Baldor BXII Bedienungsanleitung

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Zur Seite of

Richtige Gebrauchsanleitung

Die Vorschriften verpflichten den Verkäufer zur Übertragung der Gebrauchsanleitung Baldor BXII an den Erwerber, zusammen mit der Ware. Eine fehlende Anleitung oder falsche Informationen, die dem Verbraucher übertragen werden, bilden eine Grundlage für eine Reklamation aufgrund Unstimmigkeit des Geräts mit dem Vertrag. Rechtsmäßig lässt man das Anfügen einer Gebrauchsanleitung in anderer Form als Papierform zu, was letztens sehr oft genutzt wird, indem man eine grafische oder elektronische Anleitung von Baldor BXII, sowie Anleitungsvideos für Nutzer beifügt. Die Bedingung ist, dass ihre Form leserlich und verständlich ist.

Was ist eine Gebrauchsanleitung?

Das Wort kommt vom lateinischen „instructio”, d.h. ordnen. Demnach kann man in der Anleitung Baldor BXII die Beschreibung der Etappen der Vorgehensweisen finden. Das Ziel der Anleitung ist die Belehrung, Vereinfachung des Starts, der Nutzung des Geräts oder auch der Ausführung bestimmter Tätigkeiten. Die Anleitung ist eine Sammlung von Informationen über ein Gegenstand/eine Dienstleistung, ein Hinweis.

Leider widmen nicht viele Nutzer ihre Zeit der Gebrauchsanleitung Baldor BXII. Eine gute Gebrauchsanleitung erlaubt nicht nur eine Reihe zusätzlicher Funktionen des gekauften Geräts kennenzulernen, sondern hilft dabei viele Fehler zu vermeiden.

Was sollte also eine ideale Gebrauchsanleitung beinhalten?

Die Gebrauchsanleitung Baldor BXII sollte vor allem folgendes enthalten:
- Informationen über technische Daten des Geräts Baldor BXII
- Den Namen des Produzenten und das Produktionsjahr des Geräts Baldor BXII
- Grundsätze der Bedienung, Regulierung und Wartung des Geräts Baldor BXII
- Sicherheitszeichen und Zertifikate, die die Übereinstimmung mit entsprechenden Normen bestätigen

Warum lesen wir keine Gebrauchsanleitungen?

Der Grund dafür ist die fehlende Zeit und die Sicherheit, was die bestimmten Funktionen der gekauften Geräte angeht. Leider ist das Anschließen und Starten von Baldor BXII zu wenig. Eine Anleitung beinhaltet eine Reihe von Hinweisen bezüglich bestimmter Funktionen, Sicherheitsgrundsätze, Wartungsarten (sogar das, welche Mittel man benutzen sollte), eventueller Fehler von Baldor BXII und Lösungsarten für Probleme, die während der Nutzung auftreten könnten. Immerhin kann man in der Gebrauchsanleitung die Kontaktnummer zum Service Baldor finden, wenn die vorgeschlagenen Lösungen nicht wirksam sind. Aktuell erfreuen sich Anleitungen in Form von interessanten Animationen oder Videoanleitungen an Popularität, die den Nutzer besser ansprechen als eine Broschüre. Diese Art von Anleitung gibt garantiert, dass der Nutzer sich das ganze Video anschaut, ohne die spezifizierten und komplizierten technischen Beschreibungen von Baldor BXII zu überspringen, wie es bei der Papierform passiert.

Warum sollte man Gebrauchsanleitungen lesen?

In der Gebrauchsanleitung finden wir vor allem die Antwort über den Bau sowie die Möglichkeiten des Geräts Baldor BXII, über die Nutzung bestimmter Accessoires und eine Reihe von Informationen, die erlauben, jegliche Funktionen und Bequemlichkeiten zu nutzen.

Nach dem gelungenen Kauf des Geräts, sollte man einige Zeit für das Kennenlernen jedes Teils der Anleitung von Baldor BXII widmen. Aktuell sind sie genau vorbereitet oder übersetzt, damit sie nicht nur verständlich für die Nutzer sind, aber auch ihre grundliegende Hilfs-Informations-Funktion erfüllen.

Inhaltsverzeichnis der Gebrauchsanleitungen

  • Seite 1

    NextMove BX II Motion Controller Installation Manu al 9/02 M N1904 MOTIO N CONTRO L[...]

  • Seite 2

    [...]

  • Seite 3

    Content s i MN1904 Contents 1 General Information 1-1 ................................. 2 Introduction 2-1 ........................................ 2.1 Next Move B X II feat ures 2 -1 ................................. 2.2 Receiving and ins pect ion 2-2 ................................ 2.2.1 Identify ing the c atalog number 2-2 .....................[...]

