Baldor e100 NextMove Motion Control, e100 MicroFlex, MotiFlex Servo Drive, Ethernet Powerlink Router Brochure

Below you will find brief information for Motion Control e100 NextMove, Servo Drive e100 MicroFlex, Servo Drive e100 MotiFlex, Ethernet Powerlink Router. These devices provide a comprehensive solution for real-time Ethernet motion control, offering features such as advanced multi-axis control, intelligent drives, and flexible network architectures. The e100 platform allows for seamless integration with industrial networks, enabling efficient and reliable machine operation.

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Real-Time Ethernet

Motion Solutions

e100

Real-Time Ethernet Solutions

e100 Solutions

Real-Time Ethernet Control

Baldor's e100 control products provide a cutting edge solution to machine control.

The e100 family includes compact single phase drives, three phase AC drives with

DC bus energy sharing and Baldor's Mint ®

motion control technology. Combined with real-time Ethernet, they provide a platform for implementing a wide variety of machine control applications.

e100

Key Features:

Multi-axis machine controllers

Single and three phase drives solutions

Programmable intelligent drive options

Integrated real-time Ethernet

TCP/IP operating modes for less time critical applications

CANopen networking for low cost IO and system interfacing

Single and three phase drive solutions

DC shared drive systems for optimal energy efficiency

Expansion options provide an adaptable architecture

Fieldbus communication options to interface to 3rd party systems

Integrated Real-Time Ethernet

Ethernet is now the de facto standard for motion control in automation. With thousands of installed nodes, Ethernet Powerlink has led the way in realtime Ethernet since its beginnings in 2003.

Powerlink communication software is integrated within all of Baldor's e100 products as standard, and is the core around which its flexibility and scalability is achieved. e100 products can also operate in a non realtime mode using TCP/IP communications for less demanding applications.

ETHERNET

POWERLINK

real-time technology

Real-time Ethernet

New Possibilities

P10

Machine Control

The e100 Platform

P18

Mint Multitasking

Machine Intelligent Software

P20

Software Tools

Mint Workbench

Update this index page

P24

NextMove e100

Powerlink Machine Controller Mint Workbench

Update this index page

P28

MicroFlex e100

Compact Powerlink Servo Drive

P32

MotiFlex e100

Powerlink - DC Shared AC Drives

P46

Ordering Information

e100 and Accessories

e100

Real-Time Ethernet Solutions

Real-Time Ethernet

New Possibilities

As designers, engineers are constantly pushing technology to its limits, control solutions have been constrained by the performance of traditional fieldbus systems and device hardware, but the advent of realtime industrial Ethernet is expanding these boundaries, providing the platform for next generation machine development. Built on established standards such as IEEE802.3u, and solving the issue of determinism without compromising standard Ethernet message frames, Ethernet Powerlink is a technology which combines bandwidth, functionality, flexibility and scalability for innovative new system designs.

Plug & Play – Connect & Control

For drive control, Powerlink provides a digital replacement for traditional control signals, analog demands and feedback signals. Additionally, it absorbs and expands on the function of typical fieldbus devices and networks. The plug & play technology provides a truly networked solution allowing access to all devices from a single connection.

As a result, installation costs and system design cycles are drastically reduced. At the same time performance is enhanced considerably by replacing the analog world with digital precision. This is clearly shown in the diagrams opposite.

Rapid Prototyping and Design.

Designers using Ethernet can quickly alter system configuration, passing real-time data instead of wired digital and analog signals. This improves performance and reliability, but also provides a rapid prototyping and development scheme for system control ideas to be tested and implemented, without hardware change.

Centralized or Decentralized

Ethernet is ideal for distributing technology around a machine, or groups of machines, and networking them together. I/O devices can be mounted next to sensors and valves, while drives can be local to the axes being controlled. This inherently allows designs to follow both centralized and decentralized approaches as required.

e100 markets include :

Flow Wrappers

Paper / Tissue / Steel

Paper & Tissue

Converting

Collating and Sorting

CNC

Material Handling

Form Fill Seal

Food & Beverage

General Purpose

Machinery

Machine Tool

Packaging

Traditional System Architecture

The image below represents a typical control system of one or more machines connected to a corporate network.

ERP system

(Enterprise Resource Planning)

Factory Network

Controller

Controller Controller

Traditional Fieldbus system/or proprietary solution

Machine 1

Controller

CAN I/O CAN I/O

Controller

Machine 2

CAN I/O CAN I/O

Vector

Drive

Vector

Drive

> Multiple controller architecture – costly, complex and results in extended development time

> Typically 4 – 8 axes per controller, sometimes expandable by hardware expansion at extra cost and panel space

> Complex fieldbus communications – often proprietary, or limited in network capabilities (for example: device configuration)

> Fieldbus network typically requires optional interface on the drive and controller, and burden on main controller CPU e100 Ethernet System Architecture

The same system designed around Baldor's NextMove e100 multi-axis motion controller and MicroFlex e100 AC servo drive shows significant system benefits.

ERP system

(Enterprise Resource Planning)

Factory Network

EPL Router (Gateway) EPL Router (Gateway)

NextMove e100

Ethernet Powerlink

NextMove e100

Ethernet Powerlink

CANopen CANopen

CANopen slice I/O

Advantages:

> Fewer motion controllers

> Reduced cabling complexity

> Shorter machine build time

> Enhanced performance

> Improved reliability

> Flexible design scheme

CANopen slice I/O

> Scaleable system

> Total network visibility

> Centralized or decentralized

CANopen slice I/O

> CANopen expansion

> EPL DSP 402 positioning drives

CANopen slice I/O

Why use Ethernet for Control?

> Total network visibility – tighter integration, improved information access and maintenance benefits.

> 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.

e100

Real-Time Ethernet Solutions

Ethernet Powerlink

Real-Time Technology

Ethernet is the single technology replacing traditional drive interfaces, discrete signals, fieldbus communications and service interface in applications today. As the first real-time Ethernet solution in industry, Ethernet Powerlink (EPL) is a proven technology, working in real applications world wide. It embraces standard Ethernet technology and infrastructure, uses standard CAT5e shielded cabling and does not compromise standard Ethernet frames in order to achieve its results.

Flexible System Architecture

In addition to these characteristics Ethernet Powerlink is also well suited to both centralized platforms such as

Baldor's NextMove

e100 motion control products and distributed intelligent drives such as MotiFlex and MicroFlex e100.

Open Standard Driven by Industry

Ethernet Powerlink is a truly open technology independently managed by the Ethernet Powerlink

Standardization Group.

IEC Standard – IEC 61784-2 “Digital data communications for measurement and control – Part 2: Additional profiles for ISO/IEC 8802-3 based communication networks in realtime applications.

Deterministic Ethernet – The Simple Solution

Ethernet Powerlink (EPL) achieves its performance by managing the device communication within allocated time slots in a defined sequence. This approach prevents collisions from ever occurring and ensures that data is exchanged precisely and on schedule.

Asynchronous communications, such as service data, takes place at the end of each cycle during a dedicated time segment.

SoC

PReq to CN 1

PRes

CN 1

Isochronous Period

PReq to CN 2

PReq to CN n

PRes

CN 2

PRes

CN n

PReS

Asynchronous

Period

SoA

Asnd

Cycle n

Powerlink Cycle

Cycle n+1 Cycle n+2

Manager Node (MN) messages

Controlled Node (CN) responses

SoC

Start of Cyclic

From MN sent

Multi-cast to all nodes

PReq to CN n

Poll Request

From MN sent

Uni-cast to each node

PRes

CN n

Poll Response

From CN sent

Multi-cast to all nodes

PRes

Poll Response

From MN sent

Multi-cast to all nodes

SoA

Start of Acyclic

From MN sent

Multi-cast to all nodes

Asnd

Async data sent by any node invited by MN

Jitter Free Operation

Controlling devices such as servo drives requires precision in timing of information updates without significant deviation, otherwise artificial variations in demand torque, speed or position occur resulting in degraded performance. Powerlink meets this requirement by achieving less than 1µS variation (or jitter).

Network Security, by Design

Powerlink operates as a protected segment by design, and connects to a non-deterministic Ethernet network via a gateway/ router device. This gateway acts as a defensive barrier against attacks by providing firewall security measures.

Total Network Visibility

By maintaining the integrity of standard Ethernet, Powerlink provides visibility of all devices on the network. This allows any device to be monitored, configured, diagnosed, or upgraded from any accessible network point.

Commissioning Made Easier

With e100 controllers all e100 devices on the Powerlink network can be accessed via the USB port of the e100 network manager, simplifying commissioning and machinery production.

Remote Access

A Powerlink system can be remotely accessed by means of an EPL router, providing the potential to service and maintain a system remotely via access technologies such as VPN.

ETHERNET

POWERLINK

real-time technology

PowERlINk PRoTECTEd

SEGMENT

Powerlink

Network Manager

Application

Isochron Async

TCP udP

Powerlink

Controlled Node

Application

Isochron Async

TCP udP

Powerlink (EPl)

Ethernet

CSMA/Cd

Ethernet

CSMA/Cd

STANdARd/INduSTRIAl

EPl Router

(Gateway)

IP Routing

Powerlink

(EPl)

Ethernet

CSMA/Cd

Firewall

Ethernet

CSMA/Cd

EThERNET

Application

Async

TCP udP

Ethernet

CSMA/Cd

Real Time Ethernet Ethernet

Block diagram showing a Powerlink protected network segment connected to a standard Ethernet network via an EPL router with integrated firewall.

