Baldor DSM S Series Specifications

MN1957 NextMove ESB-2

2-2 Introduction MN1957www.baldormotion.comIncluded with NextMove ESB-2 is the Mint Motion Toolkit CD. This contains a number ofutilities and usefu

A-4 Accessories MN1957www.baldormotion.comA.1.5 Mint NC (CAD to motion software)The Mint NC software provides machine builders with an extremely rap

MN1957 Mint Keyword Summary B-1Mint Keyword SummaryB Mint Keyword SummaryB.1 IntroductionThe following table summarizes the Mint keywords supported

B-2 Mint Keyword Summary MN1957www.baldormotion.comAUXENCODERMODE To make miscellaneous changes to the auxiliary encoders.AUXENCODERPRESCALE To scal

MN1957 Mint Keyword Summary B-3www.baldormotion.comCAMINDEX Returns the currently executing cam segment number.CAMPHASE Allows a cam profile to be s

B-4 Mint Keyword Summary MN1957www.baldormotion.comCOMPAREPOS To write to the position compare registers.CONFIG To set the configuration of an axis

MN1957 Mint Keyword Summary B-5www.baldormotion.comENCODERZLATCH To get and reset the state of an axis' encoder Z latch.ERRORDECEL To set the d

B-6 Mint Keyword Summary MN1957www.baldormotion.comFEEDRATEMODE To control the use of slew speed, acceleration, deceleration and feedrate override.F

MN1957 Mint Keyword Summary B-7www.baldormotion.comHOMEPHASE To find the phase of the homing sequence currently in progress.HOMEPOS To read the axis

B-8 Mint Keyword Summary MN1957www.baldormotion.comINPUTMODE To set or return the sum of a bit pattern describing which of the user digital inputs s

MN1957 Mint Keyword Summary B-9www.baldormotion.comLIMITREVERSEINPUT To set the user digital input configured to be the reverse end of travel limit

MN1957 Introduction 2-3www.baldormotion.com2.2 Receiving and inspectionWhen you receive your NextMove ESB-2, there are several things you should doi

B-10 Mint Keyword Summary MN1957www.baldormotion.comNVRAMDEFAULT Clears the contents of non-volatile RAM (NVRAM).OFFSET To perform a positional offs

MN1957 Mint Keyword Summary B-11www.baldormotion.comREMOTEEMERGENCY-MESSAGEReturns the error code from the last emergency message received from a pa

B-12 Mint Keyword Summary MN1957www.baldormotion.comRESETALL To perform a reset on all axes.SCALEFACTOR To scale axis encoder counts, or steps, into

MN1957 Mint Keyword Summary B-13www.baldormotion.comTERMINALADDRESS To set or read the node ID for a CAN node associated with a terminal.TERMINALDEV

B-14 Mint Keyword Summary MN1957www.baldormotion.com

MN1957 IndexIndexIndexAAbbreviations, 2-4Accessories, A-1Baldor CAN nodes, A-2Feedback cables, A-1, B-1HMI (Human Machine Interface) panels, A-3Mint N

Index MN1957HHardware requirements, 3-3Help file, 5-6HMI (Human Machine Interface) panels, A-3IIndicators, 6-2status display, 6-2Input / Output, 4-1an

MN1957 Indexdigital inputs, 7-2digital outputs, 7-2encoder inputs, 7-3power, 7-1relay, 7-2serial port, 7-3stepper outputs, 7-3Status display, 6-2Stepp

Index MN1957

MN1957 CommentsCommentsIf you have any suggestions for improvements to this manual, please let us know. Write yourcomments in the space provided bel

2-4 Introduction MN1957www.baldormotion.com2.3 Units and abbreviationsThe following units and abbreviations are used in this manual:V. . . . . . . .

Comments MN1957www.baldormotion.comThank you for taking the time to help us.

MN1957 Basic Installation 3-1Basic Installation3 Basic Installation3.1 IntroductionYou should read all the sections in Basic Installation to ensure

3-2 Basic Installation MN1957www.baldormotion.com3.1.2 Mounting the NextMove ESB-2 Before touching the unit be sure to discharge static electricit

MN1957 Basic Installation 3-3www.baldormotion.com3.1.3 Other requirements for installationThe components you will need to complete the basic install

3-4 Basic Installation MN1957www.baldormotion.com

MN1957 Input / Output 4-1Input / Output4 Input / Output4.1 IntroductionThis section describes the input and output capabilities of the NextMove ESB

4-2 Input / Output MN1957www.baldormotion.com4.1.1 Connector locations441234567Required mating connectors:Sauro CTF10008Sauro CTF12008Sauro CTF02008

MN1957 Input / Output 4-3www.baldormotion.com4.2 Analog I/OThe NextMove ESB-2 provides: Two 12-bit resolution analog inputs. Four 12-bit resolutio

4-4 Input / Output MN1957www.baldormotion.comFigure 3: AIN0 analog input wiringFigure 4: Typical input circuit to provide 0-10 V (approx.) input fro

MN1957 Input / Output 4-5www.baldormotion.com4.2.2 Analog outputsThe four analog outputs are available on connector X13, as shown in section 4.1.1.

