User manual | Real-Time Ethernet - All

Real-Time
Ethernet Solutions
For the automation industry
Real-Time Ethernet Solutions
Industrial Ethernet
A Brief Introduction
Ethernet has been widely used in industry for a number of years, primarily at higher levels,
within factory floor environments for monitoring and managing production flow, from ERP
(Enterprise Resource Planning) systems, and exchanging data between production machinery
segments, where timing is generally not critical. Baldor's real-time Ethernet products take this
technology down to control and machine level.
Standard Industrial Ethernet
The physics of Ethernet networking and an
abundance of experience ensured its success in
factory networking. Other, more dedicated network
Why use Ethernet for Control?
technologies (fieldbus systems), have dominated
> Total network visibility – tighter integration,
at a lower level, for the control and coordination of
improved information access and
machinery and their component parts.
maintenance benefits.
The sheer number of fieldbus systems, such as
Profibus, DeviceNet and Modbus has weighed
heavily on the industrial automation community.
Designers often have to support a variety of
hardware interfaces, different physical layers,
protocols, service and diagnostic tools, within a
single installation.
It is therefore not surprising that there is so much
interest in the possibilities that a true real-time
deterministic Ethernet solution could offer.
Real-Time Control
Requires Determinism
The problem with standard Ethernet protocols for
real-time control applications, such as motion
control, is that they lack determinism. Put simply
they are unpredictable in terms of when precisely
data will arrive from one device to another, and
when exactly a device will be able to send
data or receive it.
Baldor's NextMove e100 multi-axis motion
controller and MicroFlex e100 AC servo drive
employ ETHERNET Powerlink, a proven real-time
deterministic solution for automation.
> Reduced training requirements of
installation and maintenance personnel.
> A single common physical layer from factory
management level down to controllers.
> Common cabling and infrastructure
methodology in accordance with IEEE
802.3u specifications.
3
Real-Time Ethernet Solutions
ETHERNET Powerlink
The Real-Time Solution
New choices of Ethernet technology are emerging, but one which stands firmly ahead of
the rest as a proven technology, working in real applications, is ETHERNET Powerlink (EPL). It
embraces standard Ethernet technology and infrastructure, uses standard CAT5e shielded
cabling and does not compromise standard Ethernet frames in order to achieve its results. It
does so with less than 1µS cyclic jitter for precise control, and with cyclic updates rates down
to 200µS for fast system response.
Flexible System Architecture
In addition to these characteristics ETHERNET
architectures from PC based automation,
Powerlink is also well suited to both PC based
embedded controllers and even decentralized
solutions and platforms such as Mint® NextMove
intelligent drive technologies, since the manager
motion control products. This means that it can
technology is not dependant on a Windows
be used in a wide variety of system solution
platform.
> Determinism – The Key Problem
One of the key problems with providing
A process called CSMA/CD (Carrier Sense
a real-time system based on Ethernet is
Multiple Access Collision Detection), resolves
achieving determinism.
the conflict and allows one of the devices to gain
Standard Ethernet allows multiple devices to
dominance and transmit. The diagram below
assume control of the network, resulting in data
collisions. This means that network access and
timings can not be predicted.
Device 1
sending
Device 2
ready
Device 3
ready
time
sending
collision
sending
collision
delay 2
delay 3
shows devices 2 and 3 both detecting network
inactivity and trying to transmit, causing data
collision.
sending
ready
sending
No Additional RTOS Required
Using Powerlink with Baldor’s Mint products, there is no
Characteristics of true
real-time Ethernet
need for an additional real-time operating system (RTOS)
extension, as there would be for systems based on a
Windows platform. Instead all real-time tasks are managed
by the Mint operating system, including ETHERNET
> Standard Ethernet physical layer with cabling in
accordance with IEE802.3u
> Standard Ethernet message frames
Powerlink operation.
> Determinism
Open Standard Driven by Industry
> Timing precision of <1µS jitter
ETHERNET Powerlink is a proven open standard for realtime Ethernet solutions. An industry based expert team of
And ideally…
OEMs, end users and vendors, including Baldor, drive the
> Use standard hardware devices with no
need for proprietary ASICs
technology to meet the market needs, and create new
capabilities for users to leverage. The ETHERNET Powerlink
> Be supported by an open community of
Standardization Group (EPSG) has teams focussed on
product suppliers
areas such as future protocol and capability developments,
marketing, safety critical functions and product certification.
ETHERNET Powerlink is to become part of the IEC
> Be free of patents or intellectual property ownership
of a single organisation
ETHERNET Powerlink addresses all of
Standard – IEC 61784-2 “Digital data communications for
these requirements
measurement and control – Part 2: Additional profiles for
ISO/IEC 8802-3 based communication networks in realtime applications”. This is currently under development.
ethernet-powerlink.org
> Determinism – The Key Solution
ETHERNET Powerlink (EPL) solves this issue by managing
This approach, by design, prevents collisions from ever
the nodes access to the network within allocated time
occurring and ensures that data is exchanged precisely
slots. Data exchange with each node takes place under
and on schedule - hence determinism is achieved with
control of a manager node.
cycle times down to 200µS.
Manager Node (MN) messages
SoC
Isochronous Period
SoC
PReq
to CN 1
PReq
to CN 2
PRes
from CN 1
PReq
to CN n
PRes
from CN 2
PReS
to ALL
Asynchronous
Period
PReq
to CN n
PRes
from CN n
Poll Request
From MN uni-cast to
each mode
PRes
from CN n
Powerlink Cycle
Poll Response
From CN sent
Multi-cast to all nodes
Controlled Node (CN) responses
Cycle n
Cycle n+1
Start of Cyclic
From MN sent
Multi-cast to all nodes
Cycle n+2
PRes
to ALL
Poll Response
From MN sent
Multi-cast to all nodes
5
Real-Time Ethernet Solutions
Network Security, by Design
Total Network Visibility
Total network visibility, while a major advantage,
By maintaining the core aspects of standard
is a weakness that could be exploited by hackers.
Ethernet, Powerlink provides visibility of all devices
Powerlink operates as a protected segment by
on the network, Mint devices even provide visibility
design, and connects to a non-deterministic
of their subnet devices such as CANopen I/O. This
Ethernet network via a gateway/router device.
allows any device to be monitored, configured,
This gateway acts as a defensive barrier against
diagnosed, or upgraded from any accessible
attacks with features such as MAC (Media Access
network point. With Mint motion controllers this
Controller) address filtering and built-in firewall.
can even be via the USB port of the network
These are features that traditional networking
manager, simplifying commissioning and
technicians are familiar with.
machinery production.