  • Seite 4

    ii Cont ents MN1904 4.7.5 Connec ting Baldor HMI O perator P anels 4-17 ........................... 4.7.6 RS422 / RS 485 - X14 4-18 ........................................... 4.7.7 CAN connec tor s - X 16 & X17 4-20 .................................... 4.7.8 CA Nopen 4-21 ..................................................... 4.7.9 Baldor CA N [...]

  • Seite 5

    Content s ii i MN1904 6 T roubleshooting 6 -1 .................................... 6.1 I ntr oduct ion 6-1 ............................................ 6.1.1 Problem diagnos is 6-1 .............................................. 6.1.2 Suppor tMe t feature 6 -1 ............................................ 6.2 Next Move B X II indicator s 6 -2 .......[...]

  • Seite 6

    iv Cont ents MN1904[...]

  • Seite 7

    General I nformat ion 1- 1 MN1904 L T0158A01 Copy right B aldor (c ) 2002. All r ights r eser v ed. This manual is c opy righted and all r ights are res er ved. This document or attached s oftw are may not, in whole or in par t, be c opied or r eproduc ed in any f orm wit hout the prior writt en cons ent of BALD OR . BALD OR mak es no representat i[...]

  • Seite 8

    1-2 General I nform ati on MN1904 Safety N otice Only qualified pers onnel s hould attempt the st art -up proc edure or tr oubles hoot this equipment. This equipment may be c onnec ted to ot her mac hines that hav e rotating par ts or parts that ar e contr olled by this equipment . I mproper us e c an c ause s er ious or fatal injury. O nly qualif [...]

  • Seite 9

    Int roducti on 2-1 MN 1904 2.1 NextMove BX II featu res Ne xtM ove BX II is a high s peed multi -axis intelligent motion cont roller , s upporting up to four ser vo axe s. Ne xtM ove BX II features the Mint motion c ontrol l anguage. Mint is a s truc tur ed form of B asic , cus tom des igned for motion c ontr ol applic ations . It allows you t o ge[...]

  • Seite 10

    2-2 I ntroduct ion MN 1904 2.2 Receiving and inspectio n When y ou rec eiv e your Nex tMov e BX II , there ar e sev er al things you s hould do immediately : 1. Chec k the c ondition of the pac k aging and repor t any damage immediately to the c arr ier that deliver ed your Nex tMov e BX II . 2. Remov e the N ext Move B X II from the s hipping c on[...]

  • Seite 11

    Int roducti on 2-3 MN 1904 2.3 Units and abbreviations The following unit s and abbr ev iations may appear in this manual: V V olt ( als o V A C and VD C) ............... WW a t t .............. A Ampere ............... Ω Ohm ............... µF mic rofar ad .............. pF picofar ad .............. mH millihenry ............. Φ phase ........[...]

  • Seite 12

    2-4 I ntroduct ion MN 1904[...]

  • Seite 13

    Basic I nst allat ion 3- 1 MN1904 3.1 Intr oduction Y ou should read all t he sections in Basic I nstal lation . It is impor tant that the c orr ect steps are follow ed when ins talling the N ex tMov e BX II .T h i s sec tion des c ribes the mec hanic al inst allation and power requirements of the N ex tMov e BX II . 3.1. 1 Po wer so u rces An exte[...]

  • Seite 14

    3-2 Basic I nstal lati on MN1904 3.1 .3 T ools and misc ella neous ha rdwa re H Y our PC oper ating syste m use r m anual might be useful if y ou ar e not familiar w ith Windows H A s mall sc r ewdriv er (s upplied) wi th a blade width les s than 2.5mm (1/ 10 in). H M5 sc r ews or bolts for mounting the Nex tMov e BX II H Crimping t ool. A c onnect[...]

  • Seite 15

    Basic I nst allat ion 3- 3 MN1904 3.2 Mechanical installation and location requirements It is essential that you r ead and understand this section before beginning the insta llation . The s afe operation of t his equipment depends upon its us e in the appropr iate env ironment. The following point s mus t be c ons idered: H The Nex tMov e BX II mus[...]

  • Seite 16

    3-4 Basic I nstal lati on MN1904 3.2 .1 Mounting the Ne xtMov e BX II Ens ure y ou hav e read and unders tood the Mechanic al ins tallation and loc ation r equirements in sec tion 3.2. Mount the Nex tMov e BX II on its r ear s ide, the s ide oppos ite the fr ont panel. The Nex tMov e BX II mus t be mount ed upright to ens ur e adequate c ooling. M5[...]

  • Seite 17

    Input / Out put 4-1 MN1904 4.1 Intr oduction This sec tion des c ribes the loc ation and purpos e of eac h c onnec tor on the N ex tMov e BX II . The following c onv entions will be us ed to r efer to the input s and out puts : I/O Input / Out put .............. DIN D igital Input ............. DO UT Digit al Output ........... AIN Analog Input ...[...]

