.1.8 Encoder inputs 7-3................................................
7.1.9 Serial port 7-3.....................................................
7.1.10 Ethernet interface 7-3..............................................
7.1.11 CAN interface 7-4.................................................
7.1.12 Environmental 7-4.................................................
7.1.13 Weights and dimensions 7-4........................................
Appendices
A Accessories A-1........................................
A.1 Cables A-1................................................
A.1.1 Feedback cables A-1...............................................
A.1.2 Ethernet cables A-1................................................
A.1.3 24 V power supplies A-2............................................

iv Contents MN1941
B CE Guidelines B-1......................................
B.1 Outline B-1................................................
B.1.1 EMC Conformity and CE marking B-1.................................
B.1.2 NextMove e100 compliance B-1......................................
B.1.3 Use of CE compliant components B-2.................................
B.1.4 EMC installation suggestions B-2.....................................
B.1.5 Wiring of shielded (screened) encoder cables B-2.......................

www.baldormotion.com
General Information 1-1MN1941
LT0231A04 Copyright Baldor (c) 2009. 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 makes no representations or warranties with respect to the contents hereof and specifically
disclaims any implied warranties of fitness for any particular purpose. The information in this document
is subject to change without notice.
BALDOR assumes no responsibility for any errors that may appear in this document.
Minttis a registered trademark of Baldor.
Windows 2000, Windows XP and Windows Vista are registered trademarks of the Microsoft Corporation.
Limited Warranty:
For a period of two (2) years from the date of original purchase, BALDOR will repair or replace without
charge controls and accessories 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. This warranty is in lieu of any other warranty or guarantee expressed or implied.
BALDOR shall not be held responsible for any expense (including installation and removal),
inconvenience, or consequential damage, including injury to any person or property caused by items of
our manufacture or sale. (Some countries and U.S. states do not allow exclusion or limitation of incidental
or consequential damages, so the above exclusion may not apply.) In any event, BALDOR’s total liability,
under all circumstances, shall not exceed the full purchase price of the control. Claims for purchase price
refunds, repairs, or replacements must be referred to BALDOR with all pertinent data as to the defect, the
date purchased, the task performed by the control, and the problem encountered. No liability is assumed
for expendable items such as fuses. Goods may be returned only with written notification including a
BALDOR Return Authorization Number and any return shipments must be prepaid.
Baldor UK Ltd
Mint Motion Centre
6 Bristol Distribution Park
Hawkley Drive
Bristol, BS32 0BF
Telephone: [phone]
Fax: [phone]
E-mail: [e-mail]
Web site: www.baldormotion.com
See rear cover for other international offices.
1General Information 1

www.baldormotion.com
1-2 General Information MN1941
Safety Notice
Only qualified personnel should attempt to start-up, program 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.
Precautions
Do not touch any circuit board, power device or electrical connection before you first
ensure that no high voltage is present at this equipment or other equipment to which it is
connected. Electrical shock can cause serious or fatal injury. Only qualified personnel
should attempt to start-up, program or troubleshoot this equipment.
Be sure that you are completely familiar with the safe operation and programming of 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.
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.
Improper operation or programming may cause violent motion of the motor shaft and
driven equipment. Be certain that unexpected motor shaft movement will not cause injury
to personnel or damage to equipment. Peak torque of several times the rated motor
torque can occur during control failure.
The safe integration of this equipment into a machine system is the responsibility of the
machine designer. Be sure to comply with the local safety requirements at the place where
the machine is to be used. In Europe these are the Machinery Directive, the ElectroMagnetic
Compatibility Directive and the Low Voltage Directive. In the United States this is the National
Electrical code and local codes.
Electrical components can be damaged by static electricity. Use ESD (electrostatic
discharge) procedures when handling this equipment.
WARNING
WARNING
CAUTION
CAUTION
NOTICE
NOTICE

www.baldormotion.com
Introduction 2-1MN1941
2.1 NextMove e100 features
NextMove e100 is a high performance multi-axis intelligent controller for servo and stepper
motors.
NextMove e100 features the Mint motion control language. Mint is a structured form of Basic,
custom designed for stepper or servo motion control applications. It allows you to get started
very quickly with simple motion control programs. In addition, Mint includes a wide range of
powerful commands for complex applications.
Standard features include:
HControl of up to 16 axes, including 4 stepper and 3 servo axes (on board), plus external axes
over the ETHERNET Powerlink connection.
HPoint to point moves, software cams and gearing, complex path control, splines etc.
H20 general purpose digital inputs, software configurable as level or edge triggered.
H12 general purpose digital outputs and 1 relay output.
H2 differential analog inputs with 12-bit resolution.
H4 single-ended analog outputs with 12-bit resolution.
HUSB 1.1 serial port (compatible with USB2.0).
HRS232 / RS485/422 serial port for programming or connection to an HMI operator panel.
HETHERNET Powerlink & TCP/IP support: Twin Ethernet ports with integrated hub for
communication with host PC or other ETHERNET Powerlink devices.
HCANopen protocol for communication with Mint controllers and other third party devices.
HProgrammable in Mint.
2Introduction 2

