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.
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