  • Seite 18

    4-2 Input / Out put MN1904 4.3 Connector locat ions - fr ont pa nel X2 Digi t al Input s 0-7 X3 Analog I nput s X1 Digi t al Input s 8-15 X4 Digi t al Output s 0-7 Tighteni ng torque for t erminal block connec tions is 0.25Nm (2.2 lb-in) X5 Relay & User Power X6 Int err upts X7 Demands X8 Power X9 Encoder 0 X10 Encoder 1 X1 1 Encoder 2 X12 Enco[...]

  • Seite 19

    Input / Out put 4-3 MN1904 4.4 Power connection s A 24VD C, 2A supply mus t be prov ided to pow er the c ontr ol elect ronic s . It is r ec ommended that a s eparate fus ed 24V supply is prov ided for the N ex tMov e BX II , with the fus e rated at 4A maximum. If other devic es are to be pow ered fr om the s ame 24V s upply, a filter (Baldor catalo[...]

  • Seite 20

    4-4 Input / Out put MN1904 4.5 Analog I/O The Nex tMov e BX II pr ov ides: H Eight 12 -bit res olution analog inputs , av ailable on c onnect or X3. H Four 14 -bit res olution analog outputs , av ailable on c onnec tor X7. Sec tions 4.5.1 to 4.5.2 des c ribe eac h analog input and output . 4.5 .1 Ana log inputs - X3 Locatio n Connec tor X6 (Mating [...]

  • Seite 21

    Input / Out put 4-5 MN1904 H Ps eudo differential, bipolar ( ADCMODE 3) : Inputs are us ed in pairs (0 and 1, 2 and 3, 4 and 5, 6 and 7) to c reat e four differential inputs . Wit hin each pair, the odd numbered input is t he negative i nput, and the ev en numbered input is the pos itiv e input. The input range is ±2.5V . H True dif ferential ( AD[...]

  • Seite 22

    4-6 Input / Out put MN1904 4.5 .2 Ana log output s (D em ands) - X7 Locatio n Connec tor X7 (Mating c onnec tor: Weidmüller BL 3.5/ 10, 3.5mm pitc h) Pin Name MintMT keyword / descrip tion 1 Demand0 DAC.0 2 AGND Analog gr ound 3 Demand1 DAC.1 4 AGND Analog gr ound 5 Demand2 DAC.2 6 AGND Analog gr ound 7 Demand3 DAC.3 8 AGND Analog gr ound 9 AGND A[...]

  • Seite 23

    Input / Out put 4-7 MN1904 4.6 Digital I/O There are a t otal of 20 digital inputs . Input s D IN 0 to DIN 15 are gener al purpos e inputs , whic h can be c onfigur ed in Mint for any of the f ollowing func tions : H forw ard limit (end of trav el) input on any ax is H rev ers e limit (end of trav el) input on any ax is H home input on any axis H d[...]

  • Seite 24

    4-8 Input / Out put MN1904 4.6 .1 Digit al inputs - X1 Locatio n Connec tor X1 (Mating c onnec tor: Weidmüller BL 3.5/ 10, 3.5mm pitc h) Pin Name Mint keyword / descript ion 1 DIN8 INX.8 2 DIN9 INX.9 3 DIN10 INX.10 4 DIN1 1 INX.11 5 DIN12 INX.12 6 DIN13 INX.13 7 DIN14 INX.14 8 DIN15 INX.15 9 CREF Common c onnec tion 10 Shield Shield c onnec tion D[...]

  • Seite 25

    Input / Out put 4-9 MN1904 The inputs are c onditioned us ing Sc hmitt tr igger buffers . If an input is c onfigur ed as edge triggered, the trigger ing pulse mus t hav e a durat ion of at leas t 1ms (one s oftw are s c an) to guarantee ac c eptanc e by Mint . The us e of s hielded cable f or inputs is rec ommended. Active high : c onnec t +24VD C [...]

  • Seite 26

    4-10 Input / Out put MN1904 4.6 .3 Digit al input s (Inte rrupt s) - X6 Digital inputs F ASTI N0 to FASTIN3 c an be us ed as high s peed pos ition latc hes , allow ing any combination of axes to be c aptur ed by the har dwar e. Us ing F AST IN0, t he latenc y betw een input trigger ing and capt ure is 30µs . Us ing F AST IN1 to FASTIN3, lat ency i[...]

  • Seite 27

    Input / Out put 4-1 1 MN1904 4.6. 4 Dig i tal ou tp u ts - X4 Locatio n Connec tor X4 (Mating c onnec tor: Weidmüller BL 3.5/ 10, 3.5mm pitc h) Pin Name Mint keyword / descript ion 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+ C us tomer power s upply V+ 10 CGND Cus[...]

  • Seite 28

    4-12 Input / Out put MN1904 4.7 Other I/O 4.7. 1 En cod er in terfaces - X9, X10, X1 1, X12, X13 Locatio n Connec tors X9, X 1 1, X11, X12, X13 Pin Name Descriptio n 1 CHA+ Channel A s ignal 2 CHB+ Channel B s ignal 3 CHZ+ Index c hannel s ignal 4 (NC) Not c onnec ted 5 DGND Power s upply ground 6 CHA- C hannel A s ignal c omplement 7 CHB- C hannel[...]

