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Baldor Real-Time Ethernet Motion Solutions

1. PC host TCP IP HMI EELEE CANopen Dual axis F La Mint Module jessy om nin Line shaft installed CANopen slice 1 0 encoder via Mint option card lt gt Hi speed registration Mint Card analog 3 te output to control lt lt JA open loop inverter or combine with encoder input for closed loop DAQ 7 Q O A D S ES Encoder Resolver dual feedback AC Inverter vector AC servo AC or servo motor vector or linear motor Courtesy of Steven Engineering Inc 230 Ryan Way South San Francisco CA 94080 6370 Main Office 650 588 9200 Outside Local Area 800 258 9200 www stevenengineering com Ae rnet d TCP IP Assumes control of Drive Ett Powerlink Manager or contro Real time Ethernet performa TCP IP mode of operation n with ActiveX support ETHERNET Si POWERLINK CANopen network manager s I O expansion HMI and othe Communicate with other Mir The host drive USB interface for programming or ActiveX i a Microsoft Windows applica Advanced Multi Axis Module This option provides an extremely compact multi axis motion control package It can coordinate multiple axes via the MotiFlex Ethernet interface MotiFlex option cards within the system become available to the Mint card as additional I O encoder channels and fieldbus communication ports to other systems such as PLCs The drive CANopen port can be used extend system I O or add an HMI and t
2. Network Manager Controlled Node Application 00 A PLA ARA Asvnc FASES L EPL Router Gateway IP Routing Powerlink EPL Powerlink EPL Real Time Ethernet Block diagram showing a Powerlink protected network segment connected to a standard Ethernet network via an EPL router with integrated firewall Bandwidth Optimization 101101 8 4 0 Powerlink provides the freedom to prioritize nodes on the network by multiplexing within time slots In the diagram below nodes 1 2 and 3 are critical and are updated every cycle Nodes 4 through 11 share time slots This allows fast cycle times to be maintained with optimized network bandwidth Cycle n 1 Cycle n 2 Every Cycle 1 2 3 This diagram shows network bandwidth optimization by multiplexing nodes within time slots Time e100 Real Time Ethernet Solutions Real time Ethernet Superior Drive Control One major aspect of Real Time Ethernet is its advancement in control of drive technologies such as Servo and Vector drives State of the art in terms of control network Ethernet Powerlink also excels in replacing traditional drive interfaces and fieldbus systems The table below highlights some of the benefits over traditional control wiring Analog demand 2 core shield Reduced hardware requirements Simulated Encoder minimum 7 wires shield Less cabling i
3. i vere bet i Multiple channels of display Cursor measurement Save open print functions Independent axes scaling Plot X against Y position Trigger and repeat capture modes FFT analysis System and axes configuration e on motion controllers View monitor edit save and print parameter files Live or offline mode Multiple parameter file comparison Changed from default indication User configured parameter views Wizards have been designed to automate many tasks reducing set up time and minimizing knowledge required by incorporating the knowledge of skilled technicians These step by step guides automate processes such as network configuration drive configuration auto tuning and more Detailed access to drive configuration is catered for by a parameter viewer which also provides useful tools for parameter file comparison highlighting changes between files and changes form factory defaults Advanced digital filtering techniques can be applied to reduce the effect of mechanical resonance on system performance The drive has two separate digital filters Each can be adapted to specific frequencies as notch filters or as low pass filters Adapting the filters to eliminate or reduce the effects of resonance allow higher system gains and tighter control to be attained This maximizes machine control bandwidth without suffering from the increased resonance and performance degradation that would otherwise r
4. Communications J com Perfect Partners Ethernet Powerlink EPL CANopen Powerlink utilizes the well established and proven CANopen application layer and device profiles in accordance with EN 50325 4 and provides the perfect choice for CANopen users looking to migrate to real time Ethernet EPL Hardware CAN Hardware CANopen Transport Layer CAN Application Layer Object Dictionary SDO and PDO A e100 drives are built on the CAN in Automation CiA DSP 402 profile for positioning drives now part of IEC 61800 7 This results in a drive technology which is inherently more flexible and intelligent Drives not only provide velocity or torque regulation but can also perform positioning tasks such as IP Interpolated Position Mode point to point motion and homing sequences And all with minimal overhead on the motion controller Control and Status Interface DSP 402 Drive Profile PP Profile Position Mode gt A E Velocity Regulator PV Profile Velocity Mode y The NextMove e100 can coordinate up to 16 axes in l l l l l l HM Homing Mode BD axis Traj r e l s Trajectory Profiler p Position Regulator l l l l l PT Profile Torque Mode D D Torque Regulator precisely coupled motion such as vectors arcs and helical paths Additional DSP 402 drives can be configured to perform their own motion tasks when commanded to do so This vastly expands the number of axes that can be controll
5. Flying Shear Allows position synchronization of a Slave axis to a master with defined acceleration and deceleration profiles all linked by software to product movement Virtual Axes Allows motion to be executed without virtually Can be used to test applications or as a virtual master for electronic line shaft applications Refer to Catalog BR1202 B for further information on the Mint programming language 300 A la EFA Y i lh HA L i in da Rei apy MP ES pim KERI NL TibhFLT ry ina LE FEN FU ars LA pew er Erio oe EA a TIA Sir IP es ca AL a i IATA A Tier A A ai Jig Li Io po ET cad LE Tiri Lee pki a x Pi O yae a HE AE Ti ne gt 3 i E A y r ei z 5 eee APO A ee j l aff i ae ee fe fe RAS i _ y d a on P a a Pity Fr j y Bl et MINA AS ZA i id As A es Monitoring Tools When fine tuning of axis performance from the auto tuned results is necessary the Fine tuning workspace is selected from the tool bar and the available Spy tabs change to suit axis tuning functions and provide the following features The SPY window provides a number of simple monitoring and test features organized into tabs The default tab shows useful axis status information and allows the user to select the axis to monitor Other tabs include the following features an Way South San Francisco
6. Dual Axis Mint Module The dual axis Mint module provides a simple but powerful solution to applications requiring a fully programmable drive The encoder input and analog output can be used to control a secondary axis such as an analog servo or vector drive Alternatively the encoder input can be used as a line shaft encoder for electronic gearing motion Combine this with options such as additional feedback or expanded I O options to tailor the drive for your application Example 3 Options fitted Dual Axis Mint Module N E Second feedback card for line shaft following or dual loop feedback HMI connected to the drive on CANopen 3 1 Additional distributed I O managed on CANopen by the drive Control of one analog axis using the encoder input and analog output or use independently for other control functions Compact solution requiring less panel space and wiring Elimination of external controller or PLC saving cost and reducing complexity Once installed the Mint module will assume control of the CANopen port and Ethernet interface The Ethernet port can be used as a TCP IP interface from a host PC using the Mint Activex tools CANopen HMI and expanded system I O can be added and distributed around the machine It can also be a controlled node of a much larger Powerlink control system receiving control information from NextMove e100 for example and controlling a local intelligent subsystem
7. Real Time Ethernet Courtesy of Steven Engineering Inc 230 Ryan Way South San Francisco CA 94080 6370 Main Office 650 588 9200 Outside Local Area 800 258 9200 www stevenengineering com e100 Real Time Ethernet Control Baldor s e100 control products provide a cutting edge solution to machine control The e100 family includes compact single phase drives three phase AC drives with DC bus energy sharing and Baldors Mint motion control technology Combined with real time Ethernet they provide a platform for implementing a wide variety of machine control applications Multi axis machine controllers Single and three phase drives solutions Programmable intelligent drive options Integrated real time Ethernet TCP IP operating modes for less time critical applications CANopen networking for low cost IO and system interfacing Single and three phase drive solutions DC shared drive systems for optimal energy efficiency Expansion options provide an adaptable architecture Fieldbus communication options to interface to 3rd party systems New Possibilities The e100 Platform Courtes of Steven Engineering Inc 230 Ryan Way South San Francisco CA 94080 6370 Main Office 650 588 9200 Outside Local Area 800 258 9200 www stevenengineering com Ethernet is now the de facto standard for motion control in automation With thousands of installed nodes Ethernet Powerlink has led the way in real
8. Stepper axes can be controlled from any of the four onboard step and direction outputs The stepper outputs can also be used to interface to Baldor s FlexDrive ll or MicroFlex servo drives Integrated Stepper Motor Drive Technology Baldor s range of DSM integrated stepper motors drivers are ideally Suited for use with NextMove ESB e100 Combining both a high torque stepper motor and microstepping drive in one compact integrated package the DSM motor driver combination requires only power and pulse direction signals in order to operate 16 interpolated axes in single or multiple coordinate groups Manage additional independent DSP 402 positioning Drives non interpolated Limit application dependant Axis Type Ethernet Powerlink EPL v2 3 closed loop axes 10V interface with 5V RS422 incremental encoder inputs 4 open loop axes Stepper interface Step amp Direction outputs 5V differential line driver 5MHz or 5V Darlington open collector single ended 500KHz max selected by order option Powerlink Device EPL DSP 401 I O devices for I O expansion Type Support EPL DSP 402 Positioning Drives such as MicroFlex e100 EPL Absolute Encoders Manage up to 16 interpolated axes and additional DSP 402 axes Contact Baldor for information on additional 3rd party products supported Ethernet Specification 100Mbit IEEE802 3u compliant Protocol Ethernet Powerlink V2 EPL and IP protocols TCP UDP Interface Integrated
9. The NextMove e100 builds on the proven NextMove controller family and now integrates management of a real time Ethernet network Drives I O devices sensors absolute encoders and more can be added to the Powerlink network and controlled from the Mint programming language Ethernet greatly simplifies system design and installation and simultaneously expands the capabilities of the NextMove e100 as a machine control platform Interpolation on 16 Axes Add I O Encoders and More NextMove e100 can perform interpolation on 16 axes as A Powerlink network can contain many devices including either a single coordinate group or as multiple coordinate I O absolute encoders gateways and DSP 402 positioning systems operating independently with their own scale drives such as the MicroFlex e100 DSP 402 axes factors and move buffers Alternatively all 16 can operate provide simple point to point motion homing sequences as independent axes jog control and torque demand functions Example applications include guide axes indexers conveyors tension rollers and more Courtesy of Steven Engineering Inc 230 Ryan Way South San Francisco CA 94080 6370 Main Office 650 588 9200 Outside Local Area 800 258 9200 www stevenengineering com System I O expansion Communicate with Baldor HI Control legacy analog servo i inverters servo hydraulics Use the encoders and analog application purposes Communications USB Serial USB interface