www.baldormotion.com
2-2 Introduction MN1941
Included with NextMove e100 is the Baldor Motion Toolkit CD. This contains a number of utilities
and useful resources to get the most from your Mint controller. These include:
HMint WorkBench
This is the user interface for communicating with the NextMove e100. Installing Mint
WorkBench will also install firmware for NextMove e100.
HMint Machine Center
This is used to view and configure a multi-axis network of connected controllers.
HPC Developer Libraries
Installing Mint WorkBench will install ActiveX interfaces that allow PC applications to be
written that communicate with the NextMove e100.
This manual is intended to guide you through the installation of NextMove e100.
The chapters should be read in sequence.
The Basic Installation section describes the mechanical installation of the NextMove e100.
The following sections require knowledge of the low level input/output requirements of the
installation and an understanding of computer software installation. If you are not qualified in
these areas you should seek assistance before proceeding.
Note: You can check that you have the latest firmware and Mint WorkBench releases by
visiting the website www.baldormotion.com/supportme.

www.baldormotion.com
Introduction 2-3MN1941
2.2 Receiving and inspection
When you receive your NextMove e100, 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 e100.
2. Remove the NextMove e100 from the shipping container and remove all packing material. The
container and packing materials may be retained for future shipment.
3. Verify that the catalog number of the NextMove e100 you received is the same as the catalog
number listed on your purchase order. The catalog/part number is described in the next
section.
4. Inspect the NextMove e100 for external damage during shipment and report any damage to
the carrier that delivered it.
5. If the NextMove e100 is to be stored for several weeks before use, be sure that it is stored
in a location that conforms to the storage humidity and temperature specifications shown in
section 3.1.1.
2.2.1 Identifying the catalog number
Different models of NextMove e100 are available. As a reminder of which product has been
installed, it is a good idea to write the catalog number in the space provided below.
NextMove e100 catalog number: NXE100-16___D_ or NXE100-16___S_
Installed in: ________________________ Date: ______
A description of the catalog numbers are shown in the following table:
Catalog number Description
NXE100-1608Dx8 axes, RS422 differential stepper outputs.
NXE100-1608Sx8 axes, open collector (single-ended) stepper outputs.
NXE100-1612Dx12 axes, RS422 differential stepper outputs.
NXE100-1612Sx12 axes, open collector (single-ended) stepper outputs.
NXE100-1616Dx16 axes, RS422 differential stepper outputs.
NXE100-1616Sx16 axes, open collector (single-ended) stepper outputs.
Note: The xrepresents a letter indicating the hardware revision. This does not affect the
capabilities of the NextMove e100 unless otherwise stated.

www.baldormotion.com
2-4 Introduction MN1941
2.3 Units and abbreviations
The following units and abbreviations may appear in this manual:
V Volt (also VAC and VDC)...............
WWatt..............
A Ampere...............
ΩOhm...............
mΩmilliohm.............
μF microfarad..............
pF picofarad..............
mH millihenry.............
Φphase...............
ms millisecond..............
μs microsecond..............
ns nanosecond..............
mm millimeter.............
m meter...............
in inch...............
ft feet...............
lbf-in pound force inch (torque)............
N·m Newton meter (torque).............
ADC Analog to Digital Converter............
ASCII American Standard Code for Information Interchange...........
AWG American Wire Gauge............
CAL CAN Application Layer............
CAN Controller Area Network............
CDROM Compact Disc Read Only Memory.........
CiA CAN in Automation International Users and Manufacturers Group e.V..............
CTRL+E on the PC keyboard, press Ctrl then Eat the same time..........
DAC Digital to Analog Converter............
DS301 CiA CANopen Application Layer and Communication Profile..........
DS401 CiA Device Profile for Generic I/O Devices..........
DS402 CiA Device Profile for Drives and Motion Control..........
DS403 CiA Device Profile for HMIs..........
EDS Electronic Data Sheet............
EMC Electromagnetic Compatibility............
EPL ETHERNET Powerlink............
HMI Human Machine Interface.............
ISO International Standards Organization.............
Kbaud kilobaud (the same as Kbit/s in most applications)...........
LCD Liquid Crystal Display............
Mbps megabits/s...........
MB megabytes.............
MMC Mint Machine Center............
(NC) Not Connected............
RF Radio Frequency..............
SSI Synchronous Serial Interface.............
TCP/IP Transmission Control Protocol / Internet Protocol
..........
UDP User Datagram Protocol............