POWERLINK PROTECTED
ETHERNET
Baldor Motion Controller
NextMove e100
Application
Isochron
Application
Async
TCP
UDP
STANDARD/INDUSTRIAL
ETHERNET
ETHERNET
Baldor Servo Drive
MicroFlex e100
Isochron
Async
TCP
UDP
PC
Because Powerlink uses
standard Ethernet message
frames, connection to
networks, and even the
internet, can easily be
accomplished.
Gateway
IP Routing
IP
IP
Powerlink (EPL)
Powerlink (EPL)
Powerlink
(EPL)
Firewall
Ethernet
CSMA/CD
Ethernet
CSMA/CD
Ethernet
CSMA/CD
Ethernet
CSMA/CD
Protected Segment
Application
Async
TCP
UDP
IP
Ethernet
CSMA/CD
Ethernet
Block diagram showing a Powerlink protected network segment connected to a standard Ethernet network
via an EPL gateway/router with integrated firewall.
Jitter Free Operation
7
Controlling devices such as servo drives requires
precision in timing of information updates. This
means the communication cycle has to be
consistent, without significant deviation, otherwise
artificial variations in demand torque, speed or
position occur resulting in degraded performance. In
addition system timing of critical operations vary, and
inevitably affect final production quality. Powerlink
meets this requirement by achieving less than 1µS
variation (or jitter) and distributing a system clock to
all connected devices.
Bandwidth Optimization by Multiplexing
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 i
1
2 3
Cycle i+1
4 5 6 A 1
Every Cycle: 1, 2, 3
2 3
7 8 9 A
Cycle i+2
1
2 3 10 11
Cycle i+3
A 1
2 3
4 5 6 A
Multiplexed: 4-11
Time
This diagram shows network bandwidth optimization by multiplexing nodes within time slots.
Leverage Real-Time Ethernet with the Power of Mint®
To build upon the power of a real-time digital network solution, you need a responsive, flexible and
powerful software language. Mint provides a wealth of features to leverage the power of ETHERNET
Powerlink in next generation machine automation.
Mint offers a higher degree of flexibility to describe the application tasks and build upon the power of
Ethernet. Features include advanced motion capabilities, multitasking, system events, simplified control of
EPL/CANopen DS402 positioning drive axes, and common tasks such as I/O logic manipulation and HMI
interaction.
In addition Mint is supported by free ActiveX controls for host PC development and an
embedded C option.
> Mint multitasking software
> ActiveX interface for Windows based automation
> Embedded C programming for ultimate performance
Real-Time Ethernet Solutions
Real-Time Ethernet
Imagine the possibilities
and realize them today
As designers, your engineers are constantly pushing technology to its limits. Their imagination is
constrained by the performance of traditional fieldbus systems and device hardware. Real-time
industrial Ethernet is expanding these boundaries, providing the platform for next generation
machine development. Based on IEEE802.3u and other standards, 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.
Rapid Prototyping and Design –
Save Time or try more Ideas, Faster
Designers using Ethernet can quickly alter system
Plug & Play – Connect & Control
configuration, passing data instead of wired digital
For drive control, ETHERNET Powerlink provides
and analog signals. This improves performance
a digital replacement for traditional control
and reliability, but also provides a rapid
signals, analog demands and feedback signals.
prototyping and development scheme for system
Additionally, it absorbs and expands on the
control ideas to be tested and implemented,
function of typical fieldbus devices and networks.
without hardware change. Configured data
The plug & play technology provides a truly
exchange between devices replaces complex
networked solution allowing access to all
wiring and reduces CAD layout requirements.
devices from a single point of access. As a
Printed and archived data connection information
result, installation costs and system design
documents the solution.
cycles are drastically reduced. At the same
time performance is enhanced considerably by
replacing the analog world with digital purity.
Centralized and Decentralized
Ethernet physics allow up to 100m (330ft)
length between any two devices, this is ideal
for distributing technology around a machine,
or group 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 controlled. This inherently
allows designs to follow both centralized and
decentralized approaches.
Typical System Architecture
The image below represents a typical control system of one or more machines connected to a corporate network.
ERP system
9
(Enterprise Resource Planning)
Ethernet TCP/IP
Controller
Traditional Fieldbus system/or proprietary solution
CAN I/O
Controller
CAN
Controller
CAN I/O
Local I/O
CAN
Controller
Machine 2
CAN I/O
CAN I/O
Servo Drive
Controller
Local I/O
Machine 1
> Multiple controller architecture – cost/complexity/extended
> Precise timing synchronization between controllers difficult to
development time
achieve
> Typically 4 – 8 axes per controller, sometimes expandable by
> Fieldbus network typically requires optional interface on the drive
hardware expansion
and controller, and burden on main controller CPU
> Complex fieldbus communications – often proprietary, or limited
in network capabilities (for example: parameter configuration,
firmware update etc.)
Mint based ETHERNET Powerlink 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)
Ethernet TCP/IP
EPL Gateway/Router
Ethernet Powerlink Segment
NextMove
e100
EPL I/O
EPL I/O
CAN I/O
CAN I/O
Local I/O
Machine 2
Ethernet Powerlink Segment
MicroFLex
e100
MicroFLex
e100
NextMove
e100
Local I/O
Machine 1
Advantages:
> Fewer Motion controllers
> Enhanced performance
> Scaleable system
> CANopen expansion
> Reduced cabling complexity
> Improved reliability
> Total network visibility
> Shorter machine build time
> Flexible design scheme
> Centralized or decentralized
> EPL/CiA DS402
Positioning Drives
EPL I/O
CAN I/O
Real-Time Ethernet Solutions
ETHERNET Powerlink
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.
Installation
Traditional Servo system
Ethernet Powerlink
Benefits
Analog demand – 2 core + Shield
Single Ethernet cable
(per axis)
Reduced system design
Simulated Encoder – 7 Wire + Shield
Reduced installation time
Fewer cables
Signal wires – Application dependant
(typically enable and error)
No soldering or complex connectors
Fieldbus – Single cable
Single widely available cable type
Fewer interconnections
Improved reliability (fewer points of failure)
Single Fieldbus physical layer and diagnostic tools
Performance
Pure digital demand
Depends on ADC and DAC resolutions
More consistent operation
Signal conversion delays and
sampling rates
No drift, noise or offsets
Higher resolution digital demand signals
Reduced grounding / noise related installation
issues
Noise levels on signals
Offsets/drift with temperature are
often significant
Communications
Via additional fieldbus connection
Usually additional cost for hardware
per node and cable cost
No ADC/DAC dependency
Ethernet Powerlink is
a communications
network
Fieldbus type typical bandwidth
1Mbit to 12Mbit
100Mbit bandwidth
Limited device configuration / parameter
access.