Bandwidth Optimization - 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 n Cycle n+1 Cycle n+2

1 2 3 4 5 6 1 2 3 7 8 9 1 2 3

10 11

Every Cycle: 1, 2, 3 Multiplexed: 4-11

This diagram shows network bandwidth optimization by multiplexing nodes within time slots.

Time

Cycle n+3

1 2 3 4 5 6

e100

Real-Time Ethernet Solutions

Real-time Ethernet

Superior drive Control

One major aspect of Real-Time Ethernet is its advancement in control of drive technologies such as Servo and Vector drives. State of the art in terms of control network, Ethernet Powerlink also excels in replacing traditional drive interfaces and fieldbus systems.

The table below highlights some of the benefits over traditional control wiring.

Traditional Servo system Ethernet Powerlink

Analog demand – 2 core + shield

Simulated Encoder – minimum 7 wires + shield

Signal wires – Application dependant (typically enable and error)

Fieldbus – Special purpose cable, and specific connectors

Single Ethernet cable

(per axis)

Benefits

Reduced hardware requirements

Less cabling / interconnections

No soldering or complex connectors

Single widely available cable type

Elimination of traditional fieldbus systems

Reduced system design / Installation time

Improved reliability (fewer points of failure)

Single Fieldbus physical layer and diagnostic tools

Dependant on ADC and DAC resolutions and linearity

Signal sampling and conversion delays

Prone to noise issues

Offsets/drift with temperature are often significant

Pure digital demand

No ADC/DAC dependency

Consistent, repeatable operation

No drift, noise or offsets

Higher resolution digital demand signals

Absolute precise demands

Additional fieldbus connection

Usually additional cost for hardware per node and cable cost

Fieldbus type typical bandwidth

1Mbit to 12Mbit

Limited device configuration / parameter access.

100Mbit communications network

TCP/IP and UDP/IP messaging structure is intact

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 (EPL uses standard Ethernet protocols TCP/IP and UDP)

CANopen and Ethernet Powerlink

Perfect Partners

Ethernet Powerlink (EPl) CANopen

EPl hardware

EPl Transport layer

CAN hardware

CANopen Transport layer

CAN Application layer (object dictionary) Sdo and Pdo Access

Control and Status Interface

dSP 402 drive Profile

IP - Interpolated Position Mode

hM - Homing Mode

PP - Profile Position Mode

PV - Profile Velocity Mode

PT - Profile Torque Mode

Axis Trajectory Profiler Position Regulator

Velocity Regulator

Torque Regulator

Powerlink Utilizes CANopen Standards

Powerlink utilizes the well established and proven CANopen application layer and device profiles (in accordance with EN

50325-4) and provides the perfect choice for CANopen users looking to migrate to real-time Ethernet.

DSP 402 Positioning Drive Profile e100 drives are built on the CAN in Automation (CiA) DSP 402 profile for positioning drives, now part of IEC 61800-7. This results in a drive technology which is inherently more flexible and intelligent. Drives not only provide velocity or torque regulation, but can also perform positioning tasks such as point to point motion, and homing sequences. And all with minimal overhead on the motion controller.

Using DSP 402 for Auxilliary Axes

The NextMove e100 can coordinate up to 16 axes in precisely coupled motion such as vectors, arcs and helical paths. Additional DSP 402 drives can be configured to perform their own motion tasks, when commanded to do so. This vastly expands the number of axes that can be controlled. This is ideal for axes such as positioning guides, indexers, conveyors, tension rollers and many more.

Integrated Powerlink - CANopen Gateway Function

All e100 products, including drives, feature an integrated

CANopen port and can manage a network of CANopen devices including DSP 401 I/O and DSP 406 Encoders.

As such, CANopen I/O can be connected to any convenient e100 drive, which will manage the I/O devices, making the I/O available as process data via Ethernet, back to to the machine controller. There can be multiple independent CANopen networks distributed around the machine managed by each drive, but controlled centrally from the motion controller.

CANopen Slice I/O

System I/O can be expanded at any drive or motion controller via the on board CANopen port. The DIN-rail mount

I/O system is configured from a selection of digital and analog I/O slices to suite the application requirements.

Special purpose slices are also available.

e100

Real-Time Ethernet Solutions

System Solutions

Multi-Axis Machine Control

Machine control systems, requiring up to 16 axes of interpolation, can be implemented using the NextMove e100 family of motion controllers. Additional MotiFlex drives fitted with Mint option modules can be used to provide more powerful programmable local axis control, coordinated and managed as part of the total system.

Advanced Multi-Axis Machine Controller

NextMove e100 can coordinate 16 axes of interpolated motion and command additional DSP 402 positioning drives via Powerlink. On board communications include,

RS232/485 (selectable), USB, CANopen and Ethernet

Powerlink or TCP/IP.

Mixed Technology Motion Control

In addition to Powerlink axes, NextMove e100 supports 3 axes of analog control with incremental encoder feedback and 4 stepper axes, providing a mixed technology platform. Analog axes can be servo, vector, inverter or servo - hydraulic valves for example. Encoder inputs can be used as line-shaft inputs and all analog outputs can be used for general purpose functions.

System Wide Access to Device Resources

Digital I/O, analog I/O and encoders of any drives can be ‘mapped' to the NextMove e100 and are then usable within the application program, as if it were local hardware of the NextMove itself. This includes any CANopen I/O devices connected to the drives. This approach greatly simplifies software access to resources and allows use of available I/O of any device for almost any purpose.

HMI

Line shaft encoder

Class II HUB

(repeater)

CANopen slice I/O

ETHERNET

POWERLINK

real-time technology

Ethernet Powerlink

CANopen

CANopen slice I/O

Encoder/resolver dual feedback or line shaft

AC servo, AC vector or linear motor

Fieldbus

PLC or other device

CANopen slice I/O

Example 1 Multi-axis DC Shared

Solution with NextMove e100

4 off stepper axes

HMI

Line shaft encoder

Ethernet Powerlink

Encoder/resolver dual feedback or line shaft

AC servo, AC vector or linear motor

CANopen slice I/O

CANopen

CANopen slice I/O

1 Powerful external machine controller which can profile up to 16 axes in tight coordinated motion and additional DSP 402 independent axes

2 HMI connected to the NextMove on

CANopen

3 Additional distributed I/O on CANopen from any drive

4 Additional line shaft encoders can be connected to drive or motion controller

5 Additional MicroFlex e100 drive axes on

Powerlink

6 Up to 4 additional stepper axes and 3 analog controlled axes

NextMove e100 solution providing mixed technology solution including Ethernet Powerlink,

CANopen, stepper and analog axes.

Tree, Star or Line Network Connection

Ethernet Powerlink supports flexible wiring structures, the simplest being line (daisy chain), but Tree, Star and mixed structures can be easily achieved for wiring convenience or network optimization using class 2 repeating hubs, as shown in example 4 below. Integrated 2 port hubs makes daisy chain connection extremely simple.

Hubs are also recommended for systems with more than 10 devices.

Example 2 Multi-axis system with NextMove e100 and intelligent MotiFlex Mint sub-system

CANopen

CANopen slice I/O

CANopen

CANopen slice I/O

HMI

Intelligent sub-system

1 Powerful external machine controller which can profile up to 16 axes in tight coordinated motion and additional DSP 402 independent axes

2 HMI connected on CANopen

3 Distributed I/O on CANopen from any drive

4 Additional line shaft encoders can be connected to MotiFlex drives or motion controller

5 MicroFlex e100 drive axes on Powerlink.

6 Class 2 repeating hub, allows tree structure network cabling.

7 Single axis Mint intelligent drive system as a controlled device on the Powerlink network

NextMove e100 distributed control solution, with drives and local slice I/O where required. Intelligent sub systems via Mint plug-in options on MotiFlex.

e100

Real-Time Ethernet Solutions

Intelligent drives

Mint

®

Machine Modules

Mint machine modules transform MotiFlex e100 drives into powerful intelligent drive systems, assuming complete control of the drive on-board IO, communications, and networking features, eliminating the need for external controllers or PLCs.

Features and Benefits

Ethernet Powerlink manager (multi-axis version) and controlled node operation

Powerful Mint multitasking programming

CANopen manager function (via drive on-board hardware)

Non-volatlie ram for data storage and Flash program storage

Control of one analog axis using the encoder input and analog output, or use independently for other control functions

Compact solution, requiring less panel space and wiring

Elimination of external controller or PLC saving cost and reducing complexity

Dual Axis Mint Module

The dual axis Mint module provides a simple but powerful solution to applications requiring a fully programmable drive. The encoder input and analog output can be used to control a secondary axis such as an analog servo or vector drive. Alternatively the encoder input can be used as a line shaft encoder for electronic gearing motion. Combine this with options such as additional feedback or expanded I/O options to tailor the drive for your application.

Once installed, the Mint module will assume control of the CANopen port and Ethernet interface.