www.baldormotion.com
Basic Installation 3-1MN1941
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 e100.
This section describes the mechanical installation of the NextMove e100.
3.1.1 Location requirements
You must read and understand this section before beginning the installation.
To prevent equipment damage, be certain that input and output signals are powered
and referenced correctly.
To ensure reliable performance of this equipment be certain that all signals to/from
the NextMove e100 are shielded correctly.
Avoid locating the NextMove e100 immediately above or beside heat generating
equipment, or directly below water steam pipes.
Avoid locating the NextMove e100 in the vicinity of corrosive substances or vapors,
metal particles and dust.
The safe operation of this equipment depends upon its use in the appropriate environment.
The following points must be considered:
HThe NextMove e100 is designed to be mounted indoors, permanently fixed and located.
HThe NextMove e100 must be secured by the slots in the metal base.
HThe NextMove e100 must be installed in an ambient temperature of 0 °C to 45 °C (32 °F to
113 °F).
HThe NextMove e100 must be installed in relative humidity levels of less than 80% for
temperatures up to 31 °C (87 °F) decreasing linearly to 50% relative humidity at 45 °C
(113 °F), non-condensing.
HThe NextMove e100 must be installed where the pollution degree according to IEC664 shall
not exceed 2.
HThere shall not be abnormal levels of nuclear radiation or X-rays.
3Basic Installation 3
NOTICE
NOTICE
NOTICE
NOTICE

www.baldormotion.com
3-2 Basic Installation MN1941
3.1.2 Mounting the NextMove e100
Before touching the unit be sure to discharge static electricity from your body and
clothing by touching a grounded metal surface. Alternatively, wear an earth strap
while handling the unit.
Ensure you have read and understood the location requirements in section 3.1.1. Mount the
NextMove e100 using the supplied M4 screws. For effective cooling, the NextMove e100 must
be mounted on a smooth non-flammable vertical surface. Orientation must be as shown in
Figure 1, with the two slots in the metal carrier / heat sink assembly at the bottom.
140 (5.51) 129 (5.08)
170 (6.69)
250 (9.84)
All dimensions shown as
mm (inches)
40.3 (1.59)
Mounting keyhole and slot detail
A
BC
A4.5 mm
B10 mm
C11 mm
A
Drawings not to scale
Figure 1 - Package dimensions
There must be at least 20 mm (0.8 in) clearance between the NextMove e100 and neighboring
equipment to allow sufficient cooling by natural convection. Remember to allow additional space
around the edges to accommodate the mating connectors and associated wiring. For example,
70 mm (2.8 in) clearance will be required for connection of the serial port cable.
NOTICE

www.baldormotion.com
Basic Installation 3-3MN1941
3.1.3 Other requirements for installation
HThe NextMove e100 requires a 24 VDC power supply capable of supplying 2 A continuously.
It is recommended that a separate fused 24 VDC supply is provided for the NextMove e100,
with the fuse rated at 4 A maximum.If digital outputs are to be used, a supply will be required
to drive them - see section 4.3.2.
HA PC that fulfills the following specification:
Minimum specification Recommended specification
Processor Intel PentiumIII
500 MHz
Intel PentiumIII / 4 or equivalent
1 GHz or faster
RAM 128 MB 1GB
Hard disk space 50 MB 50 MB
CD-ROM ACD-ROMdrive
Communication USB port, RS232 / RS485/422 serial port, or Ethernet* port
Screen 1024 x 768, 16-bit color 1152 x 864, 16-bit color
Mouse A mouse or similar pointing device
Operating
system
Windows 2000, Windows XP or Windows Vista
* The Ethernet configuration used by a normal office PC is not suitable for direct
communication with the NextMove e100. It is recommended to install a separate dedicated
Ethernet adapter in the PC, which can be configured for use with the NextMove e100. See
section 5.2.4.
HA USB cable (supplied), or RS485/422 serial cable (not supplied).
HYour PC operating system user manual might be useful if you are not familiar with Windows.

www.baldormotion.com
3-4 Basic Installation MN1941

www.baldormotion.com
Input / Output 4-1MN1941
4.1 Introduction
This section describes the input and output capabilities of the NextMove e100.
The following conventions will be used to refer to the inputs and outputs:
I/O Input / Output..............
DIN Digital Input.............
DOUT Digital Output...........
AIN Analog Input.............
AOUT Analog Output...........
Common electrical connections use the following abbreviations:
AGND Analog ground. Used by the analog input and output circuits...........
USR V+ User power supply V+. Provides power to the digital outputs..........
USR GND User power supply ground. Return connection for the user power supply........
CREFxCommon reference. The common connection for a group of digital inputs...........
DGND Digital ground. Used by the stepper control outputs...........
4Input / Output 4