Complete device access
No additional costs (integrated into Baldor products)
Higher bandwidth than traditional Fieldbus systems
Tighter integration
Provides single point of connection for
commissioning all devices
Improved diagnostics
Total network visibility using standard Ethernet
protocol TCP/IP
Powerlink Based - CAN in Automation
(CiA) DS402 Positioning Drive Profile
11
Powerlink drives are based on the CAN in Automation (CiA)
DS402 profile for positioning drives. This results in a drive
ETHERNET Powerlink (EPL)
technology which is inherently more flexible and intelligent.
CANopen
Drives not only provide velocity or torque regulation, but
can also perform positioning tasks such as relative and
MicroFlex e100
absolute moves, and homing sequences. And all with minimal
overhead on the motion controller. The NextMove e100 can
coordinate up to 16 axes in closely coupled motion such
EPL V2.0
DS301 CAN
Application layer and
communications profile
as vectors, arcs and helical paths. It also manages DS402
Application layer and
communications profile
CiA DS402 Drive Profile
drives which vastly expands the number of axes that can be
controlled. DS402 is ideal for axes such as guides, indexers,
Drive Control State Machine
conveyors, tension rollers and more.
Local Profiler
MicroFlex e100 supports the
CiA DS402 positioning drive
profile, providing local positioning
IP
Interpolated
Position
Mode
HM
Homing
Mode
PP
Profile
Position
Mode
PV
Profile
Velocity
Mode
PT
Profile
Torque
Mode
functions for simple axis control.
Additional Network Devices
CANopen Device Support
A wide variety of additional system devices are available
Baldor's NextMove e100 and MicroFlex e100 both feature
from Baldor and other vendor members of the ETHERNET
an integrated CANopen port. Both products can manage
Powerlink Standardization Group (EPSG).
a private network of CANopen DS401 I/O devices. In the
For details visit - www.ethernet-powerlink.org
case of the MicroFlex e100, I/O can be connected to any
Powerlink Absolute Encoders
CANopen I/O and make this available, via Ethernet, to the
Absolute encoders can be added on Ethernet to create
motion controller where it can be used as local I/O. In
additional axis measurement or to act as machine
essence you can have multiple independent CANopen
cycle masters in ‘line shaft’ replacement and
networks distributed around the machine managed
synchronization applications.
by each drive, but controlled centrally from the motion
Powerlink I/O Devices
I/O blocks can be added to Powerlink to provide fast and
convenient drive. The MicroFlex e100 will manage the
controller.
Baldor TCP/IP Mode via ActiveX
distributed I/O which is synchronous to the control cycle.
Not all applications require real-time coordination down
Powerlink Gateway/Router
be managed, issuing simple move commands when
Provides a means of connecting ETHERNET Powerlink
necessary to individual or groups of axes. This principle is
networks on to a factory LAN/WAN (Local Area Network and
fully supported on Baldor motion and servo drives. This is
Wide Area Network).
to 200µS. Many simply require a number of axes to
achieved in open mode, without the normal cyclic update
of Powerlink. ActiveX tools provide an interface for a host
Windows application to issue commands such as relative
moves, homing sequences, parameter changes, monitoring
functions and even configuration and firmware download
operations.
Real-Time Ethernet Solutions
Mint® – The Programming
Language for Automation
> High speed compiled BASIC programming language for
motion and machine control
> Comprehensive library of motion types including interpolated
moves, CAM profiling, flying shears, gearing and more
> Multitasking capability for motion, I/O, HMI and
communication tasks, allows complex applications to be
broken down into simpler, more manageable sub-tasks
> Comprehensive Windows® tools including color keyword
highlighting in the editor, software oscilloscope, online help,
drive configuration wizard and auto-tuning
> Modular programming capability, including functions and
subroutines, allows for code re-use and ease of debugging
> ActiveX® components (supplied free of charge) aid in the
development of Microsoft Windows® front end applications
> Common programming interface for both NextMove and
Baldor’s intelligent drives reduces the learning curve
BASIC – the de-facto Programming Language
�������
With nearly two decades of history, Mint® was designed
������
from the outset around the BASIC programming language. It
was understood then, and it is still true today, that BASIC is
the de-facto programming language around the world. Now
in its fifth generation, Mint fully embraces all the modern
BASIC programming functionality including features such as
����������
��������
�����
����
multitasking, function and procedures, data types and local
����������
data. This functionality makes it easy to write and develop
��������
modular programs that are easily understood by others, easily
maintained and easily re-used across different applications.
Mint’s new Code Library makes code re-use even easier by
allowing snippets of code to be stored and used for other
projects. This is just one of the many features in the Mint
development front end, Mint WorkBench, which are designed to
get you up and running quickly.
More than just Motion Control
Mint excels in motion control applications, but is equally
at home in HMI interaction, communications, I/O handling
and complex mathematical functions. While some choose a
standard ‘open’ PLC language platform that offers a ‘standard’
set of motion features, those looking for an edge will find it in
������������
���������������
������������
�����������
�����������������
��������������
���������
���������
����
Multitasking Streamlines Program Flow
With many devices to control and machine functions to
coordinate, it often helps to be able to structure code into
specific tasks and allocate the resource dynamically at runtime.
Multitasking is one of the key features of Mint. Numerous software
tasks can be written, initiated, suspended, terminated and
prioritized at will, to optimize workflow and improve machine
performance. In its simplest form consider that separate
program tasks can be allocated to functions of motion control,
HMI interaction, I/O control, communications and much more,
producing a structured programming solution and ensuring more
the advanced motion capabilities of Mint. Many industries at
dynamic program flow.
the cutting edge of motion control realize this and find PLC
Time Critical Functions Handled with Ease
technology limited in its capabilities for motion control.
Realizing that today’s applications are more demanding, more
precise, more dynamic and more complex, Mint focuses on
providing creative features, advanced motion capabilities and
features for the user to innovate the application solution.
Time critical functions, such as responding to the change of state
of inputs are handled with ease by Mint’s event structure. Using the
event structure within Mint is more efficient and faster than polling
the state of an input. Events can be triggered for digital inputs,
move buffer low, errors, position latches and more.
With a large onboard memory, the multitasking capabilities of
Mint can also be used to store multiple programs, for example, to
define machine recipes. Each task can have its own independent
data storage, functions and subroutines.
Comprehensive Library
of Move Types
Motion Profiles –
Master/Follower
Master follower applications can be geared
off any of the encoder inputs, pulse/direction
input, virtual axes or from an ETHERNET
Move buffer enables
continuous motion
Powerlink encoder.