10. time Ethernet since its beginnings in 2003 Powerlink communication software is integrated within all of Baldor s e100 products as standard and is the core around which its flexibility and scalability is achieved e100 products can also operate in a non real time mode using TCP IP communications for less demanding applications ETHERNET i F POWERLINK real time technology Machine Intelligent Software Mint Workbench pi A a 2 EEE A i de A ENE IOMA Ait 7 ERA rat O h aO I tri a ah Y A a mE f e i oe gt oo L oe i Se oic exc Dodol s S a pes e H L mn Hv Se o a J hh ay LP ar MOL Tut a i L Lal Li A y i i 10 a ry l AL 1 F rP I j r EE l Tit ar r F T ar i P Ee E z h ug a a a a a e i i Hr a pka poit a A ad E E P24 P23 P32 D P46 Powerlink Machine Controller Compact Powerlink Servo Drive Powerlink DC Shared AC Drives e100 and Accessories Courtesy of Steven Engineering Inc 230 Ryan Way South San Francisco CA 94080 6370 Main Office 650 588 9200 Outside Local Area 800 258 9200 www stevenengineering com e100 New Possibilities As designers engineers are constantly pushing technology to its limits control solutions have been constrained by the performance of traditional fieldbus systems and device hardware but the advent of real time industrial Ethernet is expanding these boundarie
11. 258 9200 www stevenengineering com e100 Real Time Ethernet Solutions DC Shared Operation Energy Efficient Design As energy costs rise efficiency of machine operation becomes an increasingly critical measure of modern machine design Energy generated by axes during braking or load driven operations is often wasted as heat in regeneration resistors The simplest and most cost effective solution is allowing other drives to consume the energy All MotiFlex drives include the ability to share DC energy as standard and more uniquely are able to provide power to other drives Each MotiFlex drive can convert power from the AC supply to share with other drives eliminating the need for separate power supplies Installation Cost Savings MotiFlex DC shared systems reduce the number of line The ability to power other drives eliminates the need side components such as contactors circuit breakers for a separate DC power supply in many applications fuses and cabling reducing cost simplifying design further reducing system costs And where required a and inherently improving reliability through reduction of single regenerative resistor can be added to provide components and complexity any occasional or safety margin power dissipation requirements Shared DC Bus Benefits Y Y Single AC supply Installation cost savings a EEUN Fewer AC side components such as contactors fuses or circuit breakers Less cabling connectors termin
12. CA 94080 6370 Main Office 650 588 9200 Outside Local Area 800 258 9200 www stevenengineering com il Bil Monitoring Tools Context Sensitive Help Pa aa Watch Window LP a a ak ye ie EA a q se q A ea Trea ALA 5 az OO EL fee pe AO Co 7 Faj ap 3 ez o e CMON E SL e Pe ome ON VE it Cun y is End Quick Access Toolbox The most commonly required functions are easily accessed from a tool bar changing the workspace to suit the job at hand This toolbox adapts to the type of product being configured and includes Ema i Courtesy of S ngineering Inc 230 Ryan Way South San Francisco CA 94080 63 Program Editor The program editor features a rich set of high level language editing and debugging features including Color syntax highlighting Breakpoints and single step debugging Watch point monitoring Tree view software navigator Variable watch window Task status window Compilation errors and warnings report Integrated Context Sensitive Help A press of the F1 key takes you to the Mint integrated help instantly presenting you with information relating to the feature you are trying to use For example this could be a stage in the drive commissioning wizard or the highlighted Mint keyword in the program editor Program Navigation The tree view Program Navigator provides structural overview of your program and a fast method to
13. For greater 1 0 count or distributed approaches the integrated CANopen port can be used to manage CANopen DSP 401 1 0 devices Fieldbus Modules A range of plug in fieldbus interfaces provide a simple approach to interfacing to other systems The fieldbus option allows any Baldor e100 system to communicate with devices such as PLC s PC s and embedded controllers Recipe data control interlocks and system Status information can easily be exchanged This is particularly useful for interfacing to existing machine sub systems or for OEM s that must provide the end users PLC of choice while maintaining a common motion platform Programmable Option Modules The addition of the single axis Mint motion control card will convert the standard MotiFlex into a fully programmable multitasking intelligent drive The multi axis Mint module will control a number of drives connected on Ethernet Powerlink as a self contained coordinated machine control system This provides major Savings on installation and component costs in the most compact package See page 12 13 for more information Courtesy of Steven Engineering Inc 230 R CA 94080 6370 Main Office 650 588 9200 Outside Local Area 800 258 9200 www stevenengineering com MotiFlex has an integrated Universal Encoder Input UEI as standard This supports incremental Halls SSI EnDat 2 1 2 2 and Sin Cos encoders Additional feedback options can be fitted and used as motor commutation
14. 10 Duty 6092 330 150 4kHz 25 3 5 29 43 5 33 5 50 25 Resistance 2 150 for 60 100 Duty 150 689 609 As SkHz 23 34 5 26 39 26 33 7 econ 1 L6kttz 14 21 125 18 75 ae i 10 7KW 194kW 42 7KW Rated AkHz 25 27 5 29 31 9 33 5 36 85 Power 4 2kW 9 4kW 10 7kW 110 for 9 ao i j az 23 253 26 28 6 26 oo duty aie 16kHz 15 16 5 12 5 13 75 E 1 10 duty ratings are based on absolute minimum i resistance value Notes Nominal drive ratings shown in red are based on 200 overload at 45 C 113 F 2 ols UES OEE ba DE busc ahata Oporto Uee the 100 duty rating and resistors Power Supply Temperature Overload The rating information shown i is provided as a guide for the Sn ToS 30A 26A 35A 28A 40A 34A nominal operating conditions of 45 C 113 F on 415VAC supply A 18 3kW 15 9kW 21 3kW 17 1kW 24 4kW 20 7kW detailed set of rating data can be found in the technical manuals 36 6kW 23 8kW 42 7 KW 25 6kW 48 8kW 31 1kW 55 C 131 F derated information is also shown Power Supply to DC Bus continuous 4 Power supply to DC Bus Overload 4 Motor Power Output 415v 0 7PF 10 5kW 13kW 16 9kW 3 The continuous AC current ica 21A 18 2A 245A 19 6A 28A 2384 MEMORA IAE dependent on the drives overload 12 8kW 11 1kW 14 9kW 11 9kW 17kW 14 5kW operating mode 3 seconds or 60seconds Power Supply to DC Bus continuous 4 Power supply to DC Bus Overload 4 36 6kW 23 8kW 42 7kKW 25 6kW 48 8kW 31 1kW Motor Power Output 6 8kW 6 5k
15. 5 5 6 05A 4 5 4 95A 4 5 4 95A frequency to allow the drive to be adapted to the motor and application For example an Cont Peak Cont Peak Cont Peak overload of 300 for 3 seconds for linear motor control or 150 for 30 seconds for vector motor Tighter control control All are easily software selected and the drive ratings adapt automatically to match these requirements lower audibility 1 Derating applies above 45 C 113 F and above 1000m 3300ft Key Features AC Power input Plug in Connector Regen Braking Output Plug in Connector for External Brake Resistor DC Bus Connection Convenient Robust DC Link System Pre made slot in links Simple to install No proprietary backplanes required Screw fixed cover for additional safety Share regenerative energy Improves system efficiency Reduces the need for braking resistors Drive enable input 2 fast inputs 1uS latency ideal for registration 1 additional input 2 digital outputs eg motor brake control 10V differential analog input 24V backup input to maintain communications and position feedback with convenient 24V j signal routing channel for neighboring drives i Motor Power Labeled Plug in Connector for Ease of Wiring b Motor Thermal Trip Input Prevent Overheating of the Motor Motor Feedback Universal Encoder Interface Incremental encoders with without Halls Resolver su
16. position loop feedback dual loop or line shaft masters for system wide electronic gearing The simulated encoder output on some options can be generated from the drives integrated encoder interface and scaled to provide the required output resolution 12 14 bit resolution software selectable Single speed 2 1 transformation ratio Simulated incremental encoder output with scaled resolution to provide a custom count per revolution for external devices such as counters or PLCs 5V RS422 differential signals Halls 5VDC supply 200mA load for the encoder Voltage sense line max supply voltage 7V Simulated incremental encoder output with scaled resolution to provide a custom count per revolution for external devices such as counters or PLCs 6 inputs 12 30VDC operation 4 Outputs 12 28VDC 150 mA max Sampling rate 1kHz Pluggable connection 4 off 12 bit analog inputs 10V Sampling rate 8kHz 4 off 12 bit analog outputs 10V Update rate 8kHz Pluggable connection For applications where the motors are exposed to high shock and vibration or higher operating temperatures Medium performance applications Dual Feedback or electronic line shaft gearing Simulated output can represent resolver input or Drives integrated Universal Encoder Interface Software selectable and scalable Medium to high performance applications Performance is encoder precision and resolution dependant Simulated encoder output can sele
17. similar manner to any Factory Network normal Ethernet router on its non real time Ethernet port A second port behaves in accordance to Ethernet i EPL Router Gateway Powerlink specification for EPL router devices The device manages Ethernet message exchanges between the nondeterministic factory Ethernet NextMove e100 network and the real time Ethernet network of the Ethernet Powerlink e100 system The EPL Router can be used to provide data access acc CANopen such as process data exchange for visualization 4 gt al E and control or remote access for maintenance and S S Hi 7 diagnostics e gt hi i Ko Ll Dd go m i A L Fa ahi O ao CANopen lt i l a l CANopen slice 1 0 TL slice vo Y Lo Lo y Power 24VDC 150mA Communication Ports 1 x TCP IP 1 x Ethernet Powerlink IEEE802 3 compliant Programming Integrated HTML web interface IP Address Configuration EPL via hex rotary switches TCIP IP side via HTML 2 off switches for quick selection of user defined default IP addresses Mounting Din Rail with integrated grounding Connectors RJ45 Ethernet ports Two part screw terminals for power Indicators LED indicators for Power Activity Error State see user manual for more information Dimensions H 115 mm 4 53in W 23 mm 0 91in D 100 mm 3 94in Weight 0 116 Kg 4 1 oz Operating Temperature O C to 455 C 32 Eto m3 19 teven En
18. 100 Differential stepper output NextMove e100 Single ended open collecto per outputs for use with DSM integrated stepp motors NXE100 16xxSB Note xx axis variant 08 12 16 SS Digital Outputs Relay Output Analog Outputs Analog Inputs Serial Port CANopen Power Requirements Environmental Limits Weight Dimensions Programming 12 opto isolated 12 24VDC PNP Software configurable for drive enable 50mA typical per channel 350mA max load for single channel up to 500mA total for 8 channels Single output for drive enable Form C SPDT relay rated at 24V 150mA Common normally open normally closed Fail safe operation relay de energized on an error Function defined in Mint 3 outputs for drive command signals 10V 12 bit resolution 1 general purpose 10V 12 bit output 2 differential 10V operation 12 bit resolution User selectable RS485 232 via 9 pin Sub D Maximum baud rate 115 200 USB1 1 12Mbit sec supported on Windows 2000 XP A 2m 6 6ft cable is supplied Single CAN port via standard 9 pin Sub D connector CANopen DS301 Support for CANopen DSP 401 1 0 DS406 encoders and other devices Master functionality for peer to peer communications with other Mint nodes DSP 402 Positioning drives management 24VDC 10 50W Operating Temperature 0 C to 45 C 32 F to 113 C 0 85Kg 1 87 Ibs L 262mm 10 3 W 135mm 5 32 H 45mm 1 77 Mint Multitasking Motion Basic Windows 9X NT 2000 XP V
