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Baldor NextMove ESB-2 User Manual

Baldor NextMove ESB-2
116 pages
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iv Contents MN1957
Servo Systems Co. • 115 Main Road • P.O. Box 97 • Montville, NJ,
07045-0097 • (973) 335-1007 • Toll Free: (800) 922-1103
Fax: (973) 335-1661 • www.servosystems.com

Table of Contents

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Baldor NextMove ESB-2 Specifications

General IconGeneral
BrandBaldor
ModelNextMove ESB-2
CategoryController
LanguageEnglish

Summary

General Information

Limited Warranty

Baldor will repair or replace defective controls and accessories within two years of purchase, subject to terms.

Safety Notice

Precautions

Key precautions for handling and operating the equipment, including electrical shock and medical device warnings.

Introduction to NextMove ESB-2

NextMove ESB-2 Features

Details the capabilities and standard features of the NextMove ESB-2 motion controller.

Receiving and Inspection

Instructions for checking the condition and contents of the NextMove ESB-2 upon delivery.

Identifying the Catalog Number

Guidance on identifying the specific catalog number of the NextMove ESB-2 model.

Units and Abbreviations

List of units and abbreviations used throughout the manual for clarity and reference.

Basic Installation Procedures

Installation Introduction

Overview of the basic installation process and importance of correct steps.

Location Requirements

Specifies environmental and location criteria for safe and reliable installation of the unit.

Mounting the NextMove ESB-2

Instructions on how to physically mount the NextMove ESB-2 unit, including clearance and orientation.

Other Installation Requirements

Details PC specifications, software, and other necessary components for installation.

Input and Output Capabilities

Input/Output Introduction

Introduction to the section describing the input and output capabilities of the controller.

Connector Locations

Diagrams and descriptions of connector locations on the NextMove ESB-2 for I/O and communication.

Analog Input/Output

Details the specifications and wiring for the analog input channels of the controller.

Analog Outputs

Details the specifications and wiring for the analog output channels of the controller.

Digital Input/Output

Explains the configuration and use of the 20 general purpose digital inputs on the controller.

DIN0-DIN3 Fast Interrupts

Details fast interrupt capabilities for digital inputs DIN0 to DIN3.

DIN4-DIN11 Digital Inputs

Describes the opto-isolated digital inputs DIN4 to DIN11 and their common connection.

DIN12-DIN19 Digital Inputs

Describes the opto-isolated digital inputs DIN12 to DIN19 and their common connection.

Auxiliary Encoder Inputs (DIN17-DIN19)

Explains using digital inputs DIN17-DIN19 as auxiliary encoder inputs for motion control.

Typical Digital Input Wiring

Illustrates common wiring examples for digital inputs using switches and Baldor FlexDrive.

Digital Outputs

Explains the configuration and use of the 12 general purpose digital outputs on the controller.

DOUT0-DOUT7 Digital Outputs

Details the specifications and wiring for digital outputs DOUT0 to DOUT7.

Other I/O Options

Details other input/output functionalities not covered in Analog or Digital I/O.

Stepper Control Outputs (NSB202/204)

Details stepper motor control outputs (RS422 differential) for specific models.

Stepper Control Outputs (NSB203/205)

Details stepper motor control outputs (open collector) for specific models.

Encoder Inputs 0-4

Describes connecting and using incremental encoder inputs with the controller.

Encoder Input Frequency

Discusses the effect of cable length on encoder input frequency and provides a table of maximum lengths.

Relay Connections

Explains the relay outputs and their configuration for error signaling or drive enable.

USB Port Connectivity

Details the USB port for connecting the controller to a PC for programming and configuration.

Serial Port

Describes the serial port (RS232/RS485) and its configuration options.

Using RS232

Provides details on the preset configuration and hardware handshaking for the RS232 serial port.

Multidrop RS485/RS422

Explains how to set up multidrop networks using RS485/RS422 for connecting multiple devices.

Connecting Baldor HMI Panels

Illustrates how to connect Baldor HMI panels via RS232 or RS485/422 serial connections.

CAN Communication Bus

Introduction to the CAN bus, its protocol, and support for CANopen and Baldor CAN.

CAN Connector Details

Details the RJ45 connector used for CAN communication and its pin configuration.

CAN Wiring Guidelines

Provides guidelines for proper CAN bus wiring, termination, and impedance matching.

CANopen Protocol

Explains the CANopen protocol implementation, supported devices, and network configuration.

CAN Opto-isolators and Power Supply

Details the CAN opto-isolators and the required power supply for the CAN interface.

Baldor CAN Protocol

Describes Baldor's proprietary CAN protocol, supported nodes, and network configuration.

Minimum System Wiring Summary

Operation Guide

Operation Introduction

Overview of connecting the controller to a PC and installing software for configuration.

Connecting to PC

Instructions for connecting the controller to a PC via serial or USB cable.

Installing Mint Software

Steps for installing the necessary PC software for configuring and tuning the controller.

Starting the Controller

Guidance on powering up and preparing the controller after initial setup.

Preliminary Checks

Checks to perform before applying power to ensure correct installation and wiring.

USB Driver Installation

Steps for installing the USB driver required for PC communication.

Mint Machine Center

Details the function of Mint Machine Center for viewing and managing connected controllers.

Starting Mint Machine Center (MMC)

Step-by-step guide to launching and using the Mint Machine Center application.

Mint WorkBench

Introduction to the Mint WorkBench software for programming and controlling the motion controller.

Mint WorkBench Help File

Describes the comprehensive help file integrated with Mint WorkBench for keyword and topic information.

Starting Mint WorkBench

Instructions on how to start a new project and connect to the NextMove ESB-2 using Mint WorkBench.