All axes have a flexible and powerful move buffer system
Enables two or more shafts to be linked with
that allows multiple move commands to be loaded and
then executed. Each entry in the move buffer can contain
Electronic Gearbox & Clutch:
a programmable ratio. Any axis can be geared
to any other axis. Clutch allows precise start
a unique identifier, independent Speed, Acceleration,
and stop distances when synchronizing.
Deceleration and Jerk settings. A configurable Move
Registration on the Fly: An offset move can
buffer low system event will trigger either a Mint routine
be superimposed on the gearing move for
or ActiveX service which you can customize to refill the
position correction. This can be triggered from
buffers. Output transitions states and pulse times and
any of the registration inputs or by Mint.
even dwell times can be loaded into the move buffer to
ensure they are synchronous to the axes motion.
Electronic CAM: Replaces traditional
mechanical CAMs with servo/vector/stepper
motor and software programmable profiles
(relative or absolute).
Flying Shear: Allows position synchronization
Motion Profiles –
Positional Moves
Mint offers many flexible move types to suit
your application requirements.
of a slave axis to a master, with defined
acceleration and deceleration profiles - all
linked by software to product movement.
Virtual Axes: Allows a profiled move to be
executed without connection to external
Absolute and Relative: With its own speed,
hardware. Can be used to test applications or
acceleration and deceleration defined
as a virtual master.
(including trapezoidal and S-ramp profiles).
Interpolated moves: Using the deep move
buffer, multiple linear and circular moves can
be blended to create continuous complex
motion paths. Inter-vector angle control allows
complex paths to be executed with minimum
disturbance. Feedrates and digital outputs
can be loaded with each move for
complete synchronization.
Tangential Knife: Combined with interpolated
motion, one 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.
Speed Control: A jogging function 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.
Refer to Catalog BR1202-B for
further information on the Mint
programming language.
13
Real-Time Ethernet Solutions
Mint® Machine Center
Design and Create
Mint® Machine Center (MMC) provides a suite of tools to design, create and
ultimately control your application, and can streamline your design cycles to save
you time and money.
Design
A graphical tree-view interface represents all connected
devices within a Mint network configuration. Devices
or the system simply scanned and devices detected.
Document Project with Document Links,
Web Links and Images.
This view is useful for visualizing all devices and starting
MMC allows you to create document links to specifications,
commissioning. The machine view allows you to group
images, web links, user manuals and reports. These
devices into a logical order other than by address or type
describe the application design, and simultaneously
sequence of the network view. By allowing group names to
document the system as part of the project file.
can be added offline and the design implemented later,
be defined and each device given a logical name, you can
create a custom view of the system which represents your
Automated Web Update via SupportMe™
application or machine configuration.
If you have web access, you can take advantage of the
Configure
web updates feature. This will check for firmware updates
for your specific motion controller or drive. The firmware
Making configuration changes to any device is simple.
files can be downloaded and installed into a maintained
Click on the device icon within the network or application
database on your PC, allowing you to use them as
view, to launch the Mint Workbench directly connected
required.
to that device. Wizards, auto-tuning, and online help have
been designed to guide you through the process of device
SupportMe™ Technical Support
configuration.
When faced with difficulty, Baldor's SupportMe™ feature will
gather a host of important information from the controller.
An e-mail 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).
Wizard Setup Minimizes Knowledge
Requirement and Saves you Time.
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.
15
Program Navigation
The tree-view Program Navigator provides structural
overview of your program and a fast method to
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
Integrated Context Sensitive Help
tasks, subroutines and functions from the Program
A press of the F1 key takes you to the Mint
Navigator pop-up menu and reorganize your
integrated online help, instantly presenting you
program.
with information relating to the feature you are
trying to use. This could be a stage in the drive
commissioning wizard or the highlighted Mint
keyword in the program editor.
Modular Code that can be re-used
– The Mint Code Library
A new code repository 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.
Software Oscilloscope
A 6 channel software oscilloscope can be used to
capture and display all the diagnostic information
you need to tune a system, diagnose problems, or
to fine tune program operation and machine cycles.
> 6 channels of display
> Cursor measurement
> Save/open/print functions
> Independent axes scaling
> Plot X against Y position
> Trigger and repeat capture modes
Real-Time Ethernet Solutions
NextMove e100
Real-time Ethernet Motion Controller
> ETHERNET Powerlink - integrated hub
> 16 axes of interpolated motion
> Connect up to 240 Ethernet
>
>
>
devices including drives, I/O and
encoders
CANopen network manager for low
cost expansion
RS232/485 and USB communications
Multitasking Mint®, ActiveX® or C programmable
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
Manage up to 240 Positioning Drive Axes
NextMove e100 can perform interpolation on 16 axes, as
Up to 240 DS402 positioning drives, such as the MicroFlex
either a single coordinate group or as multiple coordinate
e100, can be managed. These axes provide simple point-
systems operating independently with their own scale
to-point motion, homing sequences, jog control and torque
factors and move buffers. Alternatively all 16 can operate as
demand functions. Example applications include guide
independent axes.
axes, indexers, conveyors, tension rollers and more.
Up to 255 Addressable Devices
Powerlink devices have an addressable range of 0 - 255,
with some addresses reserved for special purposes, you
are able to add up to 240 drives, I/O devices, encoders,
gateways and other Powerlink devices.
Integrated Two Port Ethernet Hub
Connecting multiple devices on the Ethernet network is
simplified by an integrated 2 port hub. Simply daisy chain
the connection to the next device in the system.
Node and IP Address
The node ID (address) is easily set by two rotary
hexadecimal switches, the IP address is then automatically
derived from this.
TCP/IP Communications via ActiveX
Serial interface for PLC, PC, HMI
In addition to the deterministic mode of ETHERNET Powerlink, the
A user selectable RS485/RS232 serial port is available and
accessible in Mint to create 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.
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.
USB Interface with ActiveX support
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.
CANopen Manager
Use the CAN interface to manage a separate CANopen device
network, to expand I/O, add a Baldor HMI, or control pneumatic
valves and much more. Selecting from over 440 worldwide vendors
of CANopen devices, there are vast possibilities for expansion.
State of the Art Design
The e100 family of motion controller and drives utilize a processor
to deal with all communications requirements, leaving the main
Digital Signal Processor (DSP) to handle time critical motion tasks. The
communications core even deals with message redirection where
messages were not intended for this device. For example, information
from the USB port can be redirected to Ethernet devices.
Baldor offers a comprehensive range
of HMI panels.
A Field Programmable Gate Array (FPGA) core provides flexibility
of design allowing updates to hardware to be issued by firmware
update and not fixed in design as they would be with ASICs or any
other discrete logic.
Mint® – Advanced Motion Core
NextMove products operate on the Mint
multitasking programming language. Based on
almost two decades of experience in the motion
control and automation industry, Mint provides
a host of advanced motion capabilities such as
interpolation, splines, electronic cams, gearing
function. You can even design your own custom
motion types when developing in embedded C.