19. 2 port Hub for daisy chain connection Cable type CAT5e braided shielded cable RJ45 connectors Max 100m 330ft each Address 2 off rotary HEX switches sets node and private device IP address Number of Axes On Board Memory 4MByte Flash for firmware and non volatile program storage 2MByte SRAM 32kByte FRAM for non volatile variable data storage Digital Inputs 20 opto isolated 24VDC 1mS sample rate All inputs Interrupt capable May be connected positive or negative common for use with NPN or PNP output transistors Software configurable for limits forward and reverse home stop and drive error Fast Inputs The first 4 of digital inputs can be configured for high speed position capture of axis position 1usec capture time Courtesy of Steven 100 Mbit s Ethenet Powerlink RS485 500 kBaud TCP IP 115 200 USB 1 1 isolated t i Baud 12 Mbit s CAN Ethernet Serial USB CAN Port Port Port Port Communications Processor Stepper Out 120MHz Encoder 32KByte DSP in FRAM Parameter Storage Digital Digital In Out In MA 20 channels 12 channels 1 channel 2 Channels NPN PNP PNP 24VDC 12 bit 10V opto isolated opto isolated 125mA differential 12 24V 12 24V 4 Channels Step amp Direction 5MHz 3 Channels ABZ Differential 20MHz post quadrature 4 Channels 12 bit 10V 3x for servo vector control 1x general purpose Ordering Information Catalog Number Description NXE100 16xxDB NextMove e
20. A006 MFE460A010 Temperature Overload Conti ACS l a ER 10A 10A 14A 18A R 58KW 58KW 8 05kW 10 35kW 11 5kW us continuous O 96kW 78RW 96kW 78kW 12kW 98KW 22kW 166kW 257kW 20 2KW us Overload Motor Power Output RoTa 0 75KW 1 5KW 3kW 5 28KW SkW ACS C t a A e 7 5A 7 5A 8 4A 15A 17 5A Power Supply to DC Bus continuous 4 4 35kW 4 35kW 4 83kW 8 63kW 10kW Power supply to DC Bus Overload 4 9 6kW 7 8kW 9 6kW 7 8kW 12kW 9 8kW 22kW 16 6kW 25 7kKW 20 2kW Motor Power Output 415v 0 7PF 560W 600W 1 65kW 3 2kW 5 2kW Supply Voltage Line Reactor 415VAC 1 2mH line reactor 415VAC 1 2mH line 415VAC 1 2mH line 415VAC 0 8mH line 415VAC 0 8mH line Conditions Power Factor PF 0 81PF reactor0 81PF reactor 0 85PF reactor 0 85PF reactor 0 8PF Notes Ratings shown are nominal based on 8kHz PWM with 200 overload unless otherwise stated refer to technical manual for complete rating information MotiFlex Rating Data MFE460A021B MFE460A026B MFE460A033B Overload Continuous Overload Continuous Overload Continuous Overload Mode Ams Arms Arms Arms Arms Arms 17 51 20 60 E O O O IO IC A 8 F er AN A 132 300 for 3 pam EA Drive tyne 2 3 2 2 2 2 2 2 seconds Mais 15 45 19 57 19 57 El le ele 16kHz 10 30 125 975 f i a i Switching nas T TE q Thresholds 800VDC on 775VDC off 200 for 3 ee SkHz 21 42 26 52 26 52 switching Seconds Current Max 193A 242A A et ae Zo sa Zo Resistance 1
21. AS a D Tara 3 Ls i SS ee SS _ i a a i De a IE E E E y ii i n ain i _ a cd Mi a y a Sif i aang a a tn kin A 1 is gt q ae ry Too Mi par ee Mii Nips bay jgk 3 ha an cr Rig hasi a P Sey a e aras Comprehensive library of motion types including interpolated moves CAM profiling flying shears gearing and more Intuitive Windows tools including advanced editing tools software oscilloscope online help drive configuration wizards and auto tuning system ActiveX components supplied free of charge simplify the development of Microsoft Windows host applications Mint More than just Motion Control Mint excels in motion control applications but is equally accomplished at tasks such as m HMI interaction m Serial and fieldbus communications m 1 0 logic processing m Complex mathematical functions m Recipe data management Multitasking Streamlines Program Flow With many devices to control and machine functions to coordinate it helps to be able to structure code into specific tasks and allocate resources dynamically at runtime Multitasking is one of the key features of Mint Numerous software tasks can be initiated suspended terminated and prioritized as required to optimize machine performance Time Critical Functions Handled with Ease Time critical functions such as responding to the change of state of inputs are handle
22. Germany Tel 49 89 905 08 0 Fax 49 89 905 08 490 E mail sales de baldor com India Tel 91 20 25 45 27 17 18 Fax 91 20 25 45 27 19 E mail sales in baldor com Italy Tel 41 91 640 9950 Fax 41 91 630 2633 E mail sales it baldor com Japan Tel 81 45 412 4506 Fax 81 45 412 4507 E mail salesjp baldor com Korea Tel 82 2 2226 9369 Fax 82 2 2226 9368 E mail DKim baldor com Mexico Tel 52 477 761 2030 Fax 52 477 761 2010 E mail sales mx baldor com Singapore Tel 65 6744 2572 Fax 65 6747 1708 E mail sales sg baldor com Spain Tel 34 90 2110834 Fax 34 93 7701479 E mail sales es baldor com Switzerland Tel 41 52 647 4700 Fax 41 52 659 2394 E mail sales chObaldor com Taiwan Tel 886 4 238 04235 Fax 886 4 238 04463 E mail AChen baldor com United Kingdom Tel 44 1454 850000 Fax 44 1454 859001 E mail sales uk baldor com For additional office locations visit www baldor com www baldormotion com i i ificati j j j BR1202 1 01 0 Courtesy of SA EASES MEE RG aye Sonis icap aeiee ERONEN in Office 650 588 9200 Outside Local Area 800 258 9200 wvanggevenenginegrag com
23. OO Start of Acyclic From MN sent Multi cast to all nodes Async data sent by any node invited by MN Courtesy of St Controlling devices such as servo drives requires precision in timing of information updates without significant deviation otherwise artificial variations in demand torque speed or position occur resulting in degraded performance Powerlink meets this requirement by achieving less than 1uS variation or jitter Powerlink operates as a protected segment by design and connects to a non deterministic Ethernet network via a gateway router device This gateway acts as a defensive barrier against attacks by providing firewall security measures By maintaining the integrity of standard Ethernet Powerlink provides visibility of all devices on the network This allows any device to be monitored configured diagnosed or upgraded from any accessible network point With e100 controllers all e100 devices on the Powerlink network can be accessed via the USB port of the e100 network manager simplifying commissioning and machinery production A Powerlink system can be remotely accessed by means of an EPL router providing the potential to service and maintain a system remotely via access technologies such as VPN POWERLINK PROTECTED STANDARD INDUSTRIAL SEGMENT ETHERNET Powerlink Powerlink deterministic evice DE ce oe Ee 1 1110 ETHERNET Si RE POWERLINK real time technology Powerlink EPL
24. T5e Shielded RJ45 Ethernet Cable CBLO10CM EXS 1m 3 2ft CAT5e Shielded RJ45 Ethernet Cable CBLO20CM EXS 2m 6 5ft CAT5e Shielded RJ45 Ethernet Cable CBLO50CM EXS 5m 16 3ft CAT5e Shielded RJ45 Ethernet Cable CBL100CM EXS 10m 32 6ft CAT5e Shielded RJ45 Ethernet Cable 24VDC Power Supply Units Catalog Description Number DR 75 24 75W 3 2A Din rail mount 24VDC power supply DR 120 24 120W 5A Din rail mount 24VDC power supply DRP 240 24 240W 10A Din rail mount 24VDC power supply System Cables A range of cables both pre made and raw are available These include motor power cables feedback cables and communication cables Available in different lengths Further details can be found in the brochure BR1202 H Programmable HMI Panels Baldor s programmable HMI range from simple text displays through to large color touch screen panels Text displays from 4x20 character displays to 8x40 with keyboard entry Touch screen displays from mono 3 8 to color TFT 12 1 All displays are programmable with an easy to use Windows tools Refer to catalog BR1202 H for full information Baldor s Motion Solutions Catalogs World Headquarters U S A Baldor Electric Company Tel 1 479 646 4711 Fax 1 479 648 5792 E mail sales us baldor com Australia Tel 61 2 9674 5455 Fax 61 2 9674 2495 E mail sales au baldor com China Phone 86 21 64473060 Fax 86 21 64078620 E mail sales cn baldor com
25. W 8 45kW 4 Power supplied to the DC 415v 0 7PF bus is dependent on AC supply voltage and current Figures shown assume V 415VAG Supply Voltage Line Reactor 415VAC 0 5mH line reactor 415VAC 0 5mH line reactor 415VAC 0 5mH line reactor Conditions Power Factor PF 0 85PF 0 85PF 0 85PF suppl Ratings shown are nominal based on 8kHz PWM with 200 overload unless Ratings of 33A unit shown for y AS otherwise stated refer to technical manual for complete rating information 4kHz pwm Ordering Information DC Bus Bars Catalog Number To Fit Description MotiFlex e100 Package Catalog Number Nominal Description Size Current MFE460A001B 1 5A OPT MF DC A Size A Pack of 2 links for drives 1 5A to 16A MFE460A003B 3A OPT MF DC B Size B Pack of 2 links for drives 20A to 34A Size A MFE460A006B 6A MFE460A010B 10 5A b be ae 7 l MFE460A016B 16A MotiFlex el00 AC servo EMC Filters E pa vector drives with DC sharing Lag 3 MFE460A021B 21A capability integrated Ethernet Ee oe MUMUS o al peeuaee g rms l technology and modular Size B MFE460A026B 264 expansion FIOO35A00 8A 3 x 520VAC MFE460A033B 33 5A FI0035A01 16A 3 x 520VAC Refer to technical manual for more detailed rating information FI0035A02 25A 3 x 520VAC l FIO035A03 36A 3 x 520VAC Option Cards a FIOO35A04 50A 3x 520VAC 4 Catalog Number Description EM FIOO35A05 66A 3 x 520VAC AN OPT MF 001 Analog I O 10V 16bit 4 inputs 4 outputs differentia
26. ain Office 650 588 9200 Outside Local Area 800 258 9200 www stevenengineeri e100 Real Time Ethernet Solutions TCP IP Simply Ethernet Communicate and Control Ethernet Powerlink is simply an addition to the underlying IP protocols TCP and UDP and behaviour of IEEE802 3 Ethernet As such all e100 products are able to operate as traditional Ethernet devices in applications that do not require the timing precision and deterministic operation of Ethernet Powerlink TCP IP as a Control Interface Mint ActiveX TCP IP Support MicroFlex e100 and MotiFlex e100 drives have built in TCP IP communications from a Windows based PC can Single axis positioning capability This functionality can be easily be implemented using the Mint ActiveX tools which controlled by TCP IP communications to instruct axes to hide the complexity of Ethernet messages and provide a execute positional moves homing sequences jogs and simple interface of all the Mint commands and functions much more This can be used to implement multi axis supported by e100 products including applications where interpolated or tightly coordinated motion of multiple axes is not required and timing performance is not critical Positional move commands Drive configuration Status and monitoring Firmware update and parameterization Example 5 p dst Windows PC HMI control software i E TCP IP eee ao using Mint ActiveX TCP IP communications PC host HMI
