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4-26 Input / Output MN1957
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4.5.4 Baldor CAN
The NextMove ESB-2 must have the Baldor CAN firmware loaded to use this protocol.
Baldor CAN is a proprietary CAN protocol based on CAL. It supports only the following range
of Baldor CAN specific I/O nodes and operator panels:
InputNode 8 (Baldor part ION001-503) - an 8 x digital input CAN node.
OutputNode 8 (Baldor part ION003-503) - an 8 x digital output CAN node.
RelayNode 8 (Baldor part ION002-503) - an 8 x relay CAN node.
IoNode 24/24 (Baldor part ION004-503) - a 24 x digital input and 24 x digital output CAN
node.
KeypadNode (Baldor part KPD002-501, obsolete) - an operator panel CAN node with a
4 x 20 LCD display and 27 key membrane labeled for control of 3 axes (X, Y, Z).
KeypadNode 4 (Baldor part KPD002-505, obsolete) - an operator panel CAN node with a
4 x 20 LCD display and 41 key membrane labeled for control of 4 axes (1, 2, 3, 4).
A typical Baldor CAN network with a NextMove ESB-2 and a Baldor CAN operator panel is
shown in Figure 29.
Figure 29: Baldor CAN operator panel connections
The NextMove ESB-2 CAN channel is opto-isolated, so a voltage in the range 12-24 V must
be applied to pin 5 of the CAN connector. From this supply, an internal voltage regulator
provides the 5 V required for the isolated CAN circuit. The required 12-24 V can be sourced
from the Baldor CAN I/O node or operator panel's supply, which is internally connected to the
CAN connector as shown in Figure 29.
On Baldor CAN I/O nodes and operator panels, jumpers JP1 and JP2 must be set to position
‘1’ (the lower position) for the network to operate correctly. This configures the node's CAN
channel to operate on pins 1 and 2 of the RJ45 connectors. On the Baldor CAN node, jumper
JP3 can be used to connect an internal 120 Ω terminating resistor, provided the node is at
the end of the network. Jumpers JP4 and JP5 can be used to configure the node ID and
baud rate.
Up to 63 Baldor I/O nodes (including no more than 4 operator panels) can be added to the
network by the NextMove ESB-2 using the Mint NODETYPE keyword. Any network and node
related events can then be monitored using the Mint BUS2 event.
24V
0V
Operator
panel
supply
Twisted pairs
141
23 2
51
5
42
4
CAN+
Baldor CAN Operator Panel
J1 /J2
JP3
J3
RJ45
NextMoveESB-2
0V
CAN-
24V
T
R
T
R
- MN1957 NextMove ESB-2 1
- Contents 3
- 5 Operation 4
- 6 Troubleshooting 4
- Appendices 5
- General Information 7
- 1 General Information 7
- Safety Notice 8
- Precautions 8
- 2.1 NextMove ESB-2 features 9
- 2-2 Introduction MN1957 10
- 2.2 Receiving and inspection 11
- 2.3 Units and abbreviations 12
- 3.1 Introduction 13
- 140 (5.51) 14
- 124 (4.9) 14
- 45 (1.8) 14
- 4.1 Introduction 17
- 4.1.1 Connector locations 18
- 4.2 Analog I/O 19
- 4.2.2 Analog outputs 21
- , Flex+Drive 22
- , MintDrive 22
- 4.3 Digital I/O 23
- 4-10 Input / Output MN1957 26
- MN1957 Input / Output 4-11 27
- 4.3.2 Digital outputs 28
- 4.4 Other I/O 29
- 4-14 Input / Output MN1957 30
- 4.4.3 Encoder inputs 0-4 31
- 4-16 Input / Output MN1957 32
- 4.4.4 Relay connections 34
- 4.4.5 USB port 34
- 4.4.6 Serial port 35
- 4.4.7 Using RS232 35
- 4-20 Input / Output MN1957 36
- MN1957 Input / Output 4-21 37
- 4.5.1 CAN connector 38
- 4.5.2 CAN wiring 39
- 4.5.3 CANopen 40
- MN1957 Input / Output 4-25 41
- 4.5.4 Baldor CAN 42
- MN1957 Input / Output 4-27 43
- MN1957 Input / Output 4-29 45
- 4-30 Input / Output MN1957 46
- 5.1 Introduction 47
- 5.1.4 Preliminary checks 48
- 5.1.5 Power on checks 48
- 5.2 Mint Machine Center 49
- 5.2.1 Starting MMC 50
- 5.3 Mint WorkBench 51
- 5.3.1 Help file 52
- 5.3.2 Starting Mint WorkBench 53
- 5-8 Operation MN1957 54
- 5.4 Configuring an axis 55
- 5.4.2 Selecting a scale 56
- MN1957 Operation 5-11 57
- 5-12 Operation MN1957 58
- 5.5 Stepper axis - testing 59
- 5-14 Operation MN1957 60
- MN1957 Operation 5-15 61
- 5-16 Operation MN1957 62
- MN1957 Operation 5-17 63
- 5-18 Operation MN1957 64
- MN1957 Operation 5-19 65
- 5-20 Operation MN1957 66
- 5.7.2 Underdamped response 67
- 5.7.3 Overdamped response 68
- MN1957 Operation 5-23 69
- 5.8.1 Calculating KVELFF 70
- MN1957 Operation 5-25 71
- 5-26 Operation MN1957 72
- 5.8.2 Adjusting KPROP 73
- 5-28 Operation MN1957 74
- MN1957 Operation 5-29 75
- 5-30 Operation MN1957 76
- MN1957 Operation 5-31 77
- 5.11 Saving setup information 78
- MN1957 Operation 5-33 79
- 5-34 Operation MN1957 80
- 6.1 Introduction 81
- 6.2 NextMove ESB-2 indicators 82
- 6.2.2 Communication 83
- 6.2.3 Motor control 84
- MN1957 Troubleshooting 6-5 85
- 6.2.4 Mint WorkBench 86
- 6.2.5 CANopen 87
- 6-8 Troubleshooting MN1957 88
- 6.2.6 Baldor CAN 89
- 6-10 Troubleshooting MN1957 90
- 7.1 Introduction 91
- 7.1.4 Digital inputs 92
- 7.1.6 Relay output 92
- 7.1.7 Stepper control outputs 93
- 7.1.8 Encoder inputs 93
- 7.1.9 Serial RS232/RS485 port 93
- 7.1.10 CAN interface 94
- 7.1.11 Environmental 94
- 7.1.12 Weights and dimensions 94
- EC Declaration of Conformity 95
- 7-6 Specifications MN1957 96
- A.1 Introduction 97
- A.1.2 Baldor CAN nodes 98
- A.1.3 HMI panels 99
- A.1.4 Baldor keypad 99
- A-4 Accessories MN1957 100
- B.1 Introduction 101
- MN1957 Index 115
- Index MN1957 116
- Comments 119
- Comments MN1957 120
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