17
Real-Time Ethernet Solutions
On-board Digital and Analog Interfaces
Encoder Inputs and Fast Position Latch.
Integrated digital and analog I/O provide the facility for system
The servo control interfaces include three incremental TTL encoder
interlocks and logic control normally afforded by an additional PLC.
channels which can also be used as additional position or velocity
This I/O can equally be expanded via Ethernet or CANopen.
sensors. Alternatively, these can be used as master axes for
synchronization applications. Four digital inputs can be used to
Traditional Drive Interfaces
latch the position of any of these encoders within 1µS and generate
Integrated hardware interfaces provide a means of utilizing low cost,
a software event. This is useful for registration based applications
or existing drive technologies which do not yet support ETHERNET
such as labeling and printing.
Powerlink, such as simple inverters, stepper drives and servo
pneumatics.
Open Loop / Stepper Control
Stepper axes can be controlled from any of the four onboard step
Closed Loop / Servo or Vector
and direction outputs. The stepper outputs can also be used to
Local servo and vector axes are controlled from the industry
interface to Baldor’s FlexDrive-II or MicroFlex™ servo drives, which
standard ±10V analog outputs and encoder feedback. The
combined with the three closed loop axes, can give up to 7 local
NextMove e100 has a fast 6 term PID loop for fine control of these
axes of servo control.
axes.
NextMove e100 is matched ideally to Baldor’s FlexDrive-II and
MicroFlex™ range of servo drives, BSM servo and linear motor range
for a complete servo control system.
Integrated Stepper Motor/Drive Technology
Baldor's new range of DSM integrated stepper motors/drivers are
ideally suited for use with NextMove ESB. 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.
> Technical Data
Number of Axes
16 interpolated axes in single or multiple coordinate groups.
Manage up to 240 independent DS402 positioning Drives (non interpolated).
Axis Type
ETHERNET Powerlink (EPL) v2
3 closed loop axes ±10v interface with 5V TTL incremental encoder inputs
4 open loop axes - Stepper interface (Step & Direction outputs) 5V differential line driver (5MHz)
or 5V Darlington open collector, single ended (500KHz max) selected by order option
Powerlink Device
Type Support
EPL DS401 I/O devices for I/O expansion
EPL DS402 Positioning Drives such as MicroFlex e100
EPL Absolute Encoders
Manage up to 240 devices per network (approx.)
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 2 port Hub for daisy chain connection
Cable type : CAT5e Shielded cable, RJ45 connectors, Max 100m(330ft) each.
Address: 2 off rotary HEX switches sets node and private device IP address
On-Board Memory
4MByte Flash for firmware and non-volatile program storage. 3MByte 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
1цsec capture time
100 Mbit/s
ETHERNET Powerlink
TCP/IP
RS485
115,200
Baud
USB 1.1
12 Mbit/s
500 kBaud
isolated
CAN
Serial
Port
USB
Port
CAN
Port
2 Port Hub
4 MByte
FLASH
1 MByte
SRAM
2 MByte
SRAM
32KByte
FRAM
Parameter Storage
Ethernet
Port
19
Communications Processor
120MHz
DSP
FPGA
Stepper
Out
4 Channels
Step & Direction
5MHz
Encoder
In
3 Channels
ABZ Differential
20MHz post
quadrature
Analog
Out
Digital
In
Digital
Out
Relay
Out
4 Channels
12-bit +/-10V
3x for servo/vector control
1x general purpose
Analog
In
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
> Ordering Information
Catalog Number
Description
NXE100-1616
NextMove e100 - 16 Axis motion controller:
Differential stepper outputs
NXE100-1616S
NextMove e100 - 16 Axis: Single ended open
collector stepper outputs for use with DSM
integrated stepper/driver motors
CBL001-501
RS232 serial cable
Note: 2m (6.6ft) USB cable supplied
See page 24 for the complete Product Ordering Information.
Digital Outputs
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
Relay Output
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
Analog Outputs
3 outputs for drive command signals. ±10V, 12-bit resolution
1 general purpose ±10V 12-bit output
Analog Inputs
2 differential ±10V operation 12 bit resolution.
Serial Port
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
CANbus Port
Single CAN port via standard 9 pin Sub-D connector. CANopen DS301
Support for CANopen DS401 I/O devices, Master functionality for peer-to-peer communications with other Mint nodes
DS402 Positioning drives management
Power Requirements
24VDC ±10% : 70W
Environmental Limits
Operating Temperature 0°C to 45°C (32°F to 113°C)
Weight
0.85Kg (1.87 lbs)
Dimensions
L 262mm (10.3") : W 135mm (5.32") : H 45mm (1.77")
Mint® - Multitasking Motion Basic.
Embedded C. Texas Instruments compiler must be purchased separately
Windows 9X/NT/2000/XP via ActiveX control (Note: USB only supported on Windows 2000/XP)
All Windows and embedded programming libraries supplied free of charge.
Programming
Real-Time Ethernet Solutions
MicroFlex e100
ETHERNET Powerlink AC Servo Drive
> Real-time Ethernet with integrated hub
> CiA DS402 Positioning on ETHERNET
>
>
>
>
>
>
Powerlink or CANopen
CANopen DS401 network manager for
low cost I/O expansion
USB port for service / PC based control
via ActiveX®
Linear and rotary motor control
Universal encoder interface
115 – 230 VAC 50/60Hz supply
3, 6 and 9 Amp versions with 200% peak
capability
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.
CiA DS402 Positioning Drive
Profile
CANopen Manager Capability
The core architecture of the MicroFlex e100
port which can be configured to act as a
is based on the CAN in Automation (CiA)
network manager. This provides a convenient
DS402 positioning drive profile. This describes
and powerful means to expand your system
the drive behavior (by means of an object
with CANopen digital and analog I/O devices
dictionary) and provides the ability to perform
conforming to the CiA DS401 standard.
basic positioning functions such as homing
Devices, such as digital and analog input/
cycles, incremental and absolute moves,
output modules are managed by the drive, but
change of target position and profiled speed/
the I/O states are available to the Mint program
torque control. This functionality, originally
running on the NextMove e100, as though local
designed for CANopen based control, has
to the motion controller itself.
been adopted and enhanced for use over
The Microflex e100 has an integrated CAN
ETHERNET Powerlink. The MicroFlex e100 can
Integrated Two Port Ethernet Hub
be controlled over the integrated CANopen port
Connecting multiple devices on the Ethernet
or Ethernet.
network is simplified by an integrated 2 port
hub. Simply daisy chain the connection to the
next device in the system.