  • Seite 29

    Input / Out put 4-13 MN1904 4.7 .2 Encode r input fr eque ncy The maximum enc oder input frequenc y is affect ed by t he length of the enc oder c ables . The theoretic al maximum frequency i s 7.5 million quadr ature counts per s ec ond. This is equivalent to a maximum fr equenc y f or the A and B signals of 1.87MH z . How ev er , the effect of c a[...]

  • Seite 30

    4-14 Input / Out put MN1904 4.7. 3 Relay an d u ser po w er - X5 Locatio n Connec tor X5 (Mating c onnec tor: Weidmüller BL 3.5/ 10, 3.5mm pitc h) Pin Name Descriptio n 1 Rel ay COM Common relay c onnec tion 2 Rela y NC N ormally c losed relay c onnec tion 3 Rela y NO Normally open relay c onnecti on 4 Rel ay COM Common relay c onnec tion 5 USR V+[...]

  • Seite 31

    Input / Out put 4-15 MN1904 4.7. 4 RS232 - X 15 Locatio n T op panel, c onnect or X15 Pin Name 1 Shield 2 RXD 3 TXD 4 DTR (internally c onnec ted to pin 6) 5 0V 6 DSR (internally c onnec ted to pin 4) 7 RTS 8 CTS 9 0V Descri ptio n RS232 c onnec tions on a s ingle 9 -pin male D-ty pe c onnect or The Nex tMov e BX II has a full -duplex R S232 s eria[...]

  • Seite 32

    4-16 Input / Out put MN1904 NextMove B X II (DTE) 9- -p i n Computer COM Port (DCE / DTE) RS232 RXD 2 TXD 3 GND 5 2R X D 3T X D 5G N D RTS 7 CTS 8 7R T S 8C T S COM Connect overall shiel d to connector backs hell. Figure 9 - RS 232 serial port connections The maximum r ecommended c able length is 3m (10f t) at 57.6K baud. W hen using l ower baud ra[...]

  • Seite 33

    Input / Out put 4-17 MN1904 4.7. 5 Con n ecti ng Bal d or HM I O p erato r Pan els Baldor H MI Oper ator P anels us e a 15 -pin male D -type c onnec tor ( mark ed PLC PORT) , but the NextMove BX II RS232 c onnec tor is a 9 -pin male D -type c onnec tor . If y ou do not require hardwar e hands haking then us e the c onnec tions s hown in Figur e 10:[...]

  • Seite 34

    4-18 Input / Out put MN1904 4.7. 6 RS422 / RS485 - X14 If y ou will be us ing RS 422 / RS 485 and y our PC does not have an R S422 / R S485 c onnec tor , an RS232 t o 4-wir e RS 422 / RS 485 conv ert er will be required. Thes e c ommerc ially av ailable devic es c onver t the s ignals from the PC RS 232 port to the s ignals nec es sar y f or R S422[...]

  • Seite 35

    Input / Out put 4-19 MN1904 Final sl ave shown with terminating resis tor , T R , typic al val ue 120 Ω . Network slave T R RX- DGND RX+ TX+ TX- RX- DGND RX+ TX+ TX- RX- DGND RX+ TX+ TX- T wisted pairs T R Connect overall s hield to connec tor ba ckshell. Network slave Network master Figure 12 - 4-wir e RS485 multi-drop connections Eac h TX/R X n[...]

  • Seite 36

    4-20 Input / Out put MN1904 4.7. 7 CAN con n ecto rs - X16 & X 17 CAN (C ontroller A rea N etwor k) offers v ery reliable s er ial communic ations ov er a tw o wir e twis ted pair c able. I n an indust rial env ironment, t he probability of an undetec ted err or is 4.7x10 -1 1 . CAN als o offers high speed dat a trans fer ( up to 1Mbit/s , depe[...]

  • Seite 37

    Input / Out put 4-21 MN1904 4.7. 8 CANop en CAN open is a network ing system b ased o n the se ria l bus CAN . It u ses th e int ern at i onal CAN st andard ISO 1 1898 as the bas is for c ommunic ation. The Mint firmw are implements a CAN open protoc ol on C AN bus 1, bas ed on the ‘C ommunic ation Pr ofile’ CiA DS -301, whic h suppor ts both d[...]

  • Seite 38

    4-22 Input / Out put MN1904 4.8 Reset st ates During pow er up, N ex tMov e BX II is held in a s afe non -operational s tate k nown as hardw are res et. I t will als o go into har dware r es et if the 24V logic s upply drops below approx imately 18V . This pr ev ents uncontr olled operation due to t he elect ronic s losing pow er . When Ne xtM ove [...]