27. als and other components Reduced design time gt Simplified build and reduced wiring time Lower component count and inventory Axes utilizing i Lower energy costs regenerated Axis regenerating energy energy Reduced panel heating Reduced panel space Higher reliability through reduced complexity Improved ride through capability Shared energy reserve and braking capacity Office 650 588 9200 Outside Local Area 800 258 9200 www stevenengineering com A simple and robust DC bus connection system is integrated into each drive The links can be easily installed by opening the DC bus bar cover on the top of the drive which is screw locked for additional security and safety This approach is inherently less costly and more reliable than proprietary backplane approaches Energy Savings for the Life of the Machine Energy costs are rising and machine efficiency is now a key challenge for modern machine designers A simple but effective DC shared bus scheme means that the benefits of single AC supply system and the machine lifetime energy savings can be employed in a greater number of applications DC bus systems usually become cost effective for typically 5 axes or more MotiFlex however has been designed to offer cost effective DC sharing from 2 axes and above Intelligent DC Bus Pre Charge Control Inrush current can be problematic causing troublesome fuse trips This often leads to over sized fus
28. and burden on main controller CPU e100 Ethernet System Architecture The same system designed around Baldor s NextMove e100 multi axis motion controller and MicroFlex e100 AC servo drive shows significant system benefits ERP system Enterprise Resource Planning Factory Network EPL Router Gateway EPL Router Gateway NextMove e100 NextMove e100 Ethernet Powerlink Ethernet Powerlink CANopen CANopen CANopen slice 1 0 CANopen slice 1 0 MotiFlex e100 MotiFlex e100 MicroFlex e100 MotiFlex e100 MicroFlex e100 1 CANopen slice 1 0 Advantages Fewer motion controllers Enhanced performance Scaleable system CANopen expansion Reduced cabling complexity gt Improved reliability gt Total network visibility EPL DSP 402 gt Shorter machine build time Flexible design scheme gt Centralized or decentralized positioning drives of Steven Engineering Inc 230 Ryan Way South San Francisco CA 94080 6370 Main Office 650 588 9200 Outside Local Area 800 258 9200 www stevenengineerin e100 Real Time Ethernet Solutions Ethernet Powerlink Real Time Technology Ethernet is the single technology replacing traditional drive interfaces discrete signals fieldbus communications and service interface in applications today As the first real time Ethernet solution in industry Ethernet Powerlink EPL is a proven technology working in real applications world wide It embraces standard Ethe
29. class A co PROFINET lO D Transformer isolated interface 100 Mbit s full duplex Ethernet Coil bit register single and multiple read write access via process data Lu Modbus TCP Transformer isolated interface 100 Mbit s full duplex Ethernet EtherCAT node supporting CANopen PDO and SDO communication objects EtherCAT 100 Mbit s full duplex with dual RJ 45 connectors CIP Parameter Object support Explicit messaging support DeviceNet Galvanically isolated interface with auto baud rate detection 125 500 kbit s n Change of state Cyclic I O Polled I O Bit strobed I O Explicit messaging Q Profibus DP DPV1 slave 2 E Additional acyclic parameter data PROFIBUS DP Supports master class 1 amp class 2 access O E Galvanically isolated Profibus interface with auto baud rate detection 9 6 kbit s 12 Mbit s Modbus RTU slave Modbus RTU Galvanically isolated Modbus RTU interface RS 232 485 with baud rates 1 2 115 2 kbit s The fieldbus interface supports exchange of up to 64 process data values in each direction read and write dependant on system configuration and limitations of some specific networks Refer to technical documentation for more details Notes For a fieldbus not listed please enquire with your local sales office or visit www baldormotion com Courtesy of Steven Engineering Inc 230 Ryan Way South San Francisco CA 94080 6370 Main Office 650 588 9200 Outside Local Area 800
30. cted from drives integrated encoder input or from the option card input This option can be used for motor commutation when a high performance encoder is required for other purposes and is connected to the integrated UEI Inputs are AC opto coupled allowing for positive or common ground connection Outputs are protected via self resetting fuse rated at 200 mA Can be controlled by the machine controller via Ethernet Powerlink as system 1 0 or used to expand the I O count in combination with a Mint Machine Module Polled or Event based interrupt operation Inputs can be used in differential or single ended configuration Digital Gain Offset Dead band Hysteresis and filter time constant can be applied to all analog inputs Analog I O cane be accessed via the Ethernet Powerlink network and controlled by the machine controller as distributed O or used to expand the drive I O in combination with a Mint Machine Module Courtesy of Steven Engineering Inc 230 Ryan Way South San Francisco CA 94080 6370 Main Office 650 588 9200 Outside Local Area 800 258 9200 www stevenengineering com e100 Real Time Ethernet Solutions Fieldbus Modules Simple Plug in Networking Simple plug in modules provide a powerful and consistent approach to fieldbus communications providing data exchange gateway solutions or drive control interfaces as required A range of fieldbus types are available as simple modules which can be installed in the fiel
31. d A Consistent Motion Platform Approach Powerlink MotiFlex e100 l Network Manager Controlled Node MotiFlex provides fieldbus connection to e100 control systems by routing data between the fieldbus and real time Ethernet Using this approach data can be easily exchanged between the application program on the Mint controller and any external device such as a PLC OEMs designing for different geographic markets are often faced with supporting multiple PLC platforms and o Service their respective fieldbus of choice Using MotiFlex fieldbus Powerlink EPL Powerlink EPL Data f Data modules a standard motion control strategy using e100 Fthemet emel TE products can be implemented maintaining a single CSMA CD CSMA CD Physics motion solution and simply interface to the PLC for control interlocks visualisation and application data exchange Real Time Ethernet J Fieldbus POWERLINK to Fieldbus Data Exchange Example 2 Fieldbus A TU CI PLC or 1 Powerful external machine controller Fieldbus B peo which can profile up to 16 axes in tight coordinated motion and additional DSP 402 independent axes Ethernet Powerlink 2 HMI connected on CANopen m qe mal qe 3 Distributed I O on CANopen from any drive 4 Additional line shaft encoders can be CANopen s connected to MotiFlex drives or motion Line shaft encoder CANopen f controller slice 1 0 h i al parta 5 Microflex e100 driv
32. d This inherently allows designs to follow both centralized and decentralized approaches as required opposite Collating and Sorting Form Fill Seal Over Wrappers Flow Wrappers ONO Printing Press Transfer Systems Metal Cutting amp Forming l Textiles l Flying Shears Machine Tool Food amp Beverage Material Handling General Purpose Machinery Plastics Converting Bottle filling Engraving Plotting Cutting Packaging Courtesy of Steven Engineering Inc 230 Ryan Way South San Francisco CA 94080 6370 Main Office 650 588 9200 Outside Local Area 800 258 9200 www stevenengineering com Traditional System Architecture The image below represents a typical control system of one or more machines connected to a corporate network ERP system Enterprise Resource Planning E Factory Network Traditional Fieldbus system or proprietary solution Machine 1 Machine 2 k pn ES Drive i l Fieldbus Fieldbus h CAN CAN 1 0 CAN 1 0 Vector Drive Multiple controller architecture costly complex and results in Complex fieldbus communications often proprietary or limited extended development time Servo Drive Servo Drive in network capabilities for example device configuration Typically 4 8 axes per controller sometimes expandable by Fieldbus network typically requires optional interface on the drive hardware expansion at extra cost and panel space and controller
33. d with ease by Mint EVENTs interrupt handlers Using events within Mint is more code efficient and faster than polling the state of an input or process variable Events can be triggered for digital inputs move buffer low errors position latches and more Events handlers can also be installed in host PC applications using the Mint ActiveX tools MC 230 Ryan Way South San Francisco CA 94080 6370 Main Office 650 588 9200 Outside Local Area 800 258 9200 www stevenengineering com Powerful Move Buffer Enables Continuous Motion and More All axes have a flexible and powerful move buffer system that allows multiple move commands to be loaded and then executed Each entry in the move buffer can contain a unique identifier independent Speed Acceleration Deceleration and Jerk settings A configurable Move buffer low system event will trigger either a Mint routine or ActiveX service which you can customize to refill the buffers Output transitions states pulse durations and even dwell times can be loaded into the move buffer to ensure they are synchronous to the axes motion Motion Profiles Mint offers many flexible move types to suit your application requirements some of the more commonly used functins are listed here Absolute and Relative With its own speed acceleration and deceleration defined including trapezoidal and S ramp profiles Interpolated motion Using the Mint move buffer multiple linear and c
34. dbus options MotiFlex Braking Resistors OPT FB 001 DN noria Rating ES de MotiFlex Cat Nr OPT FB 002 Profibus DP RGJ160 100W 60 Ohm OPT FB 003 Modbus RTU RGJ260 200W 60 Ohm OS OPT FB 004 EthernetlP RGJ360 300W 60 Ohm OPT FB 005 ModbusTCP Peres Rone 60 Ohm 150 Ohm MFE460A003 OPT FB 006 ProfiNet 10 RGJ2150 200W 150 Ohm MFE460A006 OPT FB 007 CCLink RGJ3150 300W 150 Ohm RGJ533 500W 33 Ohm MFE460A010 33 Ohm 68 Ohm RGJ368 300W 68 Ohm MFE460A016 Cable Management Brackets MFE460A021 Catalog To Fit Description RGJ515 500W 15 Ohm Number Drive Size 15 Ohm 60 Ohm MFE460A026 OPT CM 001 A B AC power motor power brackets clamps nee ue p RGJ360 300W 60 Ohm OPT CM 002 A Signal and feedback bracket cable clamps MFE460A033 OPT CM 003 B Signal and feedback bracket cable clamps Refer to the technical manual for more detailed sizing information ourtesy of Steven Engineering Inc 230 Ryan Way South San Francisco CA 94080 6370 Main Office 650 588 9200 Outside Local Area 800 258 9200 www stevenengineering com NextMove e100 Catalog Number Description NextMove e100 8 12 or 16 Axis motion controller NXE100 16xxDB Differential stepper outputs NextMove e100 8 12 or 16 Axis motion controller Single ended open collector stepper outputs for use with DSM integrated stepper driver motors NXE100 16xxSB xx 08 12 or 16 for number of supported axes which can perform interpolated motion e g circular or vectored moves A
35. dditional DS402 in dependant axes can be added MicroFlex e100 Catalog Number Nomnal Description Current MFE230A003B 3A MFEZ30A006 ca UTI aL 00 AC Seno ihe MFE230A009B 9A MicroFlex EMC Filters Catalog Number Current Description E ae rating i FI0029A00 22A 1 phase 250VAC Foot mount filter FI0015A00 6A 1 phase 250VAC FIO015A02 12A 1 phase 250VAC FI0018A00 7 7A 3 phase 230 480VAC FI0018A03 17 5A 3 phase 230 480VAC FI0014A00 16A Optional EMC Filter for 24V Supply MicroFlex Braking Resistors Catalog Number Power Description rating RG56 44W For use with 3A MicroFlex RG39 100W For use with 6A and 9A MicroFlex MicroFlex Fan Tray Catalog Number Description Additional cooling fan for nominal rms currents exceeding FANO01 24 4A or high ambient temperatures See MicroFlex technical manual for more information EPL Router Catalog Description Number Ethernet Powerlink Router enables controlled access from OPT036 501 an external Ethernet network for purposes such as remote monitoring or maintenance data exchange with MRP systems or PC equipment for visualization Courtesy of Steven Engineering Inc 230 Ryan Way South San Francisco CA 94080 6370 Main Office 650 588 9200 Outside Local Area 800 258 9200 www stevenengineering co Ethernet Powerlink CatSe cables 4 Catalog Er Number 1 Description CBLOO2CM EXS 200mm 8 CAT5e Shielded RJ45 Ethernet Cable CBLOO5CM EXS 500mm 1 6ft CA