4-6 Input / Output MN1957www.baldormotion.comFigure 7: Analog output - typical connection to Baldor FlexDriveII, Flex+DriveII, MintDriveIIX13 X1Driv

MN1957 Input / Output 4-7www.baldormotion.com4.3 Digital I/OThe NextMove ESB-2 provides: 20 general purpose digital inputs. 12 general purpose dig

4-8 Input / Output MN1957www.baldormotion.com4.3.1.2 DIN4 - DIN11Digital inputs DIN4 to DIN11 have a common specification: Opto-isolated digital in

MN1957 Input / Output 4-9www.baldormotion.com4.3.1.4 Auxiliary encoder inputs - DIN17 (STEP), DIN18 (DIR), DIN19 (Z)DIN17-DIN19 may also be used as

4-10 Input / Output MN1957www.baldormotion.com4.3.1.5 Typical digital input wiringFigure 12: Digital input - typical ‘active high’ input connection

MN1957 Input / Output 4-11www.baldormotion.comFigure 15: Digital input - typical connections from a Baldor FlexDriveII,Flex+DriveII or MintDriveIINe

4-12 Input / Output MN1957www.baldormotion.com4.3.2 Digital outputs The digital outputs are available on connectors X4 and X11, as shown in section

MN1957 Input / Output 4-13www.baldormotion.com4.4 Other I/O4.4.1 Stepper control outputs - models NSB202... / NSB204...The stepper control outputs a

MN1957 Contents iContentsContents1 General Information2 Introduction2.1 NextMove ESB-2 features . . . . . . . . . . . . . . . . . . . . . . . . . .

4-14 Input / Output MN1957www.baldormotion.com4.4.2 Stepper control outputs - models NSB203... / NSB205...The stepper control outputs are available

MN1957 Input / Output 4-15www.baldormotion.com4.4.3 Encoder inputs 0-4Five incremental encoders may be connected to NextMove ESB-2, each withcomplem

4-16 Input / Output MN1957www.baldormotion.com4.4.3.1 Encoder input frequencyThe maximum encoder input frequency is affected by the length of the en

MN1957 Input / Output 4-17www.baldormotion.com Figure 21: Encoder input 0 - typical connection from a drive amplifier(e.g. Baldor FlexDriveII, Flex+

4-18 Input / Output MN1957www.baldormotion.com4.4.4 Relay connectionsThe relay connections are available on connector X12, as shown in section 4.1.1

MN1957 Input / Output 4-19www.baldormotion.com4.4.6 Serial portNextMove ESB-2 is available with either an RS232 or RS485 serial port (see section 2.

4-20 Input / Output MN1957www.baldormotion.comThe RS232 port is configured as a DCE (Data Communications Equipment) unit so it ispossible to operate

MN1957 Input / Output 4-21www.baldormotion.com4.4.9 Connecting serial Baldor HMI Operator PanelsSerial Baldor HMI Operator Panels use a 15-pin male

4-22 Input / Output MN1957www.baldormotion.com4.5 CANThe CAN bus is a serial based network originally developed for automotive applications, butnow

MN1957 Input / Output 4-23www.baldormotion.com4.5.2 CAN wiringA very low error bit rate over CAN can only be achieved with a suitable wiring scheme,

ii Contents MN19575 Operation5.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-15.1.1 Connecti

4-24 Input / Output MN1957www.baldormotion.com4.5.3 CANopenThe NextMove ESB-2 must have the CANopen firmware loaded to use this protocol.Baldor have

MN1957 Input / Output 4-25www.baldormotion.comFigure 27: Typical CANopen network: 24 V applied using modified cableFigure 28: Typical CANopen networ

4-26 Input / Output MN1957www.baldormotion.com4.5.4 Baldor CANThe NextMove ESB-2 must have the Baldor CAN firmware loaded to use this protocol.Baldo

MN1957 Input / Output 4-27www.baldormotion.comNote: All CAN related Mint keywords are referenced to either CANopen or Baldor CANusing the ‘bus’ para