Space Vector Modulation Improves Efficiency
21
By controlling the IGBT power devices using space vector
modulation (SVM) instead of the more usual carrier based
pulse width modulation (PWM), users can run servo motors at
higher speeds without introducing harmonics. In today’s world
of increased productivity, this can translate directly into greater
machine throughput.
Filters Eliminate Resonance
Advanced digital filtering techniques can be applied to reduce
the effect of mechanical resonance on system performance.
Fast Fourier Transform analysis
highlights resonant frequencies.
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 result.
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
Mint Workbench digital
filter design tool.
user to test the axis open and closed loop frequency response.
The resonant components can then be identified and filter
designs tested for effectiveness.
Node and IP Address
Digital I/O for Axis Functions
The drives node ID (address) is set by two rotary hexadecimal
Four digital inputs provide typical drive and motion signals such
switches, a standard feature of Powerlink devices. The IP address
as home sensor limit switches, a hardware enable interlock.
is then automatically derived from this, greatly simplifying network
Two can be used for high speed registration, capturing position
configuration.
in typically less than 1µS. The outputs can be configured for
TCP/IP Communications via ActiveX
In addition to the deterministic mode of ETHERNET Powerlink, the
MicroFlex e100 can also be commanded in an open mode using
TCP/IP messages. This features 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 drive perform simple
motion tasks such as point-to-point moves and homing sequences.
Interpolated motion across axes is not supported in this mode.
functions such as motor brake control and drive ready.
This I/O is available to the NextMove e100 motion controller
as though the I/O 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.
Real-Time Ethernet Solutions
Universal Power Supply for a
Global Market
Auto-tuning Made Easy.
MicroFlex operates from a single or three phase supply,
current controller, speed and position loops for the axis.
115 to 230 VAC. The control electronics are maintained by
In addition, it verifies feedback device signals and cabling
an external customer supplied 24 VDC supply, in the event
errors. Because the position loop is tuned on the drive,
of main AC power removal, for typical safety schemes.
there is no tuning to do on the NextMove e100 motion
Universal Encoder Interface
controller. This further simplifies system tuning and
Auto-tuning takes place on the drive itself, adapting the
A unique interface design provides support for leading
maintenance.
encoder technology. Incremental encoders (with or without
Matched Performance™ Motors
Hall-effect tracks), EnDat 2.1/2.2 , Synchronous Serial
Baldor designs and manufactures both the drives and the
Interface (SSI) single or multi-turn absolute encoders
rotary and linear motors it controls. We ensure that the
and 1V Sin/Cos encoders, are all supported on a single
motor and drive are matched to operate together with
platform. This reduces stocking and spares requirements
optimal performance, and provide trouble free installation.
and also ensures the capability to utilize high performance
The Mint Workbench configuration tool has access to all
feedback devices for optimum precision, accuracy and
Baldor motor data, simplifying drive configuration.
smooth speed regulation.
> Technical Data
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 rotary HEX switches sets node and IP address
Function : EPL /CiA DS402 Positioning Drive
Communications
ETHERNET Powerlink for real-time control and system networking, USB for configuration
CANopen - DS402 Positioning drive profile or drive can manage local CAN DS401 I/O devices for system I/O expansion
Digital Inputs
4 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. <1µS latency
May be connected positive or negative common for use with NPN or PNP signals
Software configurable level/edge triggered an application functions e.g. HOME, LIMIT, STOP
Digital Outputs
2 opto-isolated 12-24VDC PNP. 50mA per channel, 350mA max load for single channel, 500mA total for 8 channels
Software configured functions including Motor Brake control (requires external relay)
Indicators
1 off LED for drive status/health
2 off LEDs for Ethernet activity
2 off LEDs for CANopen activity
Operating modes
Profiled Torque (current), Profiled Velocity (speed), Profiled Position - including Homing, Incremental absolute moves
etc. Interpolated position mode with Mint motion controllers
CANopen
Single CAN port via standard 9 pin Sub-D connector. CANopen DS301: Manager of CANopen DS401 I/O devices,
Master functionality for peer-to-peer communications with other Mint nodes
CiA DS402 Positioning drive mode via CANopen (controlled device)
100 Mbit/s
ETHERNET Powerlink
TCP/IP
USB 1.1
12 Mbit/s
500 kBaud
isolated
CAN
USB
Port
CAN
Port
2 Port Hub
1MByte
SRAM
Ethernet
Port
4MByte
FLASH
1MByte
SRAM
32KByte
EEPROM
Parameter Storage
Communications Processor
150MHz
DSP
Digital
Out
Drive
Enable
2 channels 1 channel
PNP
NPN/PNP
opto-isolated opto-isolated
12-24V
12-24V
23
ABZ Differential
Hall tracks
SSI
EnDat
1V Sin/Cosine
Universal
Encoder
Input
FPGA
Digital
In
3 channels
(2 high speed)
NPN/PNP
opto-isolated
12-24V
> Ordering Information
Accessories
Catalog Number
Description
MFE230A003
MicroFlex e100 AC Servo Drive
3 Amp continuous, 105-230VAC 50/60Hz
and Ethernet cables in different lengths, braking resistors, EMC filters and
MFE230A006
cooling fans. Full information on these accessories can be found on page
MicroFlex e100 AC Servo Drive
6 Amp continuous, 105-230VAC 50/60Hz
MFE230A009
MicroFlex e100 AC Servo Drive
9 Amp continuous, 105-230VAC 50/60Hz
A range of accessories for MicroFlex e100 are available to make system
integration easier. These include 24V power supplies, pre-made motor
24 and in the Accessories section, BR1202-H.
See page 24 for the complete Product Ordering Information.
Type
MFE100-003A230
Power Requirements
1 or 3 Phase 105-230 VAC 50/60Hz
MFE100-006A230
MFE100-009A230
Current Rating
3 Amp continuous
6 Amp peak (3 Sec)
6 Amp continuous
12 Amp peak (3 Sec)
9 Amp continuous
18 Amp peak (3 Sec)
Regenerative braking
Integrated IGBT output. Requires external resistor
Control Supply
24 VDC ±10% : Nominal 1 Amp externally supplied to maintain electronics when AC supply is removed.
Up to 4 Amp inrush on power up.
Feedback Devices
Universal Encoder Interface, supporting:
- SSI encoders 13-18 bit single and multi-turn
- EnDat absolute encoders (v2.1 and v2.2)
- Commutating incremental encoders (with Hall effect sensors). 5V differential signals.
- Hall sensor only for DC trapezoidal control
- 1V Peak - Peak Sin/Cos analog encoders with onboard interpolation
Protection
DC bus over voltage monitoring; DC bus under voltage monitoring; Peak over-current; Motor short circuit; Over
temperature; I2T over current, network failure, etc.