  • Seite 39

    Input / Out put 4-23 MN1904 4.9 Connection su mm ary - minimum system wir ing As a guide, Figure 14 s how s an ex ample of t he ty pical minimum w iring requir ed to allow t he Ne xtM ove BX II and a single s erv o amplifier (motor driv e) to w ork together . Host PC NextMo ve BX II Servo amplif ier (axis 0) Encode r output fr om driv e or motor Er[...]

  • Seite 40

    4-24 Input / Out put MN1904 NextMo ve BX II connector Name o f signal Function Servo amplifier connecti on (Not e: driv e may be labelled differently) X1 DIN8 Error input Err or output X5 Rel ay COM C ommon connec tion of relay Enable input Rela y NC Normally c los ed connec tion of relay Gr ound X7 Demand0 Command s ignal for ax is 0 Demand+ input[...]

  • Seite 41

    Oper ati on 5-1 MN 1904 5.1 Intr oduction Before pow ering the N ex tMov e BX II y ou w ill need to c onnect it to the PC using a s er ial cable and install the supplied P C s oftw are Wor k Benc h v5 . This soft ware inc ludes a number of t ools to allow y ou to c onfigure, tune and program the N ex tMov e BX II . If y ou do not hav e exper ienc e[...]

  • Seite 42

    5-2 Oper ation MN1904 5.1. 5 Po wer o n ch ecks If at any time one of the Ax is LEDs is illuminated red, this indicates that the N ex tMove B X II has detec ted a f ault - see s ect ion 6. 1. Turn on the 24VDC supply. 2. After a br ief tes t s equenc e the S t atus dis play s hould s how the node number , for ex ample (the factor y pres et). If the[...]

  • Seite 43

    Oper ati on 5-3 MN 1904 5.2 W orkBench v5 WorkBenc h v 5 is a fully featured applic at ion for progr amming and c ontrolling the Ne xtM ove BX II . The main WorkBenc h v 5 window cont ains a menu system , the T oo lbo x and other toolbar s. Many func tions c an be ac c ess ed fr om the menu or by c lick ing a butt on - use whic hev er y ou prefer. [...]

  • Seite 44

    5-4 Oper ation MN1904 5.2. 2 St arti ng Wo rkBench v5 1. On the W indows Start menu, selec t Pro grams , Wor k Ben ch v5 , Wo r kBe nc h v5 . WorkBenc h v 5 will s tar t, and the Tip of the Day dialog will be dis play ed. Y ou can prev ent t he Tip of the Day dialog appearing nex t time by remov ing the chec k mark next to S how tips at s tartup. C[...]

  • Seite 45

    Oper ati on 5-5 MN 1904 3. In the Selec t C ontroller dialog, go to the drop down box near the top and select the PC ser ial port to w hich t he Nex tMov e BX II is c onnec ted. (If y ou are uns ur e whic h PC ser ial port is c onnec ted to the N ext Move B X II , selec t S can all serial po rts . During t he detec tion proc es s , a dialog box may[...]

  • Seite 46

    5-6 Oper ation MN1904 5.3 Configuri ng an axi s The Nex tMov e BX II is c apable of c ontrolling up t o 4 ser v o axes , depending on model. Ax is numbering alway s begin at 0. For example, a four ax is model has ax es numbered 0, 1, 2 and 3. This sec tion des c ribes the bas ic setup f or a s ingle ax is. Note: The Next Move B X II is also c apabl[...]

  • Seite 47

    Oper ati on 5-7 MN 1904 4. Clic k in the Sc ale box and type a v alue. 5. Clic k Apply . This immediately s ets the sc aling factor for the selec ted ax is . It w ill remain in the Ne xtM ove BX II until another s c ale is defined, or power is r emov ed. 5.3. 2 Sett in g th e d rive en ab le o u tp ut The driv e enable output allow s Nex tMov e BX [...]

  • Seite 48

    5-8 Oper ation MN1904 4. If y ou are going to us e the relay, drag the grey Relay 0 ic on to the grey X axis icon on the right of the s cr een. T o c onfigure multiple ax es to us e the r elay, repeat this s tep for the other axes . If y ou are us ing a digital output, drag the bright blue O UT ic on to t he grey X axis ic on on the right of the s [...]

  • Seite 49

    Oper ati on 5-9 MN 1904 5.4 T esting and tuning This sec tion des c ribes the method for t est ing and tuning an ax is. 5.4 .1 T esting the driv e comm and output This sec tion tes ts the oper ation and direc tion of the ax is c ommand output. I t is rec ommended that the motor is dis c onnect ed for this tes t. 1. Chec k that the D riv e enable bu[...]

  • Seite 50

    5-10 Oper ation MN1904 6. T o remov e the demand and s top the test , ty pe: STOP.0 This s hould c aus e the demand produced at the Demand0 output t o become 0V .[...]