4-28 Input / Output MN1957www.baldormotion.com4.6 Connection summary - minimum system wiringAs a guide, Figure 30 shows an example of the typical mi

MN1957 Input / Output 4-29www.baldormotion.com NextMove ESB-2connectorPin Name of signalFunction Connection on amplifier(Note: connections may be la

4-30 Input / Output MN1957www.baldormotion.com

MN1957 Operation 5-1Operation5 Operation5.1 IntroductionBefore powering the NextMove ESB-2 you will need to connect it to the PC using a serial orU

5-2 Operation MN1957www.baldormotion.com5.1.4 Preliminary checksBefore you apply power for the first time, it is very important to verify the follow

MN1957 Operation 5-3www.baldormotion.com5.2 Mint Machine CenterThe Mint Machine Center (MMC) is used to view the network of connected controllers in

MN1957 Contents iii6.2.5 CANopen. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-76.2.6 Bal

5-4 Operation MN1957www.baldormotion.com5.2.1 Starting MMC1. On the Windows Start menu, select Programs, Mint Machine Center, Mint MachineCenter.2.

MN1957 Operation 5-5www.baldormotion.com5.3 Mint WorkBenchMint WorkBench is a fully featured application for programming and controlling theNextMove

5-6 Operation MN1957www.baldormotion.com5.3.1 Help fileMint WorkBench includes a comprehensive help file that contains information about everyMint k

MN1957 Operation 5-7www.baldormotion.com5.3.2 Starting Mint WorkBenchNote: If you have already used MMC to install firmware and start an instance of

5-8 Operation MN1957www.baldormotion.com3. In the Select Controller dialog, go to the drop down box near the top and select the PCserial port to whi

MN1957 Operation 5-9www.baldormotion.com5.4 Configuring an axisThe NextMove ESB-2 is capable of controlling 4 servo and 4 stepper axes. This section

5-10 Operation MN1957www.baldormotion.com5.4.2 Selecting a scaleMint defines all positional and speed related motion keywords in terms of encoderqua

MN1957 Operation 5-11www.baldormotion.com5.4.3 Setting the drive enable outputThe drive enable output allows NextMove ESB-2 to disable the drive in

5-12 Operation MN1957www.baldormotion.comIf you are going to use a digitaloutput, drag the bright blueOUT icon to the grey DriveEnable OP axis icon

MN1957 Operation 5-13www.baldormotion.com5.5 Stepper axis - testingThis section describes the method for testing a stepper axis. The stepper control

iv Contents MN1957

5-14 Operation MN1957www.baldormotion.com5.6 Servo axis - testing and tuningThis section describes the method for testing and tuning a servo axis. T

MN1957 Operation 5-15www.baldormotion.com5. To repeat the tests for negative (reverse) demands, type:TORQUE(0)=-56. This should cause a demand of -5

5-16 Operation MN1957www.baldormotion.com5.6.2 An introduction to closed loop controlThis section describes the basic principles of closed loop cont

MN1957 Operation 5-17www.baldormotion.comThe remaining gain terms are Velocity Feed forward (KVELFF) and Acceleration Feedforward (KACCEL) described

5-18 Operation MN1957www.baldormotion.comFigure 34: The NextMove ESB-2 servo loopKVELFFVelocityFeedforwardProfile GeneratorKACCELAccelerationFeedfor

MN1957 Operation 5-19www.baldormotion.com5.7 Servo axis - tuning for current control5.7.1 Selecting servo loop gainsAll servo loop parameters defaul

5-20 Operation MN1957www.baldormotion.com3. Click in the KPROP box and enter a valuethat is approximately one quarter of thevalue of KDERIV. If the

MN1957 Operation 5-21www.baldormotion.com5.7.2 Underdamped responseIf the graph shows that the response is underdamped (it overshoots the demand, as

5-22 Operation MN1957www.baldormotion.com5.7.3 Overdamped responseIf the graph shows that the response is overdamped (it reaches the demand too slow

MN1957 Operation 5-23www.baldormotion.com5.7.4 Critically damped responseIf the graph shows that the response reaches the demand quickly and only ov

MN1957 General Information 1-1General Information1 General InformationLT0271A03 Copyright Baldor (c) 2010. All rights reserved.This manual is co

5-24 Operation MN1957www.baldormotion.com5.8 Servo axis - tuning for velocity controlDrive amplifiers designed for velocity control incorporate thei

MN1957 Operation 5-25www.baldormotion.comThe analog demand output is controlled by a 12-bit DAC, which can create output voltages inthe range -10 V