The Ethernet port can be used as a TCP/IP interface from a host PC using the Mint ActiveX tools. CANopen HMI and expanded system

I/O can be added and distributed around the machine. It can also be a controlled node of a much larger Powerlink control system, receiving control information from NextMove e100 for example, and controlling a local intelligent subsystem.

Example 3 Dual Axis Solution with

TCP/IP Ethernet Communications

PC host

/ HMI

TCP/IP

CANopen

HMI

Options fitted :

1 Dual Axis Mint Module

2 Second feedback card for ‘line shaft' following or dual loop feedback

3 HMI connected to the drive on CANopen

4 Additional distributed I/O managed on

CANopen by the drive

Line shaft encoder via

Mint option card

Dual axis

Mint Module installed

Hi-speed registration inputs

Mint Card analog output to control open loop inverter or combine with encoder input for closed loop

CANopen slice I/O

AC Inverter, vector or servo motor

AC servo, AC vector or linear motor

Encoder/Resolver dual feedback

Ethernet - Powerlink and TCP/IP

Assumes control of Drive Ethernet port

Powerlink Manager or controlled node (CN)

Real-time Ethernet performance

TCP/IP mode of operation (non real-time) with ActiveX support

CANopen Port - Simple Expansion

CANopen network manager

I/O expansion, HMI and other devices

Communicate with other Mint products

uSB - Configure or Communicate

The host drive USB interface can be used for programming or ActiveX interfacing to a Microsoft Windows application

Encoder Input - 5V Incremental

1off Incremental encoder input

Control analog servo drives, inverters or servo hydraulics, in combination with the analog output.

Use as a line shaft encoder input

Application I/o - digital / Analog

4 Digital Inputs (2 fast inputs 1µS latency ideal for registration)

4 digital outputs.

1 Analog input +/-10V 12bit

1 Analog output +/-10v 12bit

NextMove Core - Advanced Motion

Powerful Mint Multitasking software

Single or Multiaxis coordinated motion

Powerlink and Fieldbus management

CANopen network management

Advanced Multi-Axis Module

This option provides an extremely compact multi-axis motion MicroFlex e100 can also be controlled via Powerlink, providing control package. It can coordinate multiple axes via the MotiFlex all the same motor control capabilities in a smaller package for

Ethernet interface. MotiFlex option cards within the system become available to the Mint card as additional I/O, encoder channels, and fieldbus communication ports to other systems, such as PLCs. The drive CANopen port can be used extend system I/O or add an HMI and the USB port provides convenient configuration access using Mint Workbench. single and three phase supply 105 to 230VAC. in 3, 6 and 9 Amp

(rms) continuous ratings.

Example 4 Multi-axis Solution with

Fieldbus Communications Module

PLC or other device

HMI

CANopen

Multiaxis module installed

Ethernet

Powerlink

AC Inverter, vector or servo motor

Encoder/

Resolver dual feedback or line shaft

AC servo, AC vector or linear motor

Fieldbus

CANopen

CANopen slice I/O

Hi-speed registration inputs on all drives

Options fitted :

1 Multi-axis Mint Machine Module

2 Second feedback card for line-shaft following or dual loop control

3 Fieldbus interface

4 HMI connected to the first drive on CANopen

5 Additional distributed I/O on CANopen from any drive

Complete machine solution, with a fieldbus interface to provide data exchange with 3rd party systems such as PLC's. A range of fieldbus options are available. There are two high speed latch inputs on every drive that can be used for functions such as registration control.

e100

Real-Time Ethernet Solutions

TCP/IP, Simply Ethernet

Communicate and Control

Ethernet Powerlink is simply an addition to the underlying IP protocols (TCP and UDP) and behaviour of IEEE802.3 Ethernet. As such, all e100 products are able to operate as traditional Ethernet devices in applications that do not require the timing precision and deterministic operation of Ethernet Powerlink.

TCP/IP as a Control Interface

MicroFlex e100 and MotiFlex e100 drives have built in single axis positioning capability. This functionality can be controlled by TCP/IP communications to instruct axes to execute positional moves, homing sequences, jogs and much more. This can be used to implement multi-axis applications, where interpolated or tightly coordinated motion of multiple axes is not required and timing performance is not critical.

Mint ActiveX TCP/IP Support

TCP/IP communications from a Windows based PC, can easily be implemented using the Mint ActiveX tools, which hide the complexity of Ethernet messages and provide a simple interface of all the Mint commands and functions supported by e100 products including :

Positional move commands

Drive configuration

Status and monitoring

Firmware update and parameterization

TCP/IP

Ethernet Switch

CANopen slice I/O

AC servo, AC vector, rotary or linear motors

Example 5 TCP/IP Controlled e100 Drive System

TCP/IP

PC host / HMI

CANopen

CANopen slice I/O

1 Host Windows PC HMI / control software using Mint ActiveX TCP/IP communications interface

2 Ethernet 100Mbit Switches

Distributed I/O on CANopen from any drive can be controlled / monitored by Host PC

MotiFlex e100 drives can be AC powered or as a DC shared group

5 MicroFlex e100 drives

Multiple drives can be controlled via Ethernet in this way, each positioning an axis based on commands issued by the host. In this example a

PC running Microsoft Windows operating system uses the Mint ActiveX tools to send motion commands. The entire Mint command set, drive parameters and functionality is available via the

ActiveX components in this way.

TCP/IP, Simply Ethernet

Communicate and Control

NextMove e100 TCP/IP Operation

The Ethernet port can also be used for TCP/IP as a data exchange interface, providing information such as trajectory data, or simply recipe control information as data values to the Mint application.

The NextMove e100 can coordinate 3 analog and 4 stepper axes of interpolated motion. Combine this with numerous digital and analog IO, CANopen and serial communications and it provides a powerful stand-alone machine controller.

Ethernet RAW

NextMove e100 has a reserved port (5002) which provides serial port (VT100) emulation. This allows a simple means to create custom ASCII based messages to and from the NextMove controller via Ethernet. Combined with an appropriate Mint program, it can be used to interpret and construct Ethernet frames such as ModbusTCP IO messages.

TCP/IP

HMI

CANopen

Ethernet Switch

TCP/IP

NextMove e100

CANopen slice I/O 5

Line shaft encoder

Analog

MicroFlex

Example 6 Analog and Stepper

System with TCP/IP communications

PC host / HMI

4 off stepper axes

1 NextMove e100 in TCP/IP operating mode

2 Host Windows PC HMI / control software using Mint ActiveX TCP/IP communications interface. Alternatively 3rd party device using Ethernet RAW data frames.

3 Ethernet 100Mbit Switches

4 Optional HMI on CANopen or Serial port

5 DS401 IO expansion via CANopen

6 Line shaft or dual encoder

7 Analog MicroFlex drives

8 Up to 4 additional stepper axes

NextMove e100 solution providing a traditional technology approach, with stepper and analog axes and CANopen as a local network. TCP/IP used for a host interface to a PC or PLC type device for purposes such as recipe data exchange, control, monitoring or visualization.

e100

Real-Time Ethernet Solutions

Ethernet Powerlink Router

Remote Access and Control

Ethernet access to Powerlink networks

Integrated firewall security

Network Address Translation (NAT)

User configured IP addressing

Compact DIN-rail mounting

24VDC operation

Diagnostics LEDs

The EPL router provides convenient networking access to Baldor e100 systems utilizing the real-time Ethernet protocol, Ethernet Powerlink (EPL).

HMI / Visualization / remote access

(e.g. maintenance)

EPL routers operates in a similar manner to any normal Ethernet router on its non-real-time Ethernet port. A second port behaves in accordance to Ethernet

Powerlink specification for EPL router devices.

EPL Router (Gateway)

Factory Network

Real-Time Network

The device manages Ethernet message exchanges between the nondeterministic factory Ethernet network and the real-time Ethernet network of the e100 system.

NextMove e100

Ethernet Powerlink

The EPL Router can be used to provide data access, such as process data exchange for visualization and control, or remote access for maintenance and diagnostics.

CANopen

CANopen slice I/O

Technical Data

Power

Communication Ports

Programming

IP Address Configuration

Mounting

Connectors

Indicators dimensions weight operating Temperature

+24VDC, 150mA

1 x TCP/IP, 1 x Ethernet Powerlink. IEEE802.3 compliant

Integrated HTML web interface

EPL via hex rotary switches. TCIP/IP side via HTML. 2 off switches for quick selection of user defined / default IP addresses

Din Rail with integrated grounding

RJ45 Ethernet ports. Two part screw terminals for power

LED indicators for Power, Activity, Error, State (see user manual for more information)

H: 115 mm (4.53in) W: 23 mm (0.91in) D: 100 mm (3.94in)

0.116 Kg (4.1 oz)

0°C to +55°C (+32°F to +131°F)

Ethernet Powerlink Router

Remote Access and Control

Network Address Translation

Network Address Translation (NAT) allows public IP addresses to be configured for EPL devices via a simple HTML interface, allowing the EPL IP addresses to be represented by IP addresses within your network.

Network Security, by Design

Powerlink operates as a protected segment by design, and connects to a non-deterministic Ethernet network via a router device. This gateway acts as a defensive barrier against attacks by providing firewall security measures.

Total Network Visibility

By maintaining the integrity of standard Ethernet, Powerlink can provide visibility of any or all devices on the network. This allows any devices you choose, to be monitored, configured, diagnosed, or upgraded from any accessible network point.