36. ducts CANopen DSP 402 Positioning drive mode via CANopen controlled device and Ethernet Powerlink 4 off total opto isolated 24V 1mS sample rate including the following functions 1 reserved for drive hardware enable 2 inputs with high speed position latch for registration applications 1uS latency May be connected positive or negative common for use with NPN or PNP signals Software configured level edge triggered and application functions e g HOME LIMIT STOP LATCH 2 off total opto isolated 12 24VDC PNP 50mA per channel 100mA max load for single channel 200mA Fuse level self resetting Software configured functions including Motor Brake control requires external relay 1 off LED for drive status health 2 off LEDs for Ethernet activity 2 off LEDs for CANopen activity 24 VDC 10 Nominal 1 5 Amp externally supplied No current drawn with AC power applied CiA DS402 Profiled Torque current Profiled Velocity speed Profiled Position including Homing Incremental and absolute moves of Steven Engineering Inc 230 Ry matimja dute ston Araddsetih DABAN lar O fic POBEDINS88e920 6 Coksidd damak Awang 26668200 www stevenengineering com 4 kHz 8 kHz Optimize the Drive to 2 75 8 254 2 75 8 25A the Application SS qu oo 200 5 5 4 8A 3 6A 3 6A E El 5 7 5A 3 8 5 7A 3 8 5 7A Each MotiFlex power rating can be optimized by choice of overload rating and PWM operating
37. e AC Induction linear Linear Steppers 2 axis linear stepper platens Choice of feedback devices and bearing solutions uN Dd 00 109 o Y Same O O gt L lt Single bearing stages Extruded stages 0 75 kW to 375 kW 1 Hp to 500 Hp Washdown versions available Encoder options available Single and three phase inverter vector drives AC Vector Motors amp Inverter Drives Keypad configuration Expansion via 2 option slots e100 Real Time Ethernet Solutions Drive Current Ratings Size A Drives MFE460A001B MFE460A003B MFE460A006B MFE460A010B MFE460A016B Overload Continuous Overload Continuous Overload Continuous Overload Continuous Overload Continuous Overload Mode Arms Arms Arms Arms Ar Arms Arms Arms Arms Arms 12 ms 4kHz IES 3 45 Ze 8 25 5 15 8 24 36 8kHz 115 3 45 2 75 8 25 45 135 1 33 22 12 36 16kHz 1 15 3 45 Za 8 1 3 9 5 15 8 5 299 300 for 3 Seconds TA 1 75 3 4 4 8 15 15 12 24 18 36 pe 15 3 3 6 6 12 10 5 21 16 32 Seconds 1 5 3 3 6 4 8 1 9 15 10 20 150 2 2 3 3 5 15 9 135 16 24 20 30 for 60 2 3 3 8 57 T 10 5 13 19 5 16 24 Seconds 2 3 3 8 57 5 75 8 5 1205 9 ISS 110 4kHz 3 3 3 55 6 05 10 11 18 5 20 35 22 24 2 for 60 SkHz 2 7 29 4 5 4 95 8 8 8 15 16 5 17 18 7 Seconds 16kHz 2 1 2 97 45 4 95 5 5 6 06 9 5 10 45 10 11 Notes Nominal drive ratings shown in red are based on 200 overload at 45 C 113 F MFE460A001 MFE460A003 MFE460
38. e axes on Powerlink CANopen 6 PLC or other controller Slice 1 0 Fieldbus module installed in one or more MotiFlex e100 drives to provide Fieldbus modules used to application data exchange between a real time Ethernet motion A A ei ia control system and a 3rd party device such as line shaft embedded controller or PLC Courtesy of Steven Engineering Inc 230 Ryan Way South San Francisco CA 94080 6370 Main Office 650 588 9200 Outside Local Area 800 258 9200 www stevenengineering4 Fieldbus Modules Application notes EN Fieldbus modules provide a means of application data Field fittable plug in modules exchange between the Baldor systems and other control systems This provides a simple and consistent interface method independent of fieldbus type Ideal for OEM s designing machines with different end user systems to integrate with such as PLCs Physics and connectors match the relevant Fieldbus standard Access to drive object dictionary Powerlink to Fieldbus data exchange Fieldbus functionality and performance varies with each Operation in top slot of MotiFlex e100 module type and fieldbus specific features Additional modules are in preparation Contact your sales office if your specific requirement is not listed CIP Parameter Object Support Ethernet IP Explicit and implicit messaging Transformer isolated Ethernet interface 10 100 Mbit s full duplex a PROFINET IO conformance
39. eate a simple interface to devices such as PLC s text displays printers etc Users can access the serial port directly to implement their own protocols or make use of a predefined simple ASCII protocol Host Comms Protocol to simplify the task of host communications e100 Real Time Ethernet Solutions On board Digital and Analog Interfaces Integrated digital and analog I O provide the facility for system interlocks and logic control normally afforded by an additional PLC This 1 0 can equally be expanded via Ethernet or CANopen Analog Drive Interfaces Integrated hardware interfaces provide a means of utilizing existing drive technologies such as simple inverters stepper drives and servo pneumatics controlled from the industry standard 10V a analog outputs and encoder feedback NextMove e100 is perfectly Encoder Inputs and Fast Position Latch matched to Baldor s FlexDrive Il and MicroFlex range of servo The servo control interfaces include three incremental TTL encoder drives BSM servo and linear motor range for a complete servo channels which can also be used as additional position or velocity control system sensors Alternatively these can be used as master axes for synchronization applications Four digital inputs can be used to latch the position of any of these encoders within 1uS and generate software events This is ideal for registration based applications such as labeling and printing Open Loop Stepper Control
40. ed This is ideal for axes such as positioning guides indexers conveyors tension rollers and many more All e100 products including drives feature an integrated CANopen port and can manage a network of CANopen devices including DSP 401 1 0 and DSP 406 Encoders System l O can be expanded at any drive or motion controller via the on board CANopen port The DIN rail mount I O system is configured from a selection of digital and analog I O slices to suite the application requirements Special purpose slices are also available As such CANopen 1 0 can be connected to any convenient e100 drive which will manage the I O devices making the I O available as process data via Ethernet back to to the machine controller There can be multiple independent CANopen networks distributed around the machine managed by each drive but controlled centrally from the motion controller e100 Real Time Ethernet Solutions e100 family of motion controllers Additional MotiFlex drives to provide more powerful programmable local axis control coordinated and managed as part of the total system Advanced Multi Axis Machine Controller NextMove e100 can coordinate 16 axes of interpolated motion and command additional DSP 402 positioning drives via Powerlink On board communications include RS232 485 selectable USB CANopen and Ethernet Powerlink or TCP IP Mixed Technology Motion Control In addition to Powerlink axes N
41. esult Configuring these filters is aided by a simple filter design interface which combined with the Mint WorkBench oscilloscope and FFT Fast Fourier Transform analysis allows the user to test the axis open and closed loop frequency response The resonant components can then be identified and filter designs tested for effectiveness Lone Fite 0 Pe lpp hat Fiia 50007 HE E 10000 He Doph 310 5 luma lia 1 Pasa Tools to combat mechanical me Dei ly resonance effects Denil i ee A HE Fremery Aigo Pia Tees Lasd F ln liey 0 Hy Hl Integrated tests designed to identify problem frequencies FFT analysis built in to software oscilloscope Design tools to create digital filters a pl Guret i er Y Support for low pass and notch filter designs Fast Fourier Transform analysis highlights resonant frequencies Courtesy of Steven Engineering Inc 230 Ryan Way South San Francisco CA 94080 6370 Main Office le 800 258 9200 www stevenengineering com e100 Real Time Ethernet Solutions NextMove e100 Real time Ethernet Motion Controller Ethernet Powerlink integrated hub 8 12 or 16 axes of interpolated motion CANopen network manager N RS232 485 and USB communications Integrated digital and analog I O k dl 4 stepper axes 3 analog axes Multitasking Mint ActiveX Control ETHERNET Sm cma ctive ontrols POWERLINK real time technology ww VY YV lilt aes
42. extMove e100 supports 3 axes of analog control with incremental encoder feedback and 4 stepper axes providing a mixed technology platform Analog axes can be servo vector inverter or servo hydraulic valves for example Encoder inputs can be used as line shaft inputs and all analog outputs can be used for general purpose functions E Class Il HUB ELENEI repeater LE M4 Line shaft encoder CANopen slice 1 0 AC servo AC vector or linear motor Encoder resolver dual feedback or line shaft System Solutions Multi Axis Machine Control Machine control systems requiring up to 16 axes of interpolation can be implemented using the NextMove fitted with Mint option modules can be used System Wide Access to Device Resources Digital I O analog I O and encoders of any drives can be mapped to the NextMove e100 and are then usable within the application program as if it were local hardware of the NextMove itself This includes any CANopen 1 0 devices connected to the drives This approach greatly simplifies software access to resources and allows use of available I O of any device for almost any purpose PLC or other device lll ETHERNET WEE Oe POWERLINK real time technology Fieldbus Ethernet Powerlink CANopen CANopen slice 1 0 CANopen slice 1 0 agineering Inc 230 Ryan Way South San Francisco CA 94080 6370 Main Office 650 588 9200 Outs
43. find code sections tasks functions or subroutines Simply click on the name of the code section you are looking for You can use it to insert new tasks subroutines and functions from the Program Navigator pop up menu and reorganize your program Mint Code Library The Mint code library allows you to easily store and re use functions subroutines or entire Mint programs for future use These code segments can easily be recalled and inserted into new projects streamlining code development Simply select and insert code segments into your Current program or copy segments of code into the library area Mint Activex components are provided with Mint WorkBench as standard and form a powerful toolkit for developing PC based visualization machine control and even OEM production tools All of the functionality underlying the Mint WorkBench is available to the user as ActiveX functions such as compile and download firmware update oscilloscope data capture graphing separate as well as all Mint motion functions such as multi axis motion commands 1 0 operations and much more ActiveX is a registered trademark of Microsoft Corporation ain Office 650 588 9200 Outside Local Area 800 258 9200 www stevenengineering com e100 Real Time Ethernet Solutions Mint WorkBench Complete System Configuration Mint WorkBench provides a suite of tools in a single software platform from network configuration drive co
44. for programmit interfacing to a Microsoft Wir application RS232 485 serial port to imp communications such as DF Modbus In addition to the deterministic mode of Ethernet Powerlink the NextMove e100 can also operated in an open mode using TCP IP messaging This feature is supported by Baldor s Mint ActiveX tools which can provide control of a network of drives from a Windows based PC In this mode the Ethernet interface acts as a standard TCP IP network port An integrated USB interface provides a configuration and programming port It allows access to the entire network from a single point providing access to all Baldor devices connected to the Ethernet port of the controller Mint ActiveX tools also allow use of the USB port for HMI or control purposes Network Manager or controlled node CN Integrated 2 port hub ease of connection Real time Ethernet performance 1CP 1IP mode of operation non real time with ActiveX support ETHERNET Mmi mpnm i POWERLINK 4 Stepper drive interfaces Differential or Open collector interfaces available Range of stepper motors with integrated drives available Linear stepper motors also available 20 digital inputs 4 fast inputs 1uS latency ideal for registration 1 off relay output 12 digital outputs 2 analog inputs 10V 12bit 1 auxiliary analog output 10v 12bit A user selectable RS485 RS232 serial port is available and accessible in Mint to cr