www.baldormotion.com
4-2 Input / Output MN1941
4.1.1 Connector locations
Tightening torque for terminal block
connections is 0.25 N·m (2.25 lb-in).
Use 60/75 or 75 °C copper (Cu) wire only.
(NC) = Not Connected
X12 AIN 0-1
& relay
X7 Encoder2
X6 Encoder1
X4 DOUT 8-11
X2 STEP 0-1
AIN0+
AIN0-
AGND
AIN1+
AIN1-
Shield
REL COM
REL NC
REL NO
REL COM
CREF2
CREF1
CREF0
USR V+
USR GND
USR V+
DOUT11
DOUT10
DOUT9
DOUT8
Mating connectors:
Sauro CTF10008
Sauro CTF12008
Sauro CTF02008
9-pinD-typeplug(male)
9-pin D-type socket (female)
RJ45 plug
USB type B plug
1
2
3
4
5
6
7
8
9
10
12
11
10
9
8
7
6
5
4
3
2
1
10
9
8
7
6
5
4
3
2
1
X11 DOUT 0-7
DOUT0
DOUT1
DOUT2
DOUT3
DOUT4
DOUT5
DOUT6
DOUT7
USR V+
USR GND
1
2
3
4
5
6
7
8
9
10
X10 DIN 0-3
(fast interrupts)
DIN3
Shield
CREF0
DIN2
Shield
CREF0
DIN1
Shield
CREF0
DIN0
1
2
3
4
5
6
7
8
9
10
X9 DIN 4-11
DIN11
DIN10
DIN9
DIN8
DIN7
DIN6
DIN5
DIN4
CREF1
Shield
1
2
3
4
5
6
7
8
9
10
X8 DIN 12-19
DIN19
DIN18
DIN17
DIN16
DIN15
DIN14
DIN13
DIN12
CREF2
Shield
1
2
3
4
5
6
7
8
9
10
X13 AOUT 0-3
(demands)
Demand0
AGND
Shield
Demand1
AGND
Shield
Demand2
AGND
Shield
Demand3
AGND
Shield
1
2
3
4
5
6
7
8
9
10
11
12
X3 STEP 2-3
12
11
10
9
8
7
6
5
4
3
2
1
X5 Encoder0
X1 +24V in +24 V
0V
2
1
CAN
USB
Shield
DIR1+
DIR1-
STEP1+
STEP1-
DGND
Shield
DIR0+
DIR0-
STEP0+
STEP0-
DGND
Shield
DIR3+
DIR3-
STEP3+
STEP3-
DGND
Shield
DIR2+
DIR2-
STEP2+
STEP2-
DGND
Ethernet
Serial
For model
NXE100-16xxSx:
Shield
DIR1
+5 V
STEP1
(NC)
DGND
Shield
DIR0
+5 V
STEP0
(NC)
DGND
Shield
DIR3
+5 V
STEP3
(NC)
DGND
Shield
DIR2
+5 V
STEP2
(NC)
DGND

www.baldormotion.com
Input / Output 4-3MN1941
4.2 Analog I/O
The NextMove e100 provides:
HTwo 12-bit resolution analog inputs.
HFour 12-bit resolution analog outputs.
4.2.1 Analog inputs
The analog inputs are available on connector X12, pins 1 & 2 (AIN0) and 4 & 5 (AIN1).
HDifferential inputs.
HVoltage range: ±10 V.
HResolution: 12-bit with sign.
HInput impedance: 120 kΩ.
HSampling frequency: 4 kHz maximum, 2 kHz if both inputs are enabled.
The analog inputs pass through a differential buffer and second order low-pass filter with a cut-off
frequency of approximately 1 kHz.
Both inputs are normally sampled at 2 kHz. However, an input can be disabled by setting
ADCMODE to 4 (_acOFF). With one input disabled, the remaining input will be sampled at 4 kHz.
In Mint, analog inputs can be read using the ADC keyword. See the Mint help file for full details of
ADC,ADCMODE and other related ADC... keywords.
NextMove e100
-
+
AIN0+
AIN0-
AGND
Mint
ADC(0)
-
+
2
3
1
+15 V
-15 V
‘X12’
Figure 2 - Analog input, AIN0 shown
For differential inputs connect input lines to AIN+ and AIN-. Leave AGND unconnected.

www.baldormotion.com
4-4 Input / Output MN1941
AIN0
ADC(0)
X12
AIN0
ADC(0)
1
2
3
X12
AIN0-
Differential connection Single ended connection
AIN0+ 1
2
3
AIN0+
GND
Figure 3 - AIN0 analog input wiring
AIN0
1kΩ,0.25W
potentiometer
ADC(0)2
1
X12
1.5 kΩ,0.25W
0V
+24 VDC
3
Figure 4 - Typical input circuit to provide 0-10 V (approx.) input from a 24 V source