Remote Access

A Powerlink system can be remotely accessed by means of a

EPL router, providing the potential to service and maintain a system remotely via access technologies such as VPN.

Order Information

Catalog Number oPT036-501 description

Ethernet Powerlink Router

Powerlink (EPl)

Ethernet

CSMA/Cd

PowERlINk PRoTECTEd

SEGMENT

Powerlink

Network Manager

Application

Isochron Async

TCP udP

Powerlink

Controlled Node

Application

Isochron Async

TCP udP

Ethernet

CSMA/Cd

STANdARd/INduSTRIAl

EPl Router

(Gateway)

IP Routing

Powerlink

(EPl)

Ethernet

CSMA/Cd

Firewall

Ethernet

CSMA/Cd

EThERNET

Application

Async

TCP udP

Ethernet

CSMA/Cd

Real Time Ethernet Ethernet

Block diagram showing a Powerlink protected network segment connected to a standard Ethernet network via an EPL router with integrated firewall.

e100

Real-Time Ethernet Solutions

Mint

®

– Machine Intelligent

Programming language

Compiled BASIC programming language

Multitasking allows complex applications to be broken down into simpler, more manageable sub-tasks

Modular programming capability, including functions and subroutines, allows for code re-use and ease of debugging

Common programming interface for both NextMove and

Baldor’s intelligent drives reduces the learning curve

Comprehensive library of motion types including interpolated moves, CAM profiling, flying shears, gearing and more

Intuitive Windows® tools including advanced editing tools, software oscilloscope, online help, drive configuration wizards and auto-tuning system

ActiveX® components (supplied free of charge) simplify the development of Microsoft Windows® host applications

Mint - Simply Advanced

With more than two decades in real world applications, Mint ® fully embraces advanced programming functionality, such as multitasking, user defined functions and, procedures, structure data types and events. Presented in BASIC programming form,

Mint makes it easy to develop modular programs that are easily understood, maintained and re-used across different applications and hardware platforms.

Mint Code Library

Mint’s Code Library makes code re-use even simpler by allowing code to be stored and used for other projects, one of the many features in the Mint WorkBench, designed to streamline your applications.

Mint - More than just Motion Control

Mint excels in motion control applications, but is equally accomplished at tasks such as :

■

HMI interaction

Serial and fieldbus communications

I/O logic processing

Complex mathematical functions

Recipe data management

Multitasking Streamlines Program Flow

With many devices to control and machine functions to coordinate, it helps to be able to structure code into specific tasks and allocate resources dynamically at runtime. Multitasking is one of the key features of Mint. Numerous software tasks can be initiated, suspended, terminated and prioritized as required, to optimize machine performance.

Time Critical Functions Handled with Ease

Time critical functions, such as responding to the change of state of inputs are handled with ease by Mint EVENTs (interrupt handlers). Using events within Mint is more code efficient and faster than polling the state of an input or process variable. Events can be triggered for digital inputs, ‘move buffer low', errors, position latches and more. Events handlers can also be installed in host PC applications using the Mint ActiveX tools

Comprehensive library of Motion Types

Powerful Move Buffer Enables

Continuous Motion and More

All axes have a flexible and powerful move buffer system that allows multiple move commands to be loaded and then executed. Each entry in the move buffer can contain a unique identifier, independent Speed, Acceleration,

Deceleration and Jerk settings. A configurable Move buffer low system event will trigger either a Mint routine or ActiveX service which you can customize to refill the buffers. Output transitions states, pulse durations and even dwell times can be loaded into the move buffer to ensure they are synchronous to the axes motion.

Motion Profiles – Positional Moves

Mint offers many flexible move types to suit your application requirements, some of the more common.ly used functins are listed here:

Absolute and Relative:

With its own speed, acceleration and deceleration defined (including trapezoidal and S-ramp profiles).

Interpolated motion:

Using the Mint move buffer, multiple linear and circular moves can be blended to create continuous complex motion paths. Intervector angle control allows complex paths to be executed with minimum disturbance. Feed-rates and digital outputs can be loaded with each move for synchronization with motion.

Tangential knife:

Combined with interpolated motion, an axis can be defined as a knife axis and will follow the tangent to any 2D application.

helical Interpolation:

For 3 axes, defining a helical move in 3D space.

Jog Control:

A function that allows the motor to run indefinitely at a defined speed, in position control.

Splining:

Allows a stream of moves, defined in terms of position, velocity and time, to be blended for continuous and smooth motion.

Motion Profiles – Master/Follower

Master follower applications can be geared off any of the encoder inputs, pulse/direction input, virtual axes or from an

Ethernet Powerlink encoder.

Electronic Gearbox & Clutch:

Enables two or more shafts to be linked with a programmable ratio.

Any axis can be geared to any other axis. Clutch allows precise start and stop distances when synchronizing.

Registration on the fly:

Offset moves can be superimposed on geared motion for position correction. This can be triggered from any of the registration inputs or within Mint.

Electronic CAM:

Replaces traditional mechanical

CAMs with servo/vector/stepper motor and software programmable profiles (relative or absolute).

Flying Shear:

Allows position synchronization of a slave axis to a master, with defined acceleration and deceleration profiles - all linked by software to product movement.

Virtual Axes:

Allows motion to be executed without virtually. Can be used to test applications or as a virtual master for electronic line-shaft applications.

Refer to Catalog BR1202-B for further information on the Mint programming language.

Mint

®

workBench

Program Navigator

Command Line

Mint Code Library

Quick Access Toolbox

Monitoring Tools

The ‘SPY' window provides a number of simple monitoring and test features organized into tabs.

The default tab shows useful axis status information and allows the user to select the axis to monitor.

Other tabs include the following features :

Peer to Peer Comms data exchange

DPR (Dual Port Ram) for PCI products

CANopen network status

Fieldbus monitoring

Monitor window with 6 user configured readouts

I/O status monitor

When fine tuning of axis performance from the auto-tuned results is necessary, the ‘Fine tuning' workspace is selected from the tool bar and, the available Spy tabs change to suit axis tuning functions and provide the following features :

Current loop performance and testing

Speed loop performance testing / tuning tab

Position loop performance testing / tuning tab

S-Ramping test / design tab

Digital Notch/low pass filter design for drives

Watch Window

Program Navigator

Program Editor

Monitoring Tools

Context Sensitive Help

Watch Window

Program Editor

The program editor features a rich set of high-level language editing and debugging features, including :

Color syntax highlighting

Breakpoints and single step debugging

Watch-point monitoring

Tree-view software navigator

Variable watch-window

Task status window

Compilation errors and warnings report

Integrated Context Sensitive help

A press of the F1 key takes you to the Mint integrated help, instantly presenting you with information relating to the feature you are trying to use. For example this could be a stage in the drive commissioning wizard or the highlighted Mint keyword in the program editor.

Program Navigation

The tree-view Program Navigator provides structural overview of your program and a fast method to find code sections, tasks, functions or subroutines. Simply click on the name of the code section you are looking for. You can use it to insert new tasks, subroutines and functions from the Program Navigator pop-up menu and reorganize your program.

Mint Code library

The Mint code library allows you to easily store and re-use functions, subroutines or entire Mint programs for future use. These code segments can easily be recalled and inserted into new projects, streamlining code development. Simply select and insert code segments into your current program or copy segments of code into the library area.

Quick Access Toolbox

The most commonly required functions are easily accessed from a tool bar, changing the workspace to suit the job at hand. This toolbox adapts to the type of product being configured and includes :

Ethernet configuration

Drive setup wizard

Fine tuning

Edit & debug

Oscilloscope mode

Parameter viewer

Homing

I/O configuration

Error log

ActiveX Components

ActiveX® components are provided with Mint WorkBench as standard and form a powerful toolkit for developing PC based visualization, machine control and even OEM production tools. All of the functionality underlying the Mint WorkBench, is available to the user as ActiveX functions, such as ‘compile and download', ‘firmware update', oscilloscope data capture (graphing separate) as well as all Mint motion functions such as multi-axis motion commands, I/O operations, and much more.

ActiveX

is a registered trademark of Microsoft

Corporation

e100

Real-Time Ethernet Solutions

Mint

®

workBench

Complete System Configuration

Mint

WorkBench provides a suite of tools in a single software platform, from network configuration, drive commissioning, control programming and diagnostics, streamlining your design cycle to save you time and money. Once complex tasks are simplified through the use of experience based wizards and graphical interfaces.

Mint Machine Center - System Design

A graphical tree-view interface represents all connected devices within a Mint network or system. Devices can be added off-line and the design implemented later, or the system simply scanned and devices detected.

This view is useful for visualizing all devices and to start commissioning. The machine view allows you to group devices into a logical order other than by address or type sequence of the network view. By allowing group names to be defined and each device given a logical name, you can create a custom view of the system which represents your application or machine configuration.

Program Development and Debugging.

Advanced debugging tools provide task status information and control, hover over variable watch, single step, breakpoint and watch-point features to make code development and testing simple.

Configure With Ease

Making configuration changes to any device is simple.

Click on the device icon within the network or application view, to launch the Mint WorkBench directly connected to that device via Mint redirection. Wizards, auto-tuning, and online help have been designed to guide you through the process of device configuration.

