Baldor NextMove BX User manual

MN1258V4 08/2000
NextMove BX
Installation Manual for Mint v4
Issue 4.0

NextMove BX Installation Manual for Mint™ v4
ii MN1258V4 08/2000

Copyright
MN1258V4 08/2000 iii
Copyright Baldor UK Ltd © 2000. 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 UK.
Baldor Optimised Control 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 UK assumes no responsibility for any errors that may appear in this document.
MINT™is a registered trademark of Baldor UK Ltd.
Windows 95, Windows 98 and Windows NT are registered trademarks of the Microsoft Corporation.
Limited Warranty
For a period of one (1) year from the date of original purchase, BALDOR will repair or replace without charge controls
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 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
U.K.
Telephone: [phone]
Fax: [phone]
Web site: www.baldor.co.uk
Sales email: [email protected].uk
Support email: technical.s[email protected].uk
Baldor Electric Company
Telephone: [phone]
Fax: [phone]
email: [e-mail]
web site: www.baldor.com
Baldor ASR GmbH
Telephone: [phone]
Fax: [phone]
Baldor ASR AG
Telephone: [phone]
Fax: [phone]
Australian Baldor Pty Ltd
Telephone: [phone]
Fax: [phone]
Baldor Electric (F.E.) Pte Ltd
Telephone: [phone]
Fax: [phone]

NextMove BX Installation Manual for Mint™ v4
iv MN1258V4 08/2000

Copyright
MN1258V4 08/2000 v
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.
Precautions:
WARNING: Do not touch any circuit board, power device
or electrical connection before you first
ensure that no high voltage 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.
WARNING: Be sure that you are completely familiar with
the safe operation 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. Only qualified personnel should
attempt to program, start-up or troubleshoot
this equipment.
WARNING: Be sure that you are completely familiar with
the safe 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 programming of this equipment can
cause serious or fatal injury. Only qualified
personnel should attempt to program, start-
up or troubleshoot this equipment.
WARNING: Be sure all wiring complies with the National
Electrical Code and all regional and local
codes. Improper wiring may result in unsafe
conditions.

NextMove BX Installation Manual for Mint™ v4
vi MN1258V4 08/2000
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.
WARNING: Improper operation or programming of the
control 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.
WARNING: The motor shaft will rotate during the homing
procedure. Be certain that unexpected motor
shaft movement will not cause injury to
personnel or damage to equipment.
CAUTION: To prevent equipment damage, be certain that
the input power has correctly sized protective
devices installed.
CAUTION: To prevent equipment damage, be certain that
input and output signals are powered and
referenced correctly.
CAUTION: To ensure reliable performance of this
equipment be certain that all signals to/from
the controller are shielded correctly.
CAUTION: Avoid locating this equipment above or
beside heat generating equipment or below
water steam pipes.
CAUTION: Avoid locating this equipment in the vicinity
of corrosive substances or vapors, metal
particles and dust.

Manual Revision History
MN1258V4 08/2000 vii
Manual Revision History
Issue Date BOCL
Reference
Comments
1.0 May 1998 MN00278-000 First release of Installation Manual comprising:
•NextMove BX Overview
•Getting Started Guide
•cTERM for Windows User Guide
•NextMove BX Hardware Guide
1.01 Sept 1998 MN00278-001 KeypadNode 4 information included.
1.02 Nov 1998 UM00507-000 New revision raised.
Format improvements made.
4.0 August 2000 UM00580-000 New version of manual to support Mint v4 on
NextMove BX. New BOCL reference
UM00580. Modified MN reference
MN1258V4.

NextMove BX Installation Manual for Mint™ v4
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Manual Revision History
MN1258V4 08/2000 ix
Read Me First ............................................................................. 1
1.1 Key to Symbols Used in this Manual.........................................................2
Product Overview ...................................................................... 3
Hardware Guide ......................................................................... 7
3.1 Operating Environment.............................................................................9
3.2 NextMove BX PCB Settings.....................................................................9
3.3 Power Connection ..................................................................................11
3.3.1 Front Panel Power Connection: J8.....................................................12
3.4 Digital I/O................................................................................................13
3.4.1 Digital Inputs: J1 and J2.....................................................................13
3.4.2 Fast Interrupts: J6 ..............................................................................15
3.4.3 Digital Outputs: J4..............................................................................16
3.5 Analog I/O ..............................................................................................19
3.5.1 Analog Inputs: J3 ...............................................................................19
3.5.2 Analog Outputs (Drive Command: J7)................................................20
3.6 Encoder Interface ...................................................................................21
3.7 Relay: J5.................................................................................................24
3.8 Serial Ports.............................................................................................24
3.8.1 RS232................................................................................................25
3.8.2 RS485................................................................................................26
3.8.3 RS485 Multi-Drop...............................................................................27
3.8.4 CAN Bus ............................................................................................28
3.9 Reset State.............................................................................................30
3.10 Battery Backup of Memory......................................................................31
3.10.1 Changing the Battery .........................................................................31
3.10.2 Charging the Battery ..........................................................................32