45. gineering Inc 230 Ryan Way South San Francisco CA 94080 6370 Main Office 650 588 9200 Outside Local Area 800 258 9200 www stevenengineering com Network Address Translation Network Address Translation NAT allows public IP addresses to be configured for EPL devices via a simple HTML interface allowing the EPL IP addresses to be represented by IP addresses within your network Order Information Catalog Number Description Network Security by Design OPTO36 501 Ethernet Powerlink Router Powerlink operates as a protected segment by design and connects to a non deterministic Ethernet network via a router device This gateway acts as a defensive barrier against attacks by providing firewall security measures Total Network Visibility By maintaining the integrity of standard Ethernet Powerlink can provide visibility of any or all devices on the network This allows any devices you choose to be monitored configured diagnosed or upgraded from any accessible network point Remote Access A Powerlink system can be remotely accessed by means of a EPL router providing the potential to service and maintain a system remotely via access technologies such as VPN POWERLINK PROTECTED STANDARD INDUSTRIAL SEGMENT ETHERNET Powerlink Powerlink Non deterministic Network Manager Controlled Node evice ation Applicatior EPL Router Gateway C3 a Powerlink Powerlink EPL Po
46. he USB port provides convenient configuration access using Mint Workbench Ethernet Powerlink Muttiaxis COPE module i installed t AC Inverter vector Encoder AC servo AC vector or servo motor Resolver dual or linear motor feedback or line shaft PLC or other device con A O CANopen 6 f i CANopen slice 1 0 Hi speed registration inputs on all drives remental encoder input analog servo drives inverters or servo 6S in combination with the analog output Ma Mint Multitasking software FMultiaxis coordinated motion k and Fieldbus management n network management MicroFlex e100 can also be controlled via Powerlink providing all the same motor control capabilities in a smaller package for single and three phase supply 105 to 230VAC in 3 6 and 9 Amp rms continuous ratings Options fitted Multi axis Mint Machine Module Second feedback card for line shaft following or dual loop control Fieldbus interface HMI connected to the first drive on CANopen Additional distributed I O on CANopen from any drive Complete machine solution with a fieldbus interface to provide data exchange with 3rd party systems such as PLC s A range of fieldbus options are available There are two high speed latch inputs on every drive that can be used for functions such as registration control of Steven Engineering Inc 230 Ryan Way South San Francisco CA 94080 6370 M
47. ide Local Area 800 258 9200 www stevenengineering com Example 1 4 off stepper axes y i O D Powerful external machine controller 11 6 which can profile up to 16 axes in tight coordinated motion and additional DSP 402 independent axes HMI N HMI connected to the NextMove on CANopen CANopen Additional distributed I O on CANopen from any drive 3 E Additional line shaft encoders can be F par Jag connected to drive or motion controller CANopen Line shaft encoder CANopen Slice 1 0 a Additional MicroFlex e100 drive axes on 93 slice 1 0 Powerlink 6 Up to 4 additional stepper axes and 3 a analog controlled axes NextMove e100 solution providing mixed Encoder resolver AC servo AC vector ES l dual teedback or or linear motor technology solution including Ethernet Powerlink line shaft CANopen stepper and analog axes Tree Star or Line Network Connection Ethernet Powerlink supports flexible wiring structures the simplest being line daisy chain but Tree Star and mixed structures can be easily achieved for wiring convenience or network optimization using class 2 repeating hubs as shown in example 4 below Integrated 2 port hubs makes daisy chain connection extremely simple Hubs are also recommended for systems with more than 10 devices Example 2 Powerful external machine controller which can profile up t
48. ide control of a network of drives from a Windows based PC In this mode the drive perform simple motion tasks such as point to point moves and homing sequences Interpolated motion across axes is not supported in this mode MicroFlex operates from a single or three phase supply 105 to 230 VAC The control electronics are maintained by an external customer supplied 24 VDC supply in the event of main AC power removal for typical safety schemes Courtesy of Steven Engineering Inc 230 Ryan Way South San Francisco CA 94080 6370 Main Office 650 588 9200 Outside Local Area 800 258 9200 www stevenengineering com e100 Real Time Ethernet Solutions Universal Encoder Interface A unique interface design provides support for leading encoder technology Incremental encoders with or without Hall effect tracks absolute single or multi turn encoders such as BiSS EnDat 2 1 2 2 Synchronous Serial Interface SSI and 1V Sin Cos encoders are all supported on a single platform This ensures the capability to utilize high performance feedback devices for optimum precision accuracy and smooth speed regulation Matched Performance Motors Baldor designs and manufactures both the drives and the rotary and linear motors they control We ensure that the motor and drive are matched to operate together with optimal performance and provide trouble free installation The Mint Workbench configuration tool has access to all Baldor motor data simplify
49. imple Automated Web Update via SupportMe If you have web access you can take advantage of the web updates feature This will check for firmware updates for your specific motion controller or drive The firmware files can be downloaded and installed into a maintained database on your PC allowing you to use them as required SupportMe Technical Support When faced with difficulty Baldors SupportMe feature will gather a host of important information from the controller An email will be generated automatically offering you the option of attaching programs and additional files This can be sent directly to your chosen local technical support contact providing an efficient support mechanism to help you get back up and running Requires e mail client One example of the ease of use of Mint WorkBench I O configuration simplified by graphical drag drop approach to define function active level or edge of each 1 0 Office 650 588 9200 Outside Local Area 800 258 9200 www stevenengineering com L Simple step by step guide Motor Selection iie Faepe ef Application limits o Mode of operation L Network configuration Ud e Auto tuning wizard including ee User configured operation e g direction inhibit Feedback verification Automatic commutation test Load model identification Automatic adaptation of current speed and position control gain terms
50. ing contactors and cabling to compensate Each MotiFlex drive features an intelligent pre charge system Powered from AC in stand alone operation or as a shared DC system the pre charge is active in all drives This reduces the peak charging currents preventing fuse failure and inherently reducing stress on capacitors increasing the operational life of the drives Determining Power Requirements The optimum method to analyzing the system power requirements is by developing a power flow analysis This can be done by calculating power against time for each axis for a complete machine cycle This will provide peak overload power usages average power usage and any regenerative energy cycles for each axis By summing these individual axis graphs it is then possible to determine the power supply requirement of continuous and overload requirements and sizing of regenerative braking resistors Courtesy of Steven Engineering Inc 230 Ryan Way South San Francisco CA 94080 6370 Ma 43 Baldor has been manufacturing and supplying high performance servo motor solutions to worldwide applications for over 2 decades and AC motors for almost a century 0 4 Nm 4 Ibin through to 134 Nm 1 185 Ibin High dynamic N series for high acceleration high duty High inertia C Series where inertia matching is critical Stainless range available for wash down applications BSM Servo Motors Brushless servo cog free Brushless Iron cor
51. ing drive configuration Digital I O for Axis Functions Digital inputs provide typical drive and motion signals such as home sensor limit switches a hardware enable interlock Two can be used for high speed registration capturing position in typically less than 1uS The outputs can be configured for functions such as motor brake control and drive ready This 1 0 is available to the NextMove e100 motion controller as though the 1 0 is local to the controller itself Limit errors for example will call the Mint error handler on the NextMove e100 A position latch on the MicroFlex e100 drive will result in the position latch event being called within the Mint program on the NextMove e100 This greatly simplifies system expansion Ethernet Specification 100Mbit IEEE802 3u compliant Protocol Ethernet Powerlink V2 EPL and IP protocols TCP UDP Interface Integrated 2 port hub for daisy chain connection Cable type CAT5e Shielded cable RJ45 connectors Max 100m 330ft Address 2 off rotary HEX switches sets node and IP address Function EPL CiA DSP 402 Positioning Drive USB Configuration and diagnostics via Mint Workbench ActiveX support for custom user interfaces CANopen Isolated CAN port via standard 9 pin Sub D connector CANopen DS301 Manager of CANopen DSP 401 I O devices and DSP 406 Encoder support when used with NextMove e100 products CANopen DSP 402 Positioning drive mode via CANopen controlled device and Etherne
52. interlace peep Ethemet Switch Ethernet 100Mbit Switches Distributed 1 0 on CANopen from any drive can be controlled monitored by Host PC MotiFlex e100 drives can be AC powered or CANopen as a DC Shared group CANopen 5 MikroFlex e100 drives o AE Multiple drives can be controlled via Ethernet IT in this way each positioning an axis based on slice 1 0 commands issued by the host In this example a PC running Microsoft Windows operating system uses the Mint ActiveX tools to send motion commands The entire Mint command set drive parameters and functionality is available via the AC servo AC vector rotary or linear motors ActiveX components in this way NextMove e100 TCP IP Operation The Ethernet port can also be used for TCP IP as a data exchange interface providing information such as trajectory data or simply recipe control information as data values to the Mint application The NextMove e100 can coordinate 3 analog and 4 stepper axes of interpolated motion Combine this with numerous digital and analog lO CANopen and serial communications and it provides a powerful stand alone machine controller TCP IP Ethernet Switch Ethernet RAW NextMove e100 has a reserved port 5002 which provides serial port VT100 emulation This allows a simple means to create custom ASCII based messages to and from the NextMove controller via Ethernet Combined with an appropriate Mint program it can be used
53. ircular moves can be blended to create continuous complex motion paths Inter vector angle control allows complex paths to be executed with minimum disturbance Feed rates and digital outputs can be loaded with each move for synchronization with motion Tangential Knife Combined with interpolated motion an axis can be defined as a knife axis and will follow the tangent to any 2D application Helical Interpolation For 3 axes defining a helical move in 3D space Jog Control A function that allows the motor to run indefinitely at a defined speed in position control Splining Allows a stream of moves defined in terms of position velocity and time to be blended for continuous and smooth motion Motion Profiles Master follower applications can be geared off any of the encoder inputs pulse direction input virtual axes or from an Ethernet Powerlink encoder Electronic Gearbox amp Clutch Enables two or more shafts to be linked with a programmable ratio Any axis Can be geared to any other axis Clutch allows precise start and stop distances when synchronizing Registration on the fly Offset moves can be superimposed on geared motion for position correction This can be triggered from any of the registration inputs or within Mint Electronic CAM Replaces traditional mechanical CAMs with servo vector stepper motor and software programmable profiles relative or absolute