Automated Web Update via SupportMe™

If you have web access, you can take advantage of the web updates feature. This will check for firmware updates for your specific motion controller or drive. The firmware files can be downloaded and installed into a maintained database on your PC, allowing you to use them as required.

SupportMe™ Technical Support

When faced with difficulty, Baldor's SupportMe™ feature will gather a host of important information from the controller. An email will be generated automatically, offering you the option of attaching programs and additional files. This can be sent directly to your chosen local technical support contact, providing an efficient support mechanism to help you get back up and running.

(Requires e-mail client).

One example of the ease of use of Mint WorkBench - I/O configuration simplified by graphical drag & drop approach to define function, active level or edge of each I/O.

Drives Set-up Wizard

Simple step by step guide

Motor Selection

Application limits

Mode of operation

Network configuration

Auto-tuning wizard including :

User configured operation e.g. direction inhibit

Feedback verification

Automatic commutation test

Load model identification

Automatic adaptation of current speed and position control gain terms

Software Oscilloscope

Multiple channels of display

Cursor measurement

Save/open/print functions

Independent axes scaling

Plot X against Y position

Trigger and repeat capture modes

FFT analysis

Parameter Viewer

System and axes configuration on motion controllers

View / monitor / edit / save and print parameter files

Live or offline mode

Multiple parameter file comparison

Changed from default indication

User configured parameter views

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.

Detailed access to drive configuration is catered for by a parameter viewer which also provides useful tools for parameter file comparison, highlighting changes between files and changes form factory defaults.

Filters Eliminate Resonance

Advanced digital filtering techniques can be applied to reduce the effect of mechanical resonance on system performance.

The drive has two separate digital filters. Each can be adapted to specific frequencies as notch filters, or as low pass filters.

Adapting the filters to eliminate or reduce the effects of resonance allow higher system gains and tighter control to be attained. This maximizes machine control bandwidth, without suffering from the increased resonance and performance degradation that would otherwise 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 user to test the axis open and closed loop frequency response. The resonant components can then be identified and filter designs tested for effectiveness.

Digital Filter Designer

Tools to combat mechanical resonance effects

Integrated tests designed to identify problem frequencies

FFT analysis built in to software oscilloscope

Design tools to create digital filters

Support for low pass and notch filter designs

Fast Fourier Transform analysis highlights resonant frequencies.

e100

Real-Time Ethernet Solutions

NextMove e100

Real-time Ethernet Motion Controller

Ethernet Powerlink + integrated hub

8, 12 or 16 axes of interpolated motion

CANopen network manager

RS232/485 and USB communications

Integrated digital and analog I/O

4 stepper axes / 3 analog axes

Multitasking Mint

ActiveX

Controls

ETHERNET

POWERLINK

real-time technology

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

NextMove e100 can perform interpolation on 16 axes, as either a single coordinate group or as multiple coordinate systems operating independently with their own scale factors and move buffers. Alternatively all 16 can operate as independent axes.

Add I/O, Encoders and More

A Powerlink network can contain many devices including,

I/O, absolute encoders, gateways and DSP 402 positioning drives, such as the MicroFlex e100. DSP 402 axes provide simple point-to-point motion, homing sequences, jog control and torque demand functions. Example applications include guide axes, indexers, conveyors, tension rollers and more.

CANopen Port -

Simple Expansion

CANopen network manager

System I/O expansion

Communicate with Baldor HMI panels

Communicate with other Mint products

Analog Axes - Encoder Inputs

3 Incremental encoder inputs

3 Analog outputs +/-10v 12bit

Control legacy analog servo drives, inverters, servo hydraulics.

Use the encoders and analog signals for application purposes

Communications - uSB / Serial

USB interface for programming / ActiveX interfacing to a Microsoft Windows application

RS232/485 serial port to implement communications such as DF1 and

Modbus

Ethernet - Powerlink and TCP/IP

Network Manager or controlled node (CN)

Integrated 2 port hub - ease of connection

Real-time Ethernet performance

TCP/IP mode of operation (non real-time) with ActiveX support

Steppers - Auxiliary Axes

4 Stepper drive interfaces

Differential or Open collector interfaces available

Range of stepper motors with integrated drives available

Linear stepper motors also available

Application I/o - digital / Analog

20 digital inputs (4 fast inputs 1µS latency ideal for registration)

1 off relay output

12 digital outputs.

2 analog inputs +/-10V 12bit

1 auxiliary analog output +/-10v 12bit

TCP/IP Communications via ActiveX

In addition to the deterministic mode of Ethernet Powerlink, the

NextMove e100 can also operated in an open mode using TCP/IP messaging. This feature is supported by Baldor's Mint ActiveX tools, which can provide control of a network of drives from a Windows® based PC. In this mode the Ethernet interface acts as a standard

TCP/IP network port.

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.

Serial Interface for PLC, PC, HMI

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.

e100

Real-Time Ethernet Solutions

On-board Digital and Analog Interfaces

Integrated digital and analog I/O provide the facility for system interlocks and logic control normally afforded by an additional PLC.

This I/O can equally be expanded via Ethernet or CANopen.

Encoder Inputs and Fast Position Latch.

The servo control interfaces include three incremental TTL encoder channels which can also be used as additional position or velocity sensors. Alternatively, these can be used as master axes for synchronization applications. Four digital inputs can be used to latch the position of any of these encoders within 1µS and generate software events. This is ideal for registration based applications such as labeling and printing.

Analog Drive Interfaces

Integrated hardware interfaces provide a means of utilizing existing drive technologies such as simple inverters, stepper drives and servo pneumatics controlled from the industry standard ±10V analog outputs and encoder feedback. NextMove e100 is perfectly matched to Baldor’s FlexDrive-II and MicroFlex™ range of servo drives, BSM servo and linear motor range for a complete servo control system.

Open Loop / Stepper Control

Stepper axes can be controlled from any of the four onboard step and direction outputs. The stepper outputs can also be used to interface to Baldor’s FlexDrive-II or MicroFlex™ servo drives.

Integrated Stepper Motor/Drive Technology

Baldor's range of DSM integrated stepper motors/drivers are ideally suited for use with NextMove ESB/e100. Combining both a high torque stepper motor and microstepping drive in one compact integrated package, the DSM motor/driver combination requires only power and pulse/direction signals in order to operate.

Technial Data

Number of Axes

Axis Type

Powerlink device

Type Support

Ethernet

on-Board Memory

digital Inputs

Fast Inputs

16 interpolated axes in single or multiple coordinate groups.

Manage additional independent DSP 402 positioning Drives (non interpolated). Limit application dependant.

Ethernet Powerlink (EPL) v2

3 closed loop axes ±10V interface with 5V RS422 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

EPL DSP 401 I/O devices for I/O expansion

EPL DSP 402 Positioning Drives such as MicroFlex e100

EPL Absolute Encoders

Manage up to 16 interpolated axes and additional DSP 402 axes

Contact Baldor for information on additional 3rd party products supported.

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 braided shielded cable, RJ45 connectors, Max 100m(330ft) each.

Address: 2 off rotary HEX switches sets node and private device IP address

4MByte Flash for firmware and non-volatile program storage. 2MByte SRAM

32kByte FRAM for non-volatile variable data storage

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

The first 4 of digital inputs can be configured for high speed position capture of axis position

1цsec capture time

4 MByte

FLASH

8 MByte

SRAM

2 MByte

SRAM

32KByte

FRAM

Parameter Storage

100 Mbit/s

Ethenet Powerlink

TCP/IP

RS485

115,200

Baud

USB 1.1

12 Mbit/s

500 kBaud isolated

CAN

2 Port Hub

Ethernet

Port

Serial

Port

USB

Port

CAN

Port

Communications Processor

120MHz

DSP

FPGA

Digital

Out

Relay

Out

Analog

Stepper

Out

Encoder

Analog

Out

4 Channels

Step & Direction

5MHz

3 Channels

ABZ Differential

20MHz post quadrature

4 Channels

12-bit +/-10V

3x for servo/vector control

1x general purpose

20 channels

NPN/PNP opto-isolated

12-24V

12 channels

PNP opto-isolated

12-24V

1 channel

24VDC

125mA

2 Channels

12-bit +/-10V differential

Ordering Information

Catalog Number

NXE100-16xxdB

NXE100-16xxSB description

NextMove e100 - Differential stepper output

NextMove e100 - Single ended open collector stepper outputs for use with DSM integrated stepper/driver motors xx = axis variant. 08, 12, 16

Note

digital outputs

Relay output

Analog outputs

Analog Inputs

Serial Port

CANopen

Power Requirements

Environmental limits

weight

dimensions

Programming

12 opto-isolated 12-24VDC PNP

Software configurable for drive enable

50mA typical per channel, 350mA max load for single channel up to 500mA total for 8 channels

Single output for drive enable. Form C (SPDT) relay rated at 24V (150mA)

Common, normally open, normally closed. Fail safe operation-relay de-energized on an error

Function defined in Mint

3 outputs for drive command signals. ±10V, 12-bit resolution

1 general purpose ±10V 12-bit output

2 differential ±10V operation 12 bit resolution.