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3.11 EEPROM................................................................................................32
3.12 System Watchdog ..................................................................................32
3.13 LED Status Display.................................................................................32
Operation and Setup................................................................ 35
4.1 Communicating with NextMove BX.........................................................36
4.2 Baldor Motion Toolkit CD........................................................................36
4.3 Configuring your System ........................................................................37
4.3.1 Minimum System Wiring Example......................................................38
4.3.2 Starting with the Mint Configuration Tool............................................40
4.4 Servo Setup............................................................................................42
4.4.1 Tuning a Servo Drive .........................................................................44
4.4.2 Selecting Servo Loop Gains...............................................................48
4.4.3 System Gains for Current Control by Empirical Method .....................51
4.4.4 System Gains for Velocity Control......................................................53
4.4.5 Eliminating Steady-State Errors .........................................................54
4.5 Methods of Programming .......................................................................55
4.6 Documentation .......................................................................................56
4.7 Mint.........................................................................................................57
4.7.1 The Configuration File........................................................................58
4.7.2 The Program File ...............................................................................63
4.8 Motion.....................................................................................................65
Options and Accessories ........................................................ 67
5.1 NextMove BX..........................................................................................68
5.2 CAN Nodes.............................................................................................68
5.3 Encoder Splitter/Buffer Board .................................................................69
Specifications and Product Data ............................................ 71
6.1 Machine Control I/O................................................................................72

Contents
MN1258V4 08/2000 xi
6.2 Miscellaneous and Mechanical Specification ..........................................73
6.3 EMC & CE Marking ..................................................................................74
6.3.1 Machinery Directive 89/392/EEC........................................................74
6.3.2 Low Voltage Directive 72/23/EEC ......................................................74
6.3.3 EMC Directive 89/336/EEC ................................................................74
6.4 EMC Performance of NextMove BX........................................................75
6.5 EMC Advice............................................................................................75
Troubleshooting Guide............................................................ 77
7.1 Trouble Shooting Guide..........................................................................78
Bibliography............................................................................. 81

NextMove BX Installation Manual for Mint™ v4
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Read Me First
MN1258V4 08/2000 1
1. Read Me First
1This chapter provides an overview of the manual and symbols used
throughout this document.

NextMove BX Installation Manual for Mint™ v4
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This manual is intended for use with NextMove BX running Mint v4. If Mint v3 is being used, then
the NextMove BX installation manual MN1258 should be used in preference. The hardware details
are common between these manuals but the software references are different.
1.1 Key to Symbols Used in this Manual
Throughout this section various icons and conventions are used to indicate specific functions:
The screwdriver icon indicates that it is necessary to make a physical connection to
NextMove BX by way of the screw terminations on the front panel of the controller.
The disk icon together with filename is used to indicate that a MINT program (the motion
control language used to program NextMove BX) should be downloaded to the controller.
The filename indicates the name of the buffer.
The prompt icon indicates that the following commands should be typed in directly to the
terminal at the MINT P> or C> prompt.
[Ctrl]+[E] Type Ctrl and Eat the same time.

Hardware Features
MN1258V4 08/2000 3
2. Product Overview
2A brief overview of NextMove BX and the software tools available on the
Baldor Motion Toolkit.

NextMove BX Installation Manual for Mint™ v4
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NextMove BX is an intelligent servo motion controller which supports up to four servo axes. It is
supplied in an metal enclosure for the convenience of those customers who do not wish to install a
rack system for a single card. For other situations the board is available in a 6U rack mounting
format (NextMove RK).
Figure 2-1: NextMove BX Controller
RS 485 serial port
Serial
Commun-
ications
A
nalogue inputs 8 x 12 bit
single ended or 4 x 12 bit
differential +/-10V or 0-5V
Drive enable relay
4 x Servo-amplifier demands
+/-10V, 12 bit
4 x incremental encoders,
3 channel, up to 8 million
counts per second.
4 Axes of
Servo
Control
NextMove BX
Motion Controller
4 fast interrupt inputs with
hardware position latches
CAN
Interface
2 x CAN bus 1MBaud industrial
Local Area Network for
connection to other intelligent
drives, I/O and keypad
Master
Encoder
Input
3 channel incremental encoder,
up to 8 million counts per second
Digital
Outputs
8 x Digital outputs, opto-isolated
PNP or NPN, 12-24V, 350mA max.
Digital
Inputs
16 x Digital inputs, opto-isolated
PNP or NPN, 12-24V. User
configurable.
Power
Requirements
Logic supply
24 VoltsDC @ 0.7 A
A
nalogue
Inputs
32 bit floating point
Digital Signal
Processor system.
4 axes of
high performance
closed loop
servo control
MINT or C
programming
language.
512Kb RAM,
battery backed
512Kb FLASH ROM
RS 232 serial port
Figure 2-2: Technical Overview

Hardware Features
MN1258V4 08/2000 5
NextMove BX features the MintTM v4 motion control language. Mint is a structured form of Basic,
custom designed for motion control applications, either stepper or servo. It allows users to quickly
get up and running with simple motion control programs. In addition, Mint includes a wide range of
powerful commands for complex applications.
Included with NextMove BX is the Baldor Motion Toolkit CD. This contains a number of utilities
and useful resources to get the most from you Mint controller. These include:
Mint Configuration Tool is a rapid getting started and configuration utility designed for use with a
number of Mint v4 controllers. See the ‘Mint Configuration Tool Users Guide’ for details.
Mint WorkBench is the IDE and user interface for communicating with a Mint controller. See the
‘Mint WorkBench Users Guide’ for details.
PC Developer Libraries allow PC applications to be written that communicate with Mint
controllers. This includes C++ source and ActiveX interface. See the ‘Mint v4 PC Programming
Guide’ for details.
Embedded Developer Libraries allow embedded C31 applications to be developed using the Texas
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. See the ‘Mint v4 Code Analyzer Tool’ manual for
details.

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Hardware Features
MN1258V4 08/2000 7
3. Hardware Guide
3This chapter describes in detail the hardware interface to the NextMove
BX controller.

NextMove BX Installation Manual for Mint™ v4
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Figure 3-1: NextMove BX Top Panel
Figure 3-2: NextMove BX Hardware