54. ista 32bit via Mint ActiveX controls Note USB only supported on Windows 2000 XP Vista 32bit All Windows programming libraries supplied free of charge e100 e100 Compact AC Servo Drive Real time Ethernet with integrated hub CiA DSP 402 Positioning on Powerlink or CANopen CANopen DSP 401 network manager for low cost I O expansion USB port for service PC control via ActiveX Linear and rotary motor control Universal encoder interface 105 230 VAC 50 60Hz supply 3 6 and 9 Amp versions with 200 peak Capability 5 3 3 4 z gt Mn an Eaj p T A ETHERNET WEE gn POWERLINK real time technology MicroFlex e100 is built on Baldor s expertise in servo drive technology The advanced capabilities of real time Ethernet Powerlink provide superior performance network integration and cost savings MicroFlex e100 uses Space Vector Modulation SVM for superior motor control and efficiency Numerous protection features are designed in for reliability and safety Auto tuning of all Axis Gain Terms Made Easy O ua bet de Took Pages pag pay A ie tant oo ma en Auto tuning takes place on the drive itself adapting the current controller velocity and position loops for the axis In addition it verifies feedback device signals and cabling errors Because the y iii position loop is tuned on the drive itself there is no tuning to do on a the motion controller This further simplifies system tuni
55. l A e operation 1mS sampling rate FI0014A00 16A Optional EMC Filter for 24V Supply OPT MF 005 Digital 1 0 12 24V 6 digital inputs 4 digital outputs Encoder 5V Line receiver with Halls Simulated encoder eee output with selectable encoder output ppr scaling Line Reactors Resolver input 12 14bit resolution Simulated encoder Catalog Number Induct Description OPT MF 013 output with selectable encoder output ppr scaling ance 1 5A or 3A units operating stand alone on LRA 2 H i Note resolver option card must be fitted in the lower option slot 20050 an poor quality AC supply x 1 6A to 16A units operating stand alone on Programmable Options y CODES Lomy POor quality AC supply e oi 1 5A to 6A units in DC shared systems OPT MF 100 Dual axis drive control 1 analog axis interface Digital and analog lO 5V incremental Encoder input LRACO3502 0 8mH 105A and 16A units DC shared systems Multiaxis control 4 EPL axes 1 analog axis interface OPT MF 101 Digital and analog lO 5V incremental line receiver LRACO5502 0 5mH Encoder input 21A 26A and 33 5 A units DC shared sys tems E Line reactors for DC shared systems or operation on poor quality AC supplies Fieldbus Options aa Refer to the technical manual for more information Fieldbus gateway modules provide a means to communicate between an mo e100 system and a 3rd party controller such as a PLC x P a RG OPT MF 030 Fieldbus Carrier Card required for all fiel
56. mmissioning control programming and diagnostics streamlining your design cycle to save you time and money Once complex tasks are simplified through the use of experience based wizards and graphical interfaces Mint Machine Center System Design A graphical tree view interface represents all connected devices within a Mint network or system Devices can be added off line and the design implemented later or the system simply scanned and devices detected This view is useful for visualizing all devices and to start commissioning The machine view allows you to group devices into a logical order other than by address or type sequence of the network view By allowing group names to be defined and each device given a logical name you can create a custom view of the system which represents your application or machine configuration Configure With Ease Making configuration changes to any device is simple Click on the device icon within the network or application view to launch the Mint WorkBench directly connected to that device via Mint redirection Wizards auto tuning and online help have been designed to guide you through the process of device configuration Pes Be IA Program Development and Debugging Advanced debugging tools provide task status information and control hover over variable watch single step breakpoint and watch point features to make code development and testing s
57. nals Hall sensor only for DC trapezoidal control 1V Peak Peak Sin Cos analog encoders with onboard interpolation Additional devices supported by Feedback Option Cards Resolver with simulated encoder output Incremental encoders with Hall effect sensors 5V differential signals Simulated encoder output Refer to technical manual for full description of supported encoder types and manufacturer part numbers Integrated IGBT output An external regen resistor can be fitted if required DC bus over voltage DC bus under voltage Phase Loss Peak over current Motor short circuit Over temperature 127 over current hardware dead time protection motor thermal trip input network failure modes H 180 mm 7 09 W 79 6 mm 3 13 L 157 mm 6 18 Weight 1 5 Kg 3 3 Ibs Temperature range 0 C to 45 C 32 F to 113 C with derating to 55 C 10G Shock 1G 10 150Hz Vibration Courtesy of Steven Enojiealag uiaiejve Way South Seg rat CABS MAL E IPS A A Rae Ran BANS Ne SNE RAS com e100 Redefining Flexibility Introducing Baldor s range of high performance multi axis drives MotiFlex e100 Providing a single platform for drive solutions for automation needs MotiFlex integrates state of the art DSP technology specifically designed for motor control with a real time Ethernet platform modular construction and Baldor s Mint motion control technology Real Time Ethernet for advanced control Mo
58. ng with all oo i 3 control terms in the drive mem the Auterane o iras rd bd ad A e h al ra as a rr der Fr ba a di a a 1 UET ib SAA ra a ura da a mi E CA rri l iio ra ee e 1 0 emopen Port sion Ethernet to CAN gateway CANopen network manager DSP 402 positioning drive Expand the system 1 0 via the drive AC single three phase power 105 230VAC 50 60Hz Regenerative brake resistor connections Motor AC power out Drive enable input 2 fast inputs 1uS latency ideal for registration 1 additional input 2 digital outputs leg motor brake control de amp E a F A E a ETHERNET MEE ema POWERLINK Power health status CANopen and Ethernet communications Simple Ethernet node address selection Parameter view edit compare ActiveX tools allow custom Windows tools to be created to access the drive via its USB port or Ethernet interface OS ic Supply Position tor Feedback 24V back up supply input incremental encoders with without halls Maintain communications and position feedback when main AC power is removed to eliminate re homing 1V peak peak SinCos encoders Tamagawa absolute encoders In addition to the deterministic mode of Powerlink the MicroFlex e100 can also be commanded in an open mode using TCP IP messages This features is supported by Baldor s MintActiveX tools which can prov
59. nterconnections No soldering or complex connectors Signal wires Application dependant typically enable and error Single Ethernet cable Single widely available cable type per axis Elimination of traditional fieldbus systems Installation Fieldbus Special purpose cable Reduced system design Installation time and specific connectors Improved reliability fewer points of failure gt Single Fieldbus physical layer and diagnostic tools Dependant on ADC and DAC a resolutions and linearity No ADC DAC dependency Signal sampling and conversion Consistent repeatable operation E delays Pure digital demand No drift noise or offsets 5 Prone to noise issues Higher resolution digital demand signals 2 y Offsets drift with temperature are Absolute precise demands often significant No additional costs integrated into Baldor products Additional fieldbus connection 100Mbit Higher bandwidth than traditional Fieldbus systems Usually additional cost for hardware EST l l l communications Tighter integration per node and cable cost network Provides single point of connection for TCP IP and UDP IP commissioning all devices messaging structure is Limited device configuration intact parameter access Total network visibility EPL uses standard Ethernet protocols TCP IP and UDP Fieldbus type typical bandwidth 1Mbit to 12Mbit Improved diagnostics
60. o 16 axes in tight coordinated motion and additional DSP 402 independent axes HMI connected on CANopen CANopen Distributed I O on CANopen from any drive cos Additional line shaft encoders can be connected E parda to MotiFlex drives or motion controller CANopen a MicroFlex e100 drive axes on Powerlink SIICE 6 Class 2 repeating hub allows tree structure i network cabling CANopen Intelligent Single axis Mint intelligent drive system as a eke 5 controlled device on the Powerlink network sub system NextMove e100 distributed control solution with drives and local slice I O where required Intelligent sub systems o via Mint plug in options on MotiFlex Courtesy of Steven Engineering Inc 230 Ryan Way South San Francisco CA 94080 6370 Main Office 650 588 9200 Outside Local Area 800 258 9200 www stevenengines e100 Real Time Ethernet Solutions Intelligent Drives Mint Machine Modules Mint machine modules transform MotiFlex e100 drives into powerful intelligent drive systems assuming complete control of the drive on board lO communications and networking features eliminating the need for external controllers or PLCs Features and Benefits Ethernet Powerlink manager multi axis version and controlled node operation Powerful Mint multitasking programming CANopen manager function via drive on board hardware Non volatlie ram for data storage and Flash program storage
61. o drive configuration Digital and analog I O expansion Additional feedback devices Programmable Mint motion controllers Fieldbus option including m Profibus m Profinet 10 m DeviceNet m Ethernet IP Modbus RTU ModbusTCP WES Safety functions in preparation Courtesy of Steven Engineering Inc 230 Ryan Way area mntennao0Rs ama AIP aseos ROA ACB AAG ETD tra dora 800 258 9200 www stevenengineering com e100 Real Time Ethernet Solutions Flexible Solutions Modular Enhancements Modern machine design requires different solutions for each industry application and even classes of machines within a product range MotiFlex provides a platform which can be tailored to each application by use of modular design Expansion and enhancement options can be fitted in the field to MotiFlex drives Dual Feedback and Line Shaft Encoders Secondary feedback channels can be added to MotiFlex to provide dual feedback solutions for eliminating mechanical transmission errors Alternatively they can be used to provide a convenient system source for encoders or resolvers These can also be used in electronic line shaft applications where drives in the system will electronically synchronize to an external source I O expansion System I O can be optimized by adding digital or analog modules to one or more drives within a system Where a few fast I O are required the option modules provide a cost effective and compact route