User selectable RS485/232 via 9 pin Sub-D. Maximum baud rate 115,200

USB1.1 (12Mbit/sec) supported on Windows 2000/XP. A 2m (6.6ft) cable is supplied

Single CAN port via standard 9 pin Sub-D connector. CANopen DS301

Support for CANopen DSP 401 I/O, DS406 encoders and other devices,

Master functionality for peer-to-peer communications with other Mint nodes

DSP 402 Positioning drives management

24VDC ±10% : 50W

Operating Temperature 0°C to 45°C (32°F to 113°C)

0.85Kg (1.87 lbs)

L 262mm (10.3") : W 135mm (5.32") : H 45mm (1.77")

Mint® - Multitasking Motion Basic.

Windows 9X/NT/2000/XP/Vista 32bit via Mint ActiveX controls

(Note: USB only supported on Windows 2000/XP/Vista 32bit)

All Windows programming libraries supplied free of charge.

e100

Real-Time Ethernet Solutions

MicroFlex

e100

Compact AC Servo Drive

Real-time Ethernet with integrated hub

CiA DSP 402 Positioning on Powerlink or

CANopen

CANopen DSP 401 network manager for low cost I/O expansion

USB port for service / PC control via ActiveX

Linear and rotary motor control

Universal encoder interface

105 – 230 VAC 50/60Hz supply

3, 6 and 9 Amp versions with 200% peak capability

ETHERNET

POWERLINK

real-time technology

MicroFlex e100 is built on Baldor's expertise in servo drive technology. The advanced capabilities of real-time

Ethernet Powerlink provide superior performance, network integration and cost savings. MicroFlex e100 uses

Space Vector Modulation (SVM) for superior motor control and efficiency. Numerous protection features are designed in for reliability and safety.

Auto-tuning of all Axis Gain Terms Made Easy.

Auto-tuning takes place on the drive itself, adapting the current controller, velocity and position loops for the axis. In addition, it verifies feedback device signals and cabling errors. Because the position loop is tuned on the drive itself, there is no tuning to do on the motion controller. This further simplifies system tuning with all control terms in the drive.

CANopen Port - Simple Expansion

Ethernet to CAN gateway

CANopen network manager

DSP 402 positioning drive

Expand the system I/O via the drive

Ethernet - Powerlink and TCP/IP

Integrated 2 port hub - ease of connection

Real-time Ethernet performance

TCP/IP mode of operation (non real-time)

ActiveX support for TCP/IP communications

Power - universal AC Supply

AC single / three phase power

105 - 230VAC 50/60Hz

Regenerative brake resistor connections

Motor AC power out

drive I/o opto-isolated

Drive enable input

2 fast inputs 1µS latency ideal for registration

1 additional input

2 digital outputs. (eg. motor brake control)

24V logic Supply Maintain Position

24V back-up supply input

Maintain communications and position feedback when main AC power is removed to eliminate re-homing

Status lEds - Node Id and uSB

Power / health status

CANopen and Ethernet communications

Simple Ethernet node address selection

uSB Port - direct Configuration

Configure a drive direct via its USB port or via Ethernet network

Access diagnostics, digital oscilloscope

Parameter view / edit / compare

ActiveX tools allow custom Windows tools to be created to access the drive via its

USB port or Ethernet interface

Motor Feedback - universal Encoder

Incremental encoders with/without halls

Absolute single / multiturn BiSS and SSI

EnDat 2.1 / 2.2 absolute encoders

1V peak-peak SinCos encoders

Tamagawa absolute encoders

TCP/IP Communications via ActiveX

In addition to the deterministic mode of Powerlink, the MicroFlex e100 can also be commanded in an open mode using TCP/

IP messages. This features is supported by Baldor's 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.

Universal AC Power Supply for a Global Market

MicroFlex operates from a single or three phase supply, 105 to

230 VAC. The control electronics are maintained by an external customer supplied 24 VDC supply, in the event of main AC power removal, for typical safety schemes.

e100

Real-Time Ethernet Solutions

Universal Encoder Interface

A unique interface design provides support for leading encoder technology. Incremental encoders (with or without Hall-effect tracks), absolute single or multi-turn encoders such as BiSS, EnDat 2.1/2.2,

Synchronous Serial Interface (SSI) and 1V Sin/Cos encoders, are all supported on a single platform. This ensures the capability to utilize high performance feedback devices for optimum precision, accuracy and smooth speed regulation.

Matched Performance™ Motors

Baldor designs and manufactures both the drives and the rotary and linear motors they control. We ensure that the motor and drive are matched to operate together with optimal performance, and provide trouble free installation. The Mint Workbench configuration tool has access to all Baldor motor data, simplifying drive configuration.

Digital I/O for Axis Functions

Digital inputs provide typical drive and motion signals such as home sensor limit switches, a hardware enable interlock. Two can be used for high speed registration, capturing position in typically less than 1µS. The outputs can be configured for 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.

Technical Data

Ethernet uSB

CANopen digital Inputs digital outputs

Indicators

Specification: 100Mbit - IEEE802.3u compliant

Protocol : Ethernet Powerlink V2 (EPL) and IP protocols TCP/UDP

Interface : Integrated 2 port hub for daisy chain connection

Cable type : CAT5e Shielded cable, RJ45 connectors, Max 100m (330ft)

Address: 2 off rotary HEX switches sets node and IP address

Function : EPL /CiA DSP 402 Positioning Drive

Configuration and diagnostics via Mint Workbench. ActiveX support for custom user interfaces.

Isolated CAN port via standard 9 pin Sub-D connector. CANopen DS301

Manager of CANopen DSP 401 I/O devices and DSP 406 Encoder support when used with NextMove e100 products

CANopen DSP 402 Positioning drive mode via CANopen (controlled device) and Ethernet Powerlink

4 off total - opto-isolated 24V, 1mS sample rate including the following functions:

1 reserved for drive hardware enable

2 inputs with high speed position latch - for registration applications. <1µS latency

May be connected positive or negative common for use with NPN or PNP signals

Software configured level/edge triggered and application functions e.g. HOME, LIMIT, STOP, LATCH

2 off total - opto-isolated 12-24VDC PNP.

50mA per channel, 100mA max load for single channel, 200mA Fuse level (self resetting)

Software configured functions including Motor Brake control (requires external relay)

1 off LED for drive status/health

2 off LEDs for Ethernet activity

2 off LEDs for CANopen activity

24 VDC ±10% : Nominal 1.5 Amp externally supplied. (No current drawn with AC power applied)

Control Supply operating Modes

CiA DS402 Profiled Torque (current), Profiled Velocity (speed), Profiled Position - including Homing, Incremental and absolute moves.

Interpolated position mode with Mint motion controllers via Powerlink. Servo & closed loop vector motor support

Ethernet uSB

CANopen digital Inputs digital outputs

Indicators

Control Supply operating Modes

Specification: 100Mbit - IEEE802.3u compliant

Protocol : Ethernet Powerlink V2 (EPL) and IP protocols TCP/UDP

Interface : Integrated 2 port hub for daisy chain connection

Cable type : CAT5e Shielded cable, RJ45 connectors, Max 100m (330ft)

Address: 2 off rotary HEX switches sets node and IP address

Function : EPL /CiA DSP 402 Positioning Drive

Configuration and diagnostics via Mint Workbench. ActiveX support for custom user interfaces.

Isolated CAN port via standard 9 pin Sub-D connector. CANopen DS301

Manager of CANopen DSP 401 I/O devices and DSP 406 Encoder support when used with NextMove e100 products

CANopen DSP 402 Positioning drive mode via CANopen (controlled device) and Ethernet Powerlink

4 off total - opto-isolated 24V, 1mS sample rate including the following functions:

1 reserved for drive hardware enable

2 inputs with high speed position latch - for registration applications. <1µS latency

May be connected positive or negative common for use with NPN or PNP signals

Software configured level/edge triggered and application functions e.g. HOME, LIMIT, STOP, LATCH

2 off total - opto-isolated 12-24VDC PNP.

50mA per channel, 100mA max load for single channel, 200mA Fuse level (self resetting)

Software configured functions including Motor Brake control (requires external relay)

1 off LED for drive status/health

2 off LEDs for Ethernet activity

2 off LEDs for CANopen activity

24 VDC ±10% : Nominal 1.5 Amp externally supplied. (No current drawn with AC power applied)

CiA DS402 Profiled Torque (current), Profiled Velocity (speed), Profiled Position - including Homing, Incremental and absolute moves.

Interpolated position mode with Mint motion controllers via Powerlink. Servo & closed loop vector motor support

1MByte

SRAM

4MByte

FLASH

1MByte

SRAM

32KByte

EEPROM

Parameter Storage

150MHz

DSP

100 Mbit/s

ETHERNET Powerlink

TCP/IP

USB 1.1

12 Mbit/s

500 kBaud isolated

CAN

2 Port Hub

Ethernet

Port

USB

Port

CAN

Port

Communications Processor

FPGA

Universal

Encoder

Input

ABZ Differential

Hall tracks

SSI

EnDat

1V Sin/Cosine

Digital

Out

Drive

Enable

2 channels

PNP opto-isolated

12-24V

1 channel

NPN/PNP opto-isolated

12-24V

Digital

3 channels

(2 high speed)

NPN/PNP opto-isolated

12-24V

Accessories

A range of accessories for MicroFlex e100 are available to make system integration easier. These include 24V power supplies, pre-made motor and Ethernet cables in different lengths, braking resistors, EMC filters and cooling fans. Full information on these accessories can be found in the

Accessories brochure - BR1202-H.