  • Seite 51

    Oper ati on 5-1 1 MN1904 5.5 An introduc tion to close d loop contr ol This s ec tion des c ribes the basic princ iples of c los ed loop contr ol. If you are familiar with clos ed loop contr ol go s traight t o sec tion 5.6. 1. When there is a requirement to mov e an axis , the Nex tMov e BX II contr ol s oftwar e tr ans lates this into a demand ou[...]

  • Seite 52

    5-12 Oper ation MN1904 In s ummary, the following rules c an be us ed as a guide: H KPR OP : Inc reas ing KPR OP will s peed up the res pons e and reduc e t he effect of dis turbanc es and load var iations . The side effect of incr easing K PR OP is t hat it als o incr eas es t he over shoot , and if set too high it will c aus e the syst em to b ec[...]

  • Seite 53

    Oper ati on 5-13 MN1904 Figure 16 - The NextMove BX II servo l oop[...]

  • Seite 54

    5-14 Oper ation MN1904 5.6 T uning an axis for c urr ent control 5.6. 1 Sel ecti ng servo l o op g ai ns All s erv o loop parameter s default to z ero, meaning that the demand output w ill be zer o at power up. Most ser vo amplif iers can be s et t o cur rent ( torque) contr ol mode or v eloc ity contr ol mode; c heck that t he ser v o amplifier w [...]

  • Seite 55

    Oper ati on 5-15 MN1904 4. In the Mov e T y pe drop dow n box , c heck that the move t ype is s et to Step. 5. Clic k in the Dis tanc e box and enter a dist ance for the s tep mov e. I t is r ec ommended to set a value t hat will c aus e the motor t o turn a short dist ance, f or ex ample one rev olution. Note: The dist ance depends on t he sc ale [...]

  • Seite 56

    5-16 Oper ation MN1904 5.6 .2 Unde rda mpe d res ponse If the graph s how s that the res pons e is underdamped (it over shoot s t he demand, as show n in Figure 17) t hen the v alue for KD ER IV s hould be inc reas ed to add ex tr a damping to the mov e. If the ov ers hoot is ex ces s iv e or os c illation has oc cur red, it may be nec es sar y to [...]

  • Seite 57

    Oper ati on 5-17 MN1904 5.6 .3 Ove rda mpe d res ponse If the graph s how s that the res pons e is over damped (it r eac hes the demand t oo slow ly, as show n in Figure 18) then the v alue for K DER IV s hould be dec reas ed to r educe t he damping of the move. If the ov erdamping is ex c ess iv e, it may be nec es sar y to incr eas e the value of[...]

  • Seite 58

    5-18 Oper ation MN1904 5.6 .4 Cr itica lly dampe d res ponse If the graph s how s t hat the res pons e reac hes the demand quic k ly and only ov ers hoots the demand by a s mall amount, this c an be c ons idered an ideal r espons e for most syste ms. See Figure 19. Measur ed position Demand position Figure 19 - Cr itically damped (ideal) response[...]

  • Seite 59

    Oper ati on 5-19 MN1904 5.7 Elim inating stead y-state er rors In syst em s whe re p reci se po siti oni ng accu racy is r equired, it is often nec es sar y to posit ion within one enc oder c ount. The proport ional gain, KPR O P , is not normally able to ac hiev e this becaus e a v ery s mall followi ng error will only produc e a s mall demand for[...]

  • Seite 60

    5-20 Oper ation MN1904 5.8 T uning an axis for veloc ity contr ol Driv es des igned for v eloc ity cont rol inc orporat e their ow n veloc ity feedbac k term to pr ovide syste m da mp ing . For t his re aso n, KDE RIV (a nd KVEL ) can be set to zero. Correct s etting of the velo city feed forward ga in KVELFF is importan t to get the optim um res p[...]

  • Seite 61

    Oper ati on 5-21 MN1904 The analog demand output is c ontrolled by a 12 -bit DAC, whic h c an cr eate output v oltages in the range -10V to +10V . This means a max imum output of +10V cor res ponds to a DAC v alue of 2048. The v alue of KVELFF is calculat ed b y dividing 2048 by the number of quadr ature counts per ser vo loop, so: KVELFF = 2048 / [...]

  • Seite 62

    5-22 Oper ation MN1904 Measur ed velocity De man d velo city Figure 20 - Corr ect value of KVELFF It may be neces s ary to mak e c hanges to the c alc ulated v alue of KVELFF . If the trace for Measur ed veloc it y appear s abov e the t rac e for D emand v elocit y, reduce the v alue of KVELFF . If the tr ace f or Meas ured v eloc ity appears below[...]

  • Seite 63

    Oper ati on 5-23 MN1904 5.8 .2 Adjus ting KP ROP The KPR OP term c an be us ed to reduc e follow ing error. Its v alue will us ually be muc h smaller than the v alue used f or an equiv alent c urr ent cont rolled s y st em. A fr act ional value, for ex ample 0.1, will pr obably give the bes t r espons e. 1. Clic k in the KPR OP box and ent er a s t[...]