62. ol Universal encoder interface and Resolver Option Options for fieldbus lO programmable controllers Stand alone AC power and DC shared operation 180 528 VAC 50 60Hz supply 1 5 to 33 5A with flexible overload ratings Servo and AC closed loop vector control ih ih aa MotiFlex e100 drives offers a broad range of application capabilities in a single platform and are designed to satisfy single axis stand alone systems and multi axis applications alike This system flexibility combined with servo AC vector and linear motor control from the same hardware and a wealth of expansion options provides a platform for solutions in a wide range of applications Ethernet USB CANopen Digital Inputs Digital Outputs Indicators Control Supply Operating modes ETHERNET Mi EOE POWERLINK real time technology Specification 100Mbit IEEE802 3u compliant Protocol Ethernet Powerlink V2 EPL and IP protocols TCP UDP Interface Integrated 2 port hub for daisy chain connection Cable type CAT5e Shielded cable RJ45 connectors Max 100m 330ft Address 2 off rotary HEX switches sets node and IP address Function EPL CiA DSP 402 Positioning Drive Configuration and diagnostics via Mint Workbench ActiveX support for custom user interfaces Isolated CAN port via standard 9 pin Sub D connector CANopen DS301 Manager of CANopen DSP 401 I O devices and DSP 406 Encoder support when used with NextMove e100 pro
63. pported via plug in option BiSS and SSI single multi turn absolute encoders Dual feedback capability EnDat 2 1 2 2 absolute encoders Master encoder line shaft functions such as 1V peak peak SinCos encoders electronic gearing and CAMS Courtesy of Steven Engineering Inc 230 Ryan Way South San Francisco CA 94080 6370 Main Office 650 588 9200 Outside Local Area 800 258 9200 www stevenengineering com Ethernet Integrated Real Time Ethernet Powerlink 2 port hub integrated ease of connection Real time Ethernet performance TCP IP mode of operation non real time 3rd party Powerlink products support Compatible with Baldor s e100 solutions ETHERNET EEE mee POWERLINK CANopen Integrated Expand System I O via DSP 401 CANopen network manager function CANopen Ethernet gateway function DSP 402 positioning drive as a controlled device DSP 401 I O manager function to expand the system l O from any drive DSP 406 encoder support for position indication E aes LU Electrically isolated CAN interface bai E LED Status indication Power CANopen Ethernet Power health status CANopen communications Ethernet communications Simple Ethernet node address selection USB interface for service local access Part number serial number label repeated for ease of reference 2 Expansion Slots Range of Plug in Options Modular approach t
64. quirements Current rating Feedback Devices Regenerative braking Protection Dimensions and Weight Operating Temperature Range Shock Vibration ABZ Differential Hall tracks Universal SSI Encoder EnDat Input 1V Sin Cosine Digital In 2 E 1 channel 3 channels PNP NPN PNP 2 high speed opto isolated opto isolated NPN PNP 12 24V 12 24V Oa i Ordering Information Catalog Number Description MicroFlex e100 AC Servo Drive l MFE230A003B 3 Amp continuous 105 230VAC 50 60Hz Accessories l l MFE230A006B MicroFlex e100 AC Servo Drive A range of accessories for MicroFlex e100 are available to make system 6 Amp continuous 105 230VAC 50 60Hz integration easier These include 24V power supplies pre made motor MicroFlex e100 AC Servo Drive A MFE230A009B amp continuous 105 230VAC 50 60Hz and Ethernet cables in different lengths braking resistors EMC filters and B i cooling fans Full information on these accessories can be found in the Accessories brochure BR1202 H HA Type MFE230A003B MFE230A006B MFE230A009B 1 or 3 Phase 105 230 VAC 50 60Hz 3 Amp continuous 6 Amp continuous 9 Amp continuous 6 Amp peak 3 seconds 12 Amp peak 3 seconds 18 Amp peak 3 seconds Universal Encoder Interface supporting SSI single and multi turn absolute encoders BiSS single and multiturn absolute encoders EnDat absolute encoders v2 1 and v2 2 Incremental encoders with Hall effect sensors 5V differential sig
65. rnet technology and infrastructure uses standard CAT5e shielded cabling and does not compromise standard Ethernet frames in order to achieve its results Flexible System Architecture Open Standard Driven by Industry In addition to these characteristics Ethernet Powerlink Ethernet Powerlink is a truly open technology is also well suited to both centralized platforms such as independently managed by the Ethernet Powerlink Baldor s NextMove e100 motion control products and Standardization Group distributed intelligent drives such as MotiFlex and MicroFlex IEC Standard IEC 61784 2 Digital data communications e100 for measurement and control Part 2 Additional profiles for ISO IEC 8802 3 based communication networks in real time applications The Simple Solution Ethernet Powerlink EPL achieves its performance by Asynchronous communications such as service data managing the device communication within allocated takes place at the end of each cycle during a dedicated time slots in a defined sequence This approach prevents time segment collisions from ever occurring and ensures that data is exchanged precisely and on schedule gt Start of Cyclic From MN sent Multi cast to all nodes Manager Node MN PReq Poll Request messages to CNN From MN sent Uni cast to each node O Ad Controlled Node CN CN n From CN sent Multi cast to all nodes Poll Response From MN sent Multi cast to all nodes
66. s providing the platform for next generation machine development Built on established standards such as IEEE802 3u and solving the issue of determinism without compromising standard Ethernet message frames Ethernet Powerlink is a technology which combines bandwidth functionality flexibility and scalability for innovative new system designs For drive control Powerlink provides a digital replacement for traditional control signals analog demands and feedback signals Additionally it absorbs and expands on the function of typical fieldbus devices and networks The plug amp play technology provides a truly networked solution allowing access to all devices from a single connection As a result installation costs and system design cycles are drastically reduced At the same time performance is enhanced considerably by replacing the analog world with digital precision This is clearly shown in the diagrams Designers using Ethernet can quickly alter system configuration passing real time data instead of wired digital and analog signals This improves performance and reliability but also provides a rapid prototyping and development scheme for system control ideas to be tested and implemented without hardware change Ethernet is ideal for distributing technology around a machine or groups of machines and networking them together I O devices can be mounted next to sensors and valves while drives can be local to the axes being controlle
67. t Powerlink 4 off total opto isolated 24V 1mS sample rate including the following functions 1 reserved for drive hardware enable 2 inputs with high speed position latch for registration applications 1uS latency May be connected positive or negative common for use with NPN or PNP signals Software configured level edge triggered and application functions e g HOME LIMIT STOP LATCH Digital Inputs Digital Outputs 2 off total opto isolated 12 24VDC PNP 50mA per channel 100mA max load for single channel 200mA Fuse level self resetting Software configured functions including Motor Brake control requires external relay 1 off LED for drive status health 2 off LEDs for Ethernet activity 2 off LEDs for CANopen activity Indicators Control Supply 24 VDC 10 Nominal 1 5 Amp externally supplied No current drawn with AC power applied Operating Modes CiA DS402 Profiled Torque current Profiled Velocity speed Profiled Position including Homing Incremental and absolute moves en Engineering Inc 230 Ryan Way SdulerRedatedapessign CQ Ga ELANOR FREE CHESS VEB BORSURI Boer OB UE F125 SLOLOIOSHMRY Stevenengineering com Courtesy o 100 Mbit s ETHERNET Powerlink 2 Port Hub 2 Port Hub Hub Ethernet Port USB CAN Port Port 500 kBaud USB 1 1 isolated 12 Mbit s CAN Communications Processor 150MHz DSP Digital Drive Out Enable 32KByte EEPROM Parameter Storage Power Re
68. tiFlex e100 drives can be expanded with a range of option modules to provide Fieldbus access additional IO or 1 5 to 33 5 Amp in only two package feedback inputs sizes Universal AC operation 3 phase 180 to 528VAC max 50 60Hz Plug in Mint controller modules create a Flexible overload ratings to match powerful fully integrated intelligent drive application based solution for machine control Servo and AC vector software For more information on plug in Mint selectable machine modules refer to page 12 13 Rotary and linear motor control Universal encoder input Expansion slots for a flexible architecture Product Overview Modular Enhancements Plug in Networking Courte teven Engineering Inc 230 Ryan Way South San Francisco CA 94080 6370 Main Office 650 588 9200 Outside Local Area 800 258 9200 www stevenengineering com o R P42 P44 P46 Energy Efficiency DC Power Ratings MotiFlex and Accessories Courtesy of Steven Engineering Inc 230 Ryan Way South San Francisco CA 94080 6370 Main Office 650 588 9200 Outside Local Area 800 258 9200 www stevenengineering com e100 Real Time Ethernet Solutions MotiFlex e100 High Performance AC Servo Drive w Y Rs YV sp sp ps sp sp sp q Real time Ethernet with integrated hub CiA DSP 402 Positioning Drive Profile CANopen DSP 401 manager for expansion USB port for service PC control via ActiveX9 Linear and rotary motor contr
69. to interpret and construct Ethernet frames such as ModbusTCP lO messages NextMove e100 in TCP IP operating mode Host Windows PC HMI control software PC host HMI using Mint Activex TCP IP communications TCP IP 4 NextMove e100 CANopen ee 4 off stepper axes me CANopen Slice 1 0 Analog MicroFlex 6 Line shaft encoder interface Alternatively 3rd party device using Ethernet RAW data frames Ethernet 100Mbit Switches Optional HMI on CANopen or Serial port DS401 lO expansion via CANopen Line shaft or dual encoder Analog MicroFlex drives 6 Up to 4 additional stepper axes NextMove e100 solution providing a traditional technology approach with stepper and analog axes and CANopen as a local network TCP IP used for a host interface to a PC or PLC type device for purposes such as recipe data exchange control monitoring or visualization e100 Real Time Ethernet Solutions Ethernet Powerlink Router Remote Access and Control Ethernet access to Powerlink networks Integrated firewall security Network Address Translation NAT User configured IP addressing Compact DIN rail mounting 24VDC operation Diagnostics LEDs w Y NS ss es es gs The EPL router provides convenient networking access to Baldor e100 systems utilizing the real time Ethernet protocol Ethernet Powerlink EPL Ww HMI Visualization remote access e g maintenance EPL routers operates in a
70. werlink EPL EPL Firewall Ethernet Ethernet Ethernet Ethernet Ethernet CSMA CD CSMA CD CSMA CD CSMA CD CSMA CD Real Time Ethernet Block diagram showing a Powerlink protected network segment connected to a standard Ethernet network via an EPL router with integrated firewall Courtesy of e100 Real Time Ethernet Solutions Mint9 Machine Intelligent Programming Language Compiled BASIC programming language Multitasking allows complex applications to be broken down into simpler more manageable sub tasks Modular programming capability including functions and subroutines allows for code re use and ease of debugging Common programming interface for both NextMove and Baldor s intelligent drives reduces the learning curve Mint Simply Advanced With more than two decades in real world applications Mint fully embraces advanced programming functionality such as multitasking user defined functions and procedures structure data types and events Presented in BASIC programming form Mint makes it easy to develop modular programs that are easily understood maintained and re used across different applications and hardware platforms Mint Code Library Mints Code Library makes code re use even simpler by allowing code to be stored and used for other projects one of the many features in the Mint WorkBench designed to streamline your applications le Vg eg a Ma e o LF

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