Dimensions
H: 180 mm (7.09") W: 79.6 mm (3.13") L: 157 mm (6.18")
Weight
1.5 Kg (3.3 lbs.)
Environmental limits
Temperature range 0°C to 45°C (32°F to 113°C)
Approvals
CE, UL, cUL
Real-Time Ethernet Solutions
> Ordering Information
NextMove e100
Catalog Number
Description
NXE100-1616
NextMove e100 - 16 Axis motion controller: Differential
stepper outputs
NXE100-1616S
NextMove e100 - 16 Axis motion controller: Single
ended open collector stepper outputs for use with DSM
integrated stepper/driver motors
Programmable HMI Panels
Baldor’s range of programmable HMI panels offers everything
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
front end, removing the burden of handling the HMI task from the
MicroFlex e100
motion controller. Communications to NextMove is via serial or
CANopen communications.
Catalog Number
Description
MFE230A003
MicroFlex e100 AC Servo Drive
3 Amp continuous, 105-230VAC 50/60Hz
Refer to catalog BR1202-H for full information.
MFE230A006
MicroFlex e100 AC Servo Drive
6 Amp continuous, 105-230VAC 50/60Hz
Catalog Number
Description
KPD-KG420-20
4x20 character text/graphic display with
numerical keypad.
KPD-KG420-30
4x20 character text/graphic display with
numerical keypad and additional function keys
KPD-KG840-10
8x40 character text/graphic display with
alpha-numerical keypad
KPD-TS03M-10
3.8" mono touch screen
MFE230A009
MicroFlex e100 AC Servo Drive
9 Amp continuous, 105-230VAC 50/60Hz
EMC Filters
Catalog Number
Description
FI0029A00
EMC Footmount Filter (22A) single phase power for all
power ratings (2 x 250VAC, 22A)
FI0015A00
EMC Filter for 3A single phase power (2 x 250VAC, 6A)
FI0015A02
EMC Filter for 6A single phase power (2 x 250VAC, 12A)
FI0029A00
EMC Filter for 9A single phase power (2 x 250VAC, 22A)
FI0018A00
EMC Filter for 3A three phase power (3 x 480VAC, 7.7A)
FI0018A00
EMC Filter for 6A three phase power (3 x 480VAC, 7.7A)
FI0018A03
EMC Filter for 9A three phase power (3 x 480VAC, 17.5A)
FI0014A00
EMC Filter for 24V Supply
Braking/Regen Resistors
Catalog Number
Description
RG56
44W regen resistor for use with 3A MicroFlex
RG39
100W regen resistor for use with 6A / 9A MicroFlex
Fan Tray
Provides forced air cooling for MicroFlex e100. Required if average current is
above 3A RMS.
Catalog Number
Description
FAN001-024
Fan tray for single MicroFlex
KPD-TS05M-10
5.6" mono touch screen
KPD-TS05C-10
5.6" color (STN) touch screen
KPD-TS10C-10
10.4" color (TFT) touch screen
KPD-TS12C-10
12.1" color (TFT) touch screen
KPD-OPTC
CANopen option card
®
Mint NC
Catalog Number
Description
MNC001-501
Mint NC – CAD to Motion Windows front end
®
Refer to catalog BR1202-B for full information.
25
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, the pre-made cables are fitted appropriate
connectors at both ends, reducing setup time and costs
significantly.
Further details can be found in the brochure BR1202-H
Ethernet Cables
Catalog Number
Description
CBL002CM-EXS
200mm (8") CAT5e Shielded RJ45 Ethernet Cable
CBL005CM-EXS
500mm (1.6ft) CAT5e Shielded RJ45 Ethernet Cable
CBL010CM-EXS
1m (3.2ft) CAT5e Shielded RJ45 Ethernet Cable
CBL020CM-EXS
2m (6.5ft) CAT5e Shielded RJ45 Ethernet Cable
CBL050CM-EXS
5m (16.3ft) CAT5e Shielded RJ45 Ethernet Cable
CBL100CM-EXS
10m (32.6ft) CAT5e Shielded RJ45 Ethernet Cable
Series II and MicroFlex* to NextMove e100
Simulated Encoder Cables
Catalog Number
Description
Series II/MicroFlex to NextMove ESB/ES/BX-II/e100
CBLxxxMF-E3B
Motion feedback cable
Specify length: 005 (0.5m/1.6ft); 010 (1m/3.2ft);
015 (1.5m/4.8ft); 020 (2m/6.5ft); 030 (3m/9.8ft);
040 (4m/13.1ft); 050 (5m/16.3ft)
*Note these are for the analog Microflex and are not required for e100 version.
Power Supply Units
Baldor offer a range of 24V
power supply units (PSU) that are ideal for
powering NextMove motion controllers and the control
electronics of the Baldor servo drives. With universal 110240VAC input, the PSU’s are available with current ratings of
3.2A (75W), 5A (120W) and 10A (240W). A 120W unit is capable
of powering a single NextMove e100 and three MicroFlex e100
drives.
Catalog Number
Description
DR-75-24
24V Universal Power Supply. 75W/3.2A output
DR-120-24
24V Universal Power Supply. 120W/5.0A output
DRP-240-24
24V Universal Power Supply. 240W/10A output
Refer to catalog BR1202-H for full information.
Real-Time Ethernet Solutions
Servo Drive Solutions
Whether you are looking for a simple servo drive or a fully programmable drive, Baldor
has the answer. Baldor servo drives have been at the heart of automation for over 20
years and have been used in thousands of applications across the world. Our latest
drives build on the reputation of quality and ease of use and are ideally matched to
Baldor’s range of NextMove motion controllers, rotary servo motors and linear servo
motors. Commissioning and setup use the same acclaimed Mint® WorkBench
Windows tool as the NextMove controllers, reducing the learning curve and
improving productivity.
MicroFlex™
Refer to catalog BR1202-D for full information.
Baldor’s MicroFlex is a compact brushless servo drive capable of powering either
rotary or linear motors, and is available in single phase 110-230VAC 50/60Hz or 3
phase 230VAC operation in current ratings of 3, 6 and 9 amps. Feedback is software
programmable, accepting encoder, SSI (Synchronous Serial Interface) or Hall-effect
sensors. Resolver feedback is available as an option. The new MicroFlex e100 offers
a fully digital solution utilizing ETHERNET Powerlink to reduce wiring between the drive
and motion controller (NextMove e100), increasing reliability and improving set-up
FlexDrive-II, Flex+Drive®-II and MintDrive®-II
Refer to catalog BR1202-D for full information.