  • Seite 64

    5-24 Oper ation MN1904 Measur ed position Demand position Figure 21 - Cor rect value of KPR OP The two t rac es w ill probably appear w ith a s mall offset fr om each ot her . Adjus t KPR OP by small amounts until the t wo tr aces appear on t op of eac h other ( approx imately ), as s hown in Figure 21.[...]

  • Seite 65

    Oper ati on 5-25 MN1904 5.9 Digit al input/output configur ation The Digital I /O w indow c an be us ed to s etup other digital inputs and outputs . 5.9 .1 Digit al input configur ation The Digital I nputs tab allows you t o define how eac h digital input w ill be trigger ed and, optionally, if it is to be alloc ated to a s pec ial func tion, for e[...]

  • Seite 66

    5-26 Oper ation MN1904 4. Now dr ag the IN1 ic on onto t he Fwd Limit ic on . This will s etup IN 1 as the F orwar d Limit input of ax is 0. 5. Clic k Apply to s end the c hanges to the N ext Move B X II . Note: If required, multiple inputs c an be c onfigured befor e c lick ing A pply . 5.9 .2 Digit al output conf igura tion The Digital O utputs t[...]

  • Seite 67

    Oper ati on 5-27 MN1904 5.10 Saving setup in formation When power is r emoved f rom the N ext Move B X II , configur ation and tuning parameter s are lost. Y ou should ther efore s av e this information in a f ile, whic h c an be loaded after the unit is star ted. A lternativ ely, the information c an be inc luded in program files as part of t he S[...]

  • Seite 68

    5-28 Oper ation MN1904 4. On the main menu, c hoos e File , Save Fil e . Loc ate a folder , enter a filename and clic k Save . 5.1 1 Load ing saved information 1. In the T oolbox , c lick the E dit & D ebug icon. 2. On the main menu, c hoos e File , Open File... Locate t he file and c lick Open . WorkBenc h v 5 will open a new editing window to[...]

  • Seite 69

    T roubl eshooti ng 6-1 MN1904 6.1 Intr oduction This sec tion ex plains c ommon problems that may be encount ered, toget her wit h poss ible soluti ons. 6.1 .1 Proble m diagnosis If y ou have f ollowed all the ins tr uct ions in t his manual in s equenc e, y ou s hould hav e few problems installing t he Nex tMov e BX II . If y ou do hav e a problem[...]

  • Seite 70

    6-2 T r oubleshoot ing MN1904 6.2 NextMove BX II indicator s 6.2. 1 St atu s di sp lay The S t atus LED normally dis play s the unit ’s node number. T o dis play information about a s pec ific axis , us e the LED k ey wor d (s ee the MintMT help file). W hen a s pecif ic axis is selec ted, its LE D ( numbered 0-3) w ill be illuminated, and the fo[...]

  • Seite 71

    T roubl eshooti ng 6-3 MN1904 Jog. The ax is is jogging. In t he Mint help file, s ee the topic s JOG , JOGCOMMAND and Jog mode . Offset move. T he axis is perfor ming an offset mov e. Pos itional Mov e. T he axis is perfor ming a linear mov e. See the Mint k ey wor ds MOVEA and MOVER . S top. A STOP command has been is s ued or the s top input is [...]

  • Seite 72

    6-4 T r oubleshoot ing MN1904 6.2 .2 Motor c ontrol Symptom Check Ne xtM ove BX II appears to be wor king but w ill not caus e motor to turn. Chec k that the c onnec tions between motor and driv e are cor rec t. Us e WorkBenc h v 5 to perf orm the bas ic sy s tem tes ts (se e sect ion 5 .4) . Ens ure that w hile the Nex tMov e BX II is not in er ro[...]

  • Seite 73

    T roubl eshooti ng 6-5 MN1904 Sympto m Check Motor is under c ontr ol, but when mov ed to a pos ition and then back to t he star t it does not return t o the same pos ition. Us ing an os cillos c ope, c hec k : H all encoder channels are c lear signals and free f rom electr ic al noise; H they ar e c orrec tly wir ed to the c ontroller ; H when the[...]

  • Seite 74

    6-6 T r oubleshoot ing MN1904[...]

  • Seite 75

    S pecif icat ions 7- 1 MN1904 7.1 Intr oduction This s ec tion pr ovides tec hnic al s pecif icat ions of the Nex tMov e BX II . 7.1 .1 Input power De scri pt ion Uni t Va l u e Logic supply input voltage VDC 24 Minimum input v oltage VDC 18 Maximum input voltage 30 Logic supply input current ( maximum) mA 700 User supply input voltage VDC 12 -24 U[...]

  • Seite 76

    7-2 S pecifi cations MN1904 7.1 .3 Ana log outputs ( De ma nds - X7) De scri pt ion Uni t Va l u e Ty p e Bipolar Output voltage range VDC ±10 Output curr ent (max) mA 1 Output DA C resolution bits 14 (inc ludes s ign bit) Equival ent resol ution mV ±1.22 Up date in terva l Immediate 7.1 .4 Digit al inputs ( X1 & X2 ) De scri pt ion Uni t Va [...]