5-26 Operation MN1957www.baldormotion.com9. Using the check boxes below the graph,select the Measured velocity and Demandvelocity traces.Figure 38:

MN1957 Operation 5-27www.baldormotion.com5.8.2 Adjusting KPROPThe KPROP term can be used to reduce following error. Its value will usually be muchsm

5-28 Operation MN1957www.baldormotion.comFigure 39: Correct value of KPROPThe two traces will probably appear with a small offset from each other, w

MN1957 Operation 5-29www.baldormotion.com5.9 Servo axis - eliminating steady-state errorsIn systems where precise positioning accuracy is required,

5-30 Operation MN1957www.baldormotion.com5.10 Digital input/output configurationThe Digital I/O window can be used to setup other digital inputs and

MN1957 Operation 5-31www.baldormotion.com4. Now drag the IN1 icon onto the Fwd Limit icon . This will setup IN1 as the Forward Limit input of axi

5-32 Operation MN1957www.baldormotion.com5.11 Saving setup informationWhen power is removed from the NextMove ESB-2 all data, including configuratio

MN1957 Operation 5-33www.baldormotion.com4. On the main menu, choose File, Save File. Locate a folder, enter a filename and clickSave. 5.11.1 Loadin

1-2 General Information MN1957www.baldormotion.comSafety NoticeOnly qualified personnel should attempt to start-up, program or troubleshoot this equ

5-34 Operation MN1957www.baldormotion.com

MN1957 Troubleshooting 6-1Troubleshooting6 Troubleshooting6.1 IntroductionThis section explains common problems and their solutions. If you want to

6-2 Troubleshooting MN1957www.baldormotion.com6.2 NextMove ESB-2 indicators6.2.1 Status displayThe Status LED normally displays the unit's node

MN1957 Troubleshooting 6-3www.baldormotion.comWhen a node number between 1 and 15 is displayed, it is shown in hexadecimal format(1 - F). For node n

6-4 Troubleshooting MN1957www.baldormotion.com6.2.3 Motor controlIf the problem is not listed below please contact Baldor technical support. Cannot

MN1957 Troubleshooting 6-5www.baldormotion.comMotor runs uncontrollably when controller is switched on and servo loop gains are applied or when a mo

6-6 Troubleshooting MN1957www.baldormotion.com6.2.4 Mint WorkBench Symptom CheckThe Spy window does not updateThe system refresh has been disabled.

MN1957 Troubleshooting 6-7www.baldormotion.com6.2.5 CANopenSymptom CheckThe CANopen bus is ‘passive’ This means that the internal CAN controller in

6-8 Troubleshooting MN1957www.baldormotion.comThe Manager node cannot scan/recognize a node on the network using the Mint NODESCAN keyword.Assuming

MN1957 Troubleshooting 6-9www.baldormotion.com6.2.6 Baldor CANSymptom CheckThe Baldor CAN bus is ‘passive’This means that the internal CAN controlle

MN1957 Introduction 2-1Introduction2 Introduction2.1 NextMove ESB-2 featuresNextMove ESB-2 is a high performance multi-axis intelligent controller

6-10 Troubleshooting MN1957www.baldormotion.com

MN1957 Specifications 7-1Specifications7 Specifications7.1 IntroductionThis section provides technical specifications of the NextMove ESB-2.7.1.1 I

7-2 Specifications MN1957www.baldormotion.com7.1.4 Digital inputs7.1.5 Digital outputs - general purpose7.1.6 Relay outputDescription Unit ValueType

MN1957 Specifications 7-3www.baldormotion.com7.1.7 Stepper control outputsModels NSB202... / NSB204... Models NSB203... / NSB205... 7.1.8 Encoder i

7-4 Specifications MN1957www.baldormotion.com7.1.10 CAN interface7.1.11 EnvironmentalSee also section 3.1.1.7.1.12 Weights and dimensionsDescription

MN1957 Specifications 7-5www.baldormotion.com7.1.13 Declaration of ConformityManufacturerAddressThe Electromagnetic Compatibility Directive 2004/108

7-6 Specifications MN1957www.baldormotion.com

MN1957 Accessories A-1AccessoriesA AccessoriesA.1 IntroductionA variety of accessories are available to expand the capabilities of the NextMove ESB

A-2 Accessories MN1957www.baldormotion.comA.1.2 Baldor CAN nodesDigital I/O can be expanded easily on NextMove ESB-2 using the Baldor CAN (CAN2)conn

MN1957 Accessories A-3www.baldormotion.comA.1.3 HMI panelsA range of programmable HMI (Human Machine Interface) panels are available with serial orC