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NextMove e100
ABB NextMove e100 User Manual
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MN1941WEN
Operation 5-27
Figure 37: The Nex
tMove
e
100 servo loop
Profile Generato
r
Power Amp
Servo Motor
Demand
Accelerati
on
Demand
Ve
lo
c
it
y
Demand
Position
Measured
Ve
lo
c
it
y
Measured
Position
KACCEL
Accelerati
on
Feedforward
KVELFF
Ve
lo
c
it
y
Feedforward
KVEL
Ve
l
o
ci
t
y
Feedback
KPROP
Proportional
Gain
KINT
Integral
Gain
KDERIV
Derivative
Gain
DACLIMA
TMAX
Clip DAC output
76
78
Table of Contents
Default Chapter
3
Table of Contents
3
1 General Information
7
2 Introduction
9
Nextmove E100 Features
9
Receiving and Inspection
11
Identifying the Catalog Number
11
Units and Abbreviations
12
3 Basic Installation
13
Location Requirements
13
Mounting the Nextmove E100
14
Other Requirements for Installation
15
4 Input / Output
17
Connector Locations
18
Analog I/O
19
Analog Inputs
19
Analog Outputs
21
Digital I/O
23
Digital Inputs
23
Digital Outputs and Relay
28
Stepper Control Outputs - Models NXE100-16Xxdx
30
Stepper Control Outputs - Models NXE100-16Xxsx
31
Other I/O
32
Encoder Inputs 0-2
32
Node ID Selector Switches
34
USB and Serial Communication
37
USB Port
37
Serial Port
38
Using RS232
38
Multidrop Using RS485 / RS422
39
Connecting Serial Baldor HMI Operator Panels
40
Ethernet Interface
41
Tcp/Ip
41
Ethernet POWERLINK
42
Ethernet Connectors
43
CAN Interface
44
CAN Connector
44
CAN Wiring
44
Canopen
45
Connection Summary - Minimum Wiring (Local Axis)
47
Connection Summary - Minimum Wiring (Remote Axis)
49
5 Operation
51
Introduction
51
Connecting the Nextmove E100 to the PC
51
Installing Mint Workbench
52
Starting the Nextmove E100
52
Preliminary Checks
52
Power on Checks
52
Installing the USB Driver
53
Configuring the TCP/IP Connection (Optional)
54
Mint Machine Center
55
Starting MMC
57
Viewing Remote Nodes Connected over Ethernet (Optional)
58
Mint Workbench
59
Help File
60
Starting Mint Workbench
61
Configuring Axes
63
Local Axes, Remote Axes and Profilers
63
Configuring Remote Axes
64
Configuring Local Axes
66
Selecting a Scale
67
Setting the Drive Enable Output (Optional, Local Axes Only)
69
Testing the Drive Enable Output
71
Local Stepper Axis - Testing
72
Testing the Output
72
Local Servo Axis - Testing and Tuning
73
Testing the Demand Output
73
An Introduction to Closed Loop Control
75
Local Servo Axis - Tuning for Current Control
78
Selecting Servo Loop Gains
78
Underdamped Response
80
Overdamped Response
81
Critically Damped Response
82
Local Servo Axis - Tuning for Velocity Control
83
Calculating KVELFF
83
Adjusting KPROP
86
Local Servo Axis - Eliminating Steady-State Errors
88
Local Digital Input/Output Configuration
89
Digital Input Configuration
89
Digital Output Configuration
90
6 Troubleshooting
91
Introduction
91
Problem Diagnosis
91
Supportme Feature
91
Nextmove E100 Indicators
92
Status Led
92
CAN Leds
92
ETHERNET Leds
93
Communication
94
Motor Control
94
Mint Workbench
95
Ethernet
96
Canopen
96
7 Specifications
99
Introduction
99
Input Power
99
Analog Inputs
99
Analog Outputs
99
Digital Inputs
100
Digital Outputs
100
Relay Output
100
Stepper Control Outputs
101
Encoder Inputs
101
Serial Port
101
Ethernet Interface
101
CAN Interface
102
Environmental
102
Weights and Dimensions
102
Cables
103
Feedback Cables
103
Ethernet Cables
103
A.1 Cables
103
Power Supplies
104
A.1.3 24 V Power Supplies
104
B Mint Keyword Summary
105
Introduction
105
Keyword Listing
105
B.1 Introduction
105
C CE & Environmental Guidelines
121
Outline
121
CE Marking
121
Compliance with the EMC Directive
121
C.1 Outline
121
Use of CE Compliant Components
122
EMC Installation Suggestions
122
Wiring of Shielded (Screened) Encoder Cables
122
Marks
122
Rohs Compliance
122
China Rohs Marking
123
WEEE Notice
123
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60 pages
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ABB NextMove e100 Specifications
General
Brand
ABB
Model
NextMove e100
Category
Controller
Language
English
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