  • Seite 77

    S pecif icat ions 7- 3 MN1904 7.1. 6 Dig i tal ou tp u ts (X4) De scri pt ion Uni t Va l u e Output curr ent (max imum cont inuous, each output ) mA 50 Up date in terva l Immediate 7.1. 7 Relay o u tp ut (X 5) De scri pt ion Uni t Va l u e Contact s N ormally c losed Contact rating (resistive) 1A @ 24VDC or 0.5A @ 120VAC Ma xim um ca rryin g curren[...]

  • Seite 78

    7-4 S pecifi cations MN1904 7.1. 10 Envi ro nmen tal De scri pt ion Uni t Oper atin g temper atur e rang e Min Max °C °F 0 +32 +40 +104 Maximum hum idity % 80% for temper atures up to 87°F (31°C ) decr easingly linear ly to 50% relativ e humidity at 104°F ( 40°C), non -c ondensing (ac cor ding to DI N40 040 / IE C144) Maximum ins tallation al[...]

  • Seite 79

    Accessori es A-1 MN1904 A.1 I ntroducti on The c apabilities of the Nex tMov e BX II can be ex panded us ing additional peripher al devic es . A.1 .1 Baldor C AN node s Digital I/ O c an be ex panded eas ily on N ex tMov e BX II us ing the B aldor C AN ( CA N2) connec tion. T his pr ov ides a high s peed s erial bus inter fac e to a range of I/ O d[...]

  • Seite 80

    A-2 Accessor ies MN1904 A.1 .2 Encoder S plitte r/B uffe r boar d This is a s tand -alone PCB that tak es an encoder signal, eit her s ingle ended or differential and gives differential outputs . This is us eful for ‘dais y c haining’ an encoder signal f rom a mas ter acr oss a number of cont rollers . Catalog num ber Descr ipt ion OPT 008-501 [...]

  • Seite 81

    Index MN1904 A Abbrev iations , 2 -3 Acce ssor ies, A- 1 Baldor CA N nodes , A -1 encoder s plitter /buffer board, A -2 Analog I/O , 4 -4 analog inputs - X3, 4 -4 analog outputs - X7, 4-6 B Baldor CA N nodes , A -1 Bas ic Ins tallat ion, 3 -1 C CAN acce ssori es, A-1 Baldor CA N, 4 -21 CAN open, 4 -21 connec tor s, 4 -20 spec ific ations , 7 -3 Cat[...]

  • Seite 82

    Index MN 1904 I Indicat ors , 6 -2 axis LED s , 6 -2, 6-5 stat us dis play, 6-2, 6-5 Input / Out put analog I/O , 4 -4 analog inputs - X3, 4 -4, 7-1 analog outputs ( Demands ) - X7, 4 -6, 7-2 CAN - X16 & X17, 4 -20 connec tion s ummar y, 4-23 digital I/O, 4-7 digital inputs ( Interr upts ) - X6, 4-10, 7 -2 digital inputs - X1, 4 -8, 7-2 digital[...]

  • Seite 83

    Index MN1904 T T esting and t uning, 5 -9 tes ting the driv e c ommand output, 5 -9 T ools, 3 -2 Troubleshooting, 6 -1 axis LE D is red, 6-5 communic ation, 6 -5 help file, 5 -3 motor c ontrol, 6 -4 problem diagnos is, 6-1 stat us dis play, 6-2 show s a flashing s y mbol, 6 -5 SupportMe, 6 -1 Tuning, 5-9 adjusti ng KPR OP , 5-23 axis for c urr ent [...]

  • Seite 84

    Index MN 1904[...]

  • Seite 85

    Comments MN1904 If y ou have any s ugges tions for impr ovement s t o this manual, please let us k now. W rite y our comment s in t he spac e pr ovided below, remove t his page f rom the manual and mail it to: Manuals Baldor UK Lt d Mint Motion Cent re 6 Bris tol D is tribution P ark Hawkley Dri v e Bristol BS32 0BF United K ingdom. Alternat ively,[...]

  • Seite 86

    Comment s MN1904 Thank you for taking the time to help us.[...]

  • Seite 87

    [...]

  • Seite 88

    P r i n t e di nU K E Baldor UK Ltd L T 0158A01 Eur ope (Souther n) Baldor ASR AG , Switzer land T el: +41 52 647 4700 Fax: +41 52 659 2394 Eur ope Baldor ASR GmbH, Ger many T el: +49 (0) 89 905 080 Fax: +49 (0) 89 905 08491 Australia Australian Baldor PTY Ltd T el: +61 2 9674 5455 Fax: +61 2 9674 2495 Mexico Baldor de Mexico T el: +52 477 761 2030[...]