Axis Configuration

Guide to configuring axes as servo or stepper, assigning hardware channels.

Selecting Axis Type

Guide to configuring axes as servo or stepper, assigning hardware channels.

Selecting Axis Scale

Explains how to set the scale factor for user-defined units in motion commands.

Setting Drive Enable Output

Procedure for configuring digital outputs or relays to enable/disable the drive for error conditions.

Testing Drive Enable Output

How to test the functionality of the drive enable output configuration using Mint WorkBench.

Stepper Axis Testing

Tests the operation and direction of stepper motor outputs using basic commands.

Testing Stepper Output

Tests the operation and direction of stepper motor outputs using basic commands.

Servo Axis Testing and Tuning

Tests the servo axis demand output and verifies motor response using commands.

Testing Servo Demand Output

Tests the servo axis demand output and verifies motor response using commands.

Introduction to Closed Loop Control

Explains the basic principles of closed loop control and the role of gains like KPROP.

Servo Axis Tuning for Current Control

Guide to selecting and adjusting servo loop gains (KDERIV, KPROP) for optimal performance.

Selecting Servo Loop Gains

Guide to selecting and adjusting servo loop gains (KDERIV, KPROP) for optimal performance.

Underdamped Response Correction

How to identify and correct underdamped response (overshoot) by adjusting gains.

Overdamped Response Correction

How to identify and correct overdamped response (slowness) by adjusting gains.

Critically Damped Response

Describes the ideal critically damped response for servo axis tuning.

Servo Axis Tuning for Velocity Control

Step-by-step calculation for determining the KVELFF feedforward gain value.

Calculating KVELFF Gain

Step-by-step calculation for determining the KVELFF feedforward gain value.

Adjusting KPROP Gain

How to adjust the KPROP gain to reduce following error in velocity control.

Eliminating Servo Steady-State Errors

Explains using integral gain (KINT) and its limit (KINTLIMIT) to correct steady-state errors.

Using Integral Gain (KINT)

Explains using integral gain (KINT) and its limit (KINTLIMIT) to correct steady-state errors.

Digital Input/Output Configuration

Guide to configuring digital inputs for special functions like home or limit inputs.

Digital Input Configuration

Guide to configuring digital inputs for special functions like home or limit inputs.

Digital Output Configuration

Guide to configuring digital outputs, including drive enable output settings.

Saving Setup Information

Instructions on how to save configuration and tuning parameters to a file.

Saving Setup Information

Instructions on how to save configuration and tuning parameters to a file.

Loading Saved Information

How to load previously saved configuration and tuning parameters.

Troubleshooting Guide

Troubleshooting Introduction

Introduction to troubleshooting common problems and finding solutions.

Problem Diagnosis

General advice on diagnosing installation or operational problems with the controller.

SupportMe Feature

Explains the SupportMe feature for gathering and providing system information to technical support.

NextMove ESB-2 Indicators

Explains the meaning of symbols displayed on the controller's status LED for various operational states.

Status Display Interpretation

Explains the meaning of symbols displayed on the controller's status LED for various operational states.

Communication Troubleshooting

Troubleshooting common communication issues between the PC and the controller.

Motor Control Troubleshooting

Troubleshooting common motor control problems, such as failure to turn or uncontrolled motion.

Mint WorkBench Troubleshooting

Troubleshooting issues related to the Mint WorkBench software, including Spy window updates and firmware download.

CANopen Troubleshooting

Troubleshooting CANopen bus issues, including passive or off states and node recognition.

Baldor CAN Troubleshooting

Troubleshooting Baldor CAN bus issues, including passive or off states.

Technical Specifications

Specifications Introduction

Introduction to the section providing technical specifications for the NextMove ESB-2.

Input Power Specifications

Details the nominal input voltage and power consumption requirements of the controller.

Analog Input Specifications

Provides technical specifications for the analog input channels, including voltage range and resolution.

Analog Output Specifications

Provides technical specifications for the analog output channels, including voltage range and current.

Digital Input Specifications

Lists specifications for digital inputs, including supply voltage and input voltage levels.

General Purpose Digital Output Specs

Details specifications for general purpose digital outputs, including current and update interval.

Relay Output Specifications

Specifies the contact rating and operating time for the relay output.

Stepper Control Output Specs

Lists specifications for stepper control outputs, including output type and frequency.

Encoder Input Specifications

Provides specifications for encoder inputs, including signal type and power supply.

Serial Port Specifications

Details specifications for the serial port, including signal type and supported bit rates.

CAN Interface Specifications

Specifies details for the CAN interface, including signal, channels, protocols, and bit rates.

Environmental Specifications

Lists environmental specifications like operating temperature range and maximum humidity.

Weights and Dimensions

Provides the weight and nominal overall dimensions of the controller unit.

Declaration of Conformity

Declaration of Conformity statement regarding EMC and Machinery Directives.

Available Accessories

Accessory Introduction

Introduction to the accessories available to expand the controller's capabilities.

Feedback Cable Options

Details Baldor feedback cables for connecting drive amplifiers to encoder inputs.

Baldor CAN Node Options

Describes Baldor CAN nodes for expanding digital I/O and operator panel connectivity.

HMI Panel Options

Lists available programmable HMI panels with serial or CANopen communication.

Baldor Keypad

Describes the Baldor keypad for operator interface and machine control.

Mint NC Software

Introduces Mint NC software for creating contouring and profiling motion commands from CAD data.

Mint Keyword Summary

Keyword Summary Introduction

Introduction to the summary of Mint keywords supported by the controller.

Comprehensive Keyword Listing

A comprehensive list of Mint keywords and their descriptions for programming the controller.

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