Ordering Information

Catalog Number

MFE230A003B

MFE230A006B

MFE230A009B description

MicroFlex e100 AC Servo Drive

3 Amp continuous, 105-230VAC 50/60Hz

MicroFlex e100 AC Servo Drive

6 Amp continuous, 105-230VAC 50/60Hz

MicroFlex e100 AC Servo Drive

9 Amp continuous, 105-230VAC 50/60Hz

Type

Power Requirements

Current rating

Feedback devices

Regenerative braking

Protection dimensions and weight operating Temperature Range

Shock \ Vibration

Altitude / humidity

MFE230A003B MFE230A006B MFE230A009B

1 or 3 Phase 105-230 VAC 50/60hz

3 Amp continuous

6 Amp peak 3 seconds

6 Amp continuous

12 Amp peak 3 seconds

9 Amp continuous

18 Amp peak 3 seconds

Universal Encoder Interface, supporting:

- SSI single and multi-turn absolute encoders

- BiSS single and multiturn absolute encoders

- EnDat absolute encoders (v2.1 and v2.2)

- Incremental encoders (with Hall effect sensors). 5V differential signals.

- Hall sensor only for DC trapezoidal control

- 1V Peak - Peak Sin/Cos analog encoders with onboard interpolation

Additional devices supported by Feedback Option Cards

- Resolver with simulated encoder output

- Incremental encoders (with Hall effect sensors). 5V differential signals. Simulated encoder output.

Refer to technical manual for full description of supported encoder types and manufacturer part numbers

Integrated IGBT output. An external regen resistor can be fitted if required

DC bus over-voltage; DC bus under-voltage; Phase-Loss; Peak over-current; Motor short circuit; Over-temperature; I2T over current, hardware dead-time protection, motor thermal trip input, network failure modes.

H: 180 mm (7.09") W: 79.6 mm (3.13") L: 157 mm (6.18"). Weight 1.5 Kg (3.3 lbs.)

Temperature range 0˚C to 45˚C (32˚F to 113˚C) with derating to 55˚C

10G Shock \ 1G, 10-150Hz Vibration

1000m (3300ft) nominal. Derate 1.1% /100m (per 330ft) above 1000m (3300ft). / Humidity - maximum 93% non condensing

e100

Real-Time Ethernet Solutions

MotiFlex™ e100

Redefining Flexibility

Introducing Baldor's range of high performance multi-axis drives, MotiFlex™ e100. Providing a single platform for drive solutions for automation needs. MotiFlex integrates state of the art DSP technology specifically designed for motor control, with a real-time Ethernet platform, modular construction and Baldor's Mint® motion control technology.

MotiFlex

Key Features:

Real-Time Ethernet for advanced control

Universal AC operation 3 phase 180 to

528VAC (max) 50/60Hz

1.5 to 33.5 Amp in only two package sizes

Flexible overload ratings to match application

Servo and AC vector, software selectable

Rotary and linear motor control

Universal encoder input

Expansion slots for a flexible architecture

Intelligent Drive Systems

MotiFlex e100 drives can be expanded with a range of option modules to provide Fieldbus access, additional IO or feedback inputs.

Plug-in Mint controller modules create a powerful fully integrated intelligent drive based solution for machine control.

For more information on plug-in Mint machine modules, refer to page 12-13

P34

Features

Product Overview

P38

Flexible Solutions

Modular Enhancements

P40

Fieldbus Modules

Plug-in Networking

P42

DC Shared Operation

Energy Efficiency

P44

Drive Ratings

DC Power Ratings

P46

Ordering Information

MotiFlex and Accessories

e100

Real-Time Ethernet Solutions

MotiFlex

TM

e100

High Performance AC Servo Drive

Real-time Ethernet with integrated hub

CiA DSP 402 Positioning Drive Profile

CANopen DSP 401 manager for expansion

USB port for service / PC control via ActiveX

Linear and rotary motor control

Universal encoder interface and Resolver Option

Options for fieldbus, IO, programmable controllers

Stand alone AC power and DC shared operation

180 – 528 VAC 50/60Hz supply

1.5 to 33.5A with flexible overload ratings

Servo and AC closed loop vector control

MotiFlex e100 drives offers a broad range of application capabilities in a single platform and are designed to satisfy single axis stand-alone systems and multi-axis applications alike. This system flexibility, combined with servo, AC vector and linear motor control from the same hardware, and a wealth of expansion options, provides a platform for solutions in a wide range of applications.

Technical Data

Ethernet uSB

CANopen digital Inputs digital outputs

Indicators

Control Supply operating modes

ETHERNET

POWERLINK

real-time technology

Specification: 100Mbit - IEEE802.3u compliant

Protocol : Ethernet Powerlink V2 (EPL) and IP protocols TCP/UDP

Interface : Integrated 2 port hub for daisy chain connection

Cable type : CAT5e Shielded cable, RJ45 connectors, Max 100m (330ft)

Address: 2 off rotary HEX switches sets node and IP address

Function : EPL /CiA DSP 402 Positioning Drive

Configuration and diagnostics via Mint Workbench. ActiveX support for custom user interfaces.

Isolated CAN port via standard 9 pin Sub-D connector. CANopen DS301

Manager of CANopen DSP 401 I/O devices and DSP 406 Encoder support when used with NextMove e100 products

CANopen DSP 402 Positioning drive mode via CANopen (controlled device) and Ethernet Powerlink

4 off total - opto-isolated 24V, 1mS sample rate including the following functions:

1 reserved for drive hardware enable

2 inputs with high speed position latch - for registration applications. <1µS latency

May be connected positive or negative common for use with NPN or PNP signals

Software configured level/edge triggered and application functions e.g. HOME, LIMIT, STOP, LATCH

2 off total - opto-isolated 12-24VDC PNP.

50mA per channel, 100mA max load for single channel, 200mA Fuse level (self resetting)

Software configured functions including Motor Brake control (requires external relay)

1 off LED for drive status/health

2 off LEDs for Ethernet activity

2 off LEDs for CANopen activity

24 VDC ±10% : Nominal 1.5 Amp externally supplied. (No current drawn with AC power applied)

CiA DS402 Profiled Torque (current), Profiled Velocity (speed), Profiled Position - including Homing, Incremental and absolute moves.

Interpolated position mode with Mint motion controllers via Powerlink. Servo & closed loop vector motor support

Ethernet uSB

CANopen digital Inputs digital outputs

Indicators

Control Supply operating modes

Specification: 100Mbit - IEEE802.3u compliant

Protocol : Ethernet Powerlink V2 (EPL) and IP protocols TCP/UDP

Interface : Integrated 2 port hub for daisy chain connection

Cable type : CAT5e Shielded cable, RJ45 connectors, Max 100m (330ft)

Address: 2 off rotary HEX switches sets node and IP address

Function : EPL /CiA DSP 402 Positioning Drive

Configuration and diagnostics via Mint Workbench. ActiveX support for custom user interfaces.

Isolated CAN port via standard 9 pin Sub-D connector. CANopen DS301

Manager of CANopen DSP 401 I/O devices and DSP 406 Encoder support when used with NextMove e100 products

CANopen DSP 402 Positioning drive mode via CANopen (controlled device) and Ethernet Powerlink

4 off total - opto-isolated 24V, 1mS sample rate including the following functions:

1 reserved for drive hardware enable

2 inputs with high speed position latch - for registration applications. <1µS latency

May be connected positive or negative common for use with NPN or PNP signals

Software configured level/edge triggered and application functions e.g. HOME, LIMIT, STOP, LATCH

2 off total - opto-isolated 12-24VDC PNP.

50mA per channel, 100mA max load for single channel, 200mA Fuse level (self resetting)

Software configured functions including Motor Brake control (requires external relay)

1 off LED for drive status/health

2 off LEDs for Ethernet activity

2 off LEDs for CANopen activity

24 VDC ±10% : Nominal 1.5 Amp externally supplied. (No current drawn with AC power applied)

CiA DS402 Profiled Torque (current), Profiled Velocity (speed), Profiled Position - including Homing, Incremental and absolute moves.

Interpolated position mode with Mint motion controllers via Powerlink. Servo & closed loop vector motor support

300%

3 Seconds

PWM Switching Frequency

4 khz

8 khz 16 khz

2.75 (8.25A) 2.75 (8.25A) 2.75 (8.25A)

200%

3 Seconds

4 (8A) 3 (6A) 3 (6A)

150%

60 Seconds

5 (7.5A) 3.8 (5.7A) 3.8 (5.7A)

110%

60 Seconds

5.5 (6.05A)

Cont. (Peak)

4.5 (4.95A)

Cont. (Peak)

4.5 (4.95A)

Cont. (Peak)

Higher current capability

Tighter control - lower audibility

1 Derating applies above 45˚C (113˚F) and above 1000m (3300ft)

optimize the drive to the Application

Flexible overload and

PwM Selection

Each MotiFlex power rating can be optimized by choice of overload rating and PWM operating frequency to allow the drive to be adapted to the motor and application. For example an overload of 300% for 3 seconds for linear motor control or 150% for 30 seconds for vector motor control. All are easily software selected and the drive ratings adapt automatically to match these requirements.