Baldor’s Series-II servo drives offer high performance control of both rotary and linear brushless servo motors. This
fully featured drive family offer different feedback options (resolver, incremental and absolute multi-turn encoders) and
fieldbusses (CANopen, DeviceNet and Profibus-DP). Models are available with single phase 115/230VAC (2.5 to 7.5A) or
universal three phase 180-460 VAC (2.5 to 27.5A) inputs.
The FlexDrive-II is a servo drive for connection to a motion controller or PLC accepting the industry standard ±10V analog
interface. The Flex+Drive-II is a versatile indexing drive. In addition to setting position or speeds within a simple Windows
front end, Flex+Drive-II is programmable in a single tasking version of Baldor’s motion language, Mint®. The MintDrive-II
provides the ultimate solution for single axis applications. Support the acclaimed multitasking version of Mint, MintDrive-II
is ideally suited for following type applications requiring cam profiles, flying shears or positional offsets.
H2™ Servo Drive
Refer to catalog BR702 for full information.
Baldor’s new H2-series incorporates an easy to use keypad for setup, auto- tuning
and operation. The keypad’s graphical alphanumeric display provides full parameter
names to simplify setup and operation, 14 keys provide tactile feel. Includes autotuning. Optional field installable expansion boards extend capability to suit application
needs Models include internal power supply and are available in three phase ratings
from 180-264 VAC (3 to 54A) and three phase 340-528 VAC (3 to 27A). Vector,
encoderless vector and inverter drives are also available.
Euroflex
Refer to catalog BR1202-D for full information.
A compact rack mount servo drive, EuroFlex offers the same ease of use and flexibility
as the MicroFlex servo drive. With an encoder feedback is suitable for both rotary
and linear servo motors, the industry standard ±10V command interface makes it
compatible with any motion controller or PLC on the market today. EuroFlex’s rack
mounted format makes it the ideal partner for NextMove ES multi-axis motion controller.
EuroFlex is available with a current rating of 5A (15A peak) and 80VDC/56VAC input.
Motor Solutions
For over 20 years, Baldor has been manufacturing and supplying high reliability servo motor solutions to
worldwide applications. Baldor’s servo motors are designed for industrial applications, superior durability
and proven reliability. Our range of rotary motors are available as a high performance, low inertia family,
or as a higher inertia family for more cost effective applications. Baldor’s new stainless steel motors lead
the way in solutions for harsh and washdown environments.
With the widest range of linear motors and stages on the market today, Baldor’s linear motors lead
the way and are ideally suited to applications requiring higher speeds or improved accuracy.
BSM Series Servo Motors
Refer to catalog BR1202-E for full information.
BSM motors are hard at work, increasing productivity, improving part quality, providing precision and
reducing costs in many applications. These motors are available in two models, the BSM N-Series and
the BSM C-Series. The N-Series motors provide low inertia for the highest performance. The C-Series
motors have a higher inertia, with a cost effective design. All the motors are available with different
feedback options including resolver, 2500ppr encoder, SSI (Synchronous Serial Interface) and EnDat.
Motors are available from 0.4 Nm (4 lb.-in) through to 40 Nm (354 lb.-in).
Both motor families are available in a stainless steel configuration, offering the best protection for harsh
environment. These motors are ideally suited for pharmaceutical and food applications.
Linear Motors and Stages
Refer to catalog BR1202-G for full information.
Used in thousands of applications worldwide, Baldor provides industry with the
widest range of linear motors and linear stages. Linear motors provide unique
speed and positioning performance advantages. The direct-coupled motion
eliminates mechanical transmission devices and offer substantial improvements
over applications using ball screws, timing belts, etc. The rugged mechanical design
provides accurate motion and precision positioning for millions of cycles.
DSM - Integrated Stepper Motor and Drive
Refer to flyer FL1851 for full information.
Baldor’s new DSM integrated stepper motor and microstepping drive provides a cost
effective solution for stepper motor applications. The unique design integrates a high
performance micro-stepping drive onto a stepper motor, providing a compact and
reliable solution. Wiring is reduced to just pulse and direction plus power. The range
is available in NEMA frames sizes 17, 23 and 34 with torque outputs from 22 to 748
N-cm (32 to 1061 oz-in)
DC Servo Motors
Refer to catalog BR1202-F for full information.
The Baldor family of DC servo motors (PMDC) provide continuous torques from 0.21Nm
to 6.55Nm (1.8 lb.-in to 58 lb.-in.) These high performance motors are designed to
meet the demanding requirements of industrial motion control. A wide variety of
windings and feedback devices are available for your application needs.
27
Baldor's Motion Solutions Catalogs
BR1202-A
Motion Control Solutions
BR1202-B Mint® Software and Applications
BR1202-C NextMove Multi-Axis Motion Controllers
BR1202-D AC Servo Drives
BR1202-E
AC Servo Motors
BR1202-F
DC Servo Motors and Drives
BR1202-G Linear Motors and Stages
BR1202-H Motion Product Accessories
BR1202-I
Real-Time Ethernet Motion Solutions
World Headquarters (U.S.A.)
Baldor Electric Company
Tel:
+1 479 646-4711
Fax:
+1 479 648-5792
E-mail: [email protected]
Australia
Tel:
+61 2 9674 5455
Fax:
+61 2 9674 2495
E-mail: [email protected]
China
Phone: +86-21-64473060
Fax:
+86-21-64078620
E-mail: [email protected]baldor.com
Germany
Tel:
+49 89 905 08-0
Fax:
+49 89 905 08-490
E-mail: [email protected]
India
Tel:
+91 20 25 45 95 31/32
Fax:
+91 20 25 45 95 30
E-mail: [email protected]
Mexico
Tel:
+52 477 761 2030
Fax:
+52 477 761 2010
E-mail: [email protected]
Italy
Tel:
+41 91 640 9950
Fax:
+41 91 630 2633
E-mail: [email protected]
Singapore
Tel:
+65 744 2572
Fax:
+65 747 1708
E-mail: [email protected]
Japan
Tel:
+81 45-412-4506
Fax:
+81 45-412-4507
E-mail: [email protected]
Switzerland
Tel:
+41 52 647 4700
Fax:
+41 52 659 2394
E-mail: [email protected]
Korea
Tel:
+(82-32) 508 3252
Fax:
+(82-32) 508 3253
E-mail: [email protected]
United Kingdom
Tel:
+44 1454 850000
Fax:
+44 1454 859001
E-mail: [email protected]
Copyright © Baldor 2005. All trademarks recognized. Specifications subject to change without notice.
For additional office locations visit
www.baldor.com
Local Distributor:
BR1202-I
25,000
04/05
U.S.A.

* Your assessment is very important for improving the work of artificial intelligence, which forms the content of this project