Feedback devices

Regenerative braking

Protection dimensions weight operating Temperature Range

Shock \ Vibration

Altitude humidiy

Universal Encoder Interface, supporting:

- SSI single and multi-turn absolute encoders

- BiSS single and multiturn absolute encoders

- EnDat absolute encoders (v2.1 and v2.2)

- Incremental encoders (with Hall effect sensors). 5V differential signals.

- Hall sensor only for DC trapezoidal control

- 1V Peak - Peak Sin/Cos analog encoders with onboard interpolation

Additional devices supported by Feedback Option Cards

- Resolver with simulated encoder output

- Incremental encoders (with Hall effect sensors). 5V differential signals. Simulated encoder output.

Refer to technical manual for full description of supported encoder types and manufacturer part numbers

Integrated IGBT output. An external regen resistor can be fitted if required

Size A H: 350 mm (13.78")

Size B H: 350 mm (13.78")

Size A 1.9kg (4.2lb) to 5.8kg (12.8lb)

Size B 6.5kg (14.3lb)

W: 79 mm (3.13") D: 260 mm (10.31")

W: 129 mm (5.07") D: 260 mm (10.31")

Temperature range 0˚C to 45˚C (32˚F to 113˚C) with derating to 55˚C

10G Shock \ 1G, 10-150Hz Vibration

1000m (3300ft) nominal. Derate 1.1% /100m (per 330ft) above 1000m (3300ft) maximum 93% non condensing

Baldor reserves the right to change technical data

AC Power input - Plug-in Connector

Regen Braking output - Plug-in Connector for External Brake Resistor dC Bus Connection - Convenient Robust dC link System

Pre-made slot-in links

Simple to install

No proprietary backplanes required

Screw fixed cover for additional safety

Share regenerative energy

Improves system efficiency

Reduces the need for braking resistors

user I/o digital - Analog - 24V Back-up

Drive enable input

2 fast inputs 1µS latency ideal for registration

1 additional input

2 digital outputs. (eg. motor brake control)

+/-10V differential analog input

24V backup input to maintain communications and position feedback with convenient 24V / signal routing channel for neighboring drives

Motor Power labeled Plug-in Connector for Ease of wiring

Motor Thermal Trip Input Prevent overheating of the Motor

Motor Feedback - universal Encoder Interface

Incremental encoders with/without Halls

BiSS and SSI single/multi-turn absolute encoders

EnDat 2.1 / 2.2 absolute encoders

1V peak-peak SinCos encoders

Resolver supported via plug-in option

Dual feedback capability

Master encoder (line shaft) functions such as electronic gearing and CAMS

Ethernet Integrated - Real-Time Ethernet Powerlink

2 port hub integrated - ease of connection

Real-time Ethernet performance

TCP/IP mode of operation (non real-time)

3rd party Powerlink products support

Compatible with Baldor's e100 solutions

CANopen Integrated - Expand System I/o via dSP 401

CANopen network manager function

CANopen - Ethernet gateway function

DSP 402 positioning drive (as a controlled device)

DSP 401 I/O manager function to expand the system I/O from any drive

DSP 406 encoder support for position indication

Electrically isolated CAN interface

lEd Status indication - Power - CANopen - Ethernet

Power / health status

CANopen communications

Ethernet communications

Simple Ethernet node address selection

USB interface for service local access

Part number / serial number label, repeated for ease of reference

2 Expansion Slots Range of Plug-in options

Modular approach to drive configuration

Digital and analog I/O expansion

Additional feedback devices

Programmable Mint

motion controllers

Fieldbus option including :

■

Profibus

DeviceNet

Modbus RTU

■

Profinet IO

Ethernet/IP

ModbusTCP

Safety functions in preparation

For the latest options and availability please visit

www.baldormotion.com

e100

Real-Time Ethernet Solutions

Flexible Solutions

Modular Enhancements

Modern machine design requires different solutions for each industry, application and even classes of machines within a product range. MotiFlex provides a platform which can be tailored to each application by use of modular design. Expansion and enhancement options can be fitted in the field to MotiFlex drives

Dual Feedback and Line Shaft Encoders

Secondary feedback channels can be added to MotiFlex to provide dual feedback solutions for eliminating mechanical transmission errors. Alternatively they can be used to provide a convenient system source for encoders or resolvers. These can also be used in electronic line shaft applications, where drives in the system will electronically synchronize to an external source.

I/O expansion

System I/O can be optimized by adding digital or analog modules to one or more drives within a system. Where a few fast I/O are required the option modules provide a cost effective and compact route. For greater I/O count or distributed approaches, the integrated CANopen port can be used to manage CANopen DSP 401 I/O devices.

Fieldbus Modules

A range of plug-in fieldbus interfaces provide a simple approach to interfacing to other systems. The fieldbus option allows any Baldor e100 system to communicate with devices such as PLC's, PC's and embedded controllers. Recipe data, control interlocks and system status information can easily be exchanged. This is particularly useful for interfacing to existing machine sub systems or for OEM's that must provide the end users PLC of choice, while maintaining a common motion platform.

Programmable Option Modules

The addition of the single axis Mint motion control card will convert the standard MotiFlex into a fully programmable multitasking intelligent drive.

The multi-axis Mint module will control a number of drives connected on Ethernet Powerlink as a self contained coordinated machine control system. This provides major savings on installation and component costs in the most compact package. See page 12-13 for more information.

MotiFlex has an integrated Universal Encoder Input (UEI) as standard. This supports incremental + Halls, SSI, EnDat 2.1/2.2 and Sin/Cos encoders. Additional feedback options can be fitted and used as motor commutation, position loop feedback

(dual loop) or line shaft masters for system wide electronic gearing. The simulated encoder output on some options can be generated from the drives integrated encoder interface. and scaled to provide the required output resolution.

Resolver + Simulated Output

12/14 bit resolution, software selectable

Single speed 2:1 transformation ratio

Application notes

For applications where the motors are exposed to high shock and vibration, or higher operating temperatures

Medium performance applications

Simulated incremental encoder output with scaled resolution to provide a custom count per revolution for external devices such as counters or PLCs

Dual Feedback or electronic line shaft (gearing)

Simulated output can represent resolver input or Drives integrated Universal Encoder Interface. Software selectable and scalable

Incremental Encoder + Simulated Output

5V RS422 differential signals + Halls

5VDC supply 200mA load for the encoder

Application notes

Medium to high performance applications. (Performance is encoder precision and resolution dependant)

Voltage sense line, max supply voltage 7V

Simulated encoder output can selected from drives integrated encoder input or from the option card input

Simulated incremental encoder output with scaled resolution to provide a custom count per revolution for external devices such as counters or PLCs

This option can be used for motor commutation when a high performance encoder is required for other purposes and is connected to the integrated UEI

Digital I/O Module

6 inputs 12-30VDC operation

4 Outputs 12- 28VDC (150 mA max)

Sampling rate 1kHz

Pluggable connection

Application notes

Inputs are AC opto-coupled allowing for positive or common ground connection

Outputs are protected via self resetting fuse rated at 200 mA

Can be controlled by the machine controller via Ethernet

Powerlink as system I/O, or used to expand the I/O count in combination with a Mint Machine Module

Polled or Event based (interrupt) operation

Analog I/O Module

4 off 12 bit analog inputs +/- 10V

Sampling rate 8kHz

4 off 12 bit analog outputs +/- 10V

Update rate 8kHz

Pluggable connection

Application notes

Inputs can be used in differential or single-ended configuration

Digital Gain, Offset, Dead-band, Hysteresis and filter time constant can be applied to all analog inputs

Analog I/O cane be accessed via the Ethernet Powerlink network and controlled by the machine controller as distributed I/O, or used to expand the drive I/O in combination with a Mint

Machine Module.

e100

Real-Time Ethernet Solutions

Fieldbus Modules

Simple Plug-in Networking

Simple plug-in modules provide a powerful and consistent approach to fieldbus communications, providing data exchange gateway solutions, or drive control interfaces as required. A range of fieldbus types are available as simple modules which can be installed in the field.

Powerlink

Network Manager

Application

Isochron Async

TCP udP

Ethernet

CSMA/Cd

MotiFlex e100

Controlled Node object dictionary

Isochron Async Cyclic Acyclic

TCP udP

Powerlink (EPl)

Ethernet

CSMA/Cd

Application data

Interface

(AdI)

Process data

Service data

Fieldbus

Physics

Real Time Ethernet

POWERLINK to Fieldbus Data Exchange

Fieldbus

A Consistent Motion Platform Approach

MotiFlex provides fieldbus connection to e100 control systems by routing data between the fieldbus and realtime Ethernet. Using this approach data can be easily exchanged between the application program on the Mint controller and any external device, such as a PLC.

OEMs designing for different geographic markets, are often faced with supporting multiple PLC platforms and their respective fieldbus of choice. Using MotiFlex fieldbus modules a standard motion control strategy using e100 products can be implemented, maintaining a single motion solution and simply interface to the PLC for control interlocks, visualisation and application data exchange.

HMI

2 1

Line shaft encoder

Fieldbus A

Fieldbus B

Ethernet Powerlink

CANopen slice I/O

Encoder/resolver dual feedback or line shaft

AC servo, AC vector or linear motor

Example 2 Multi-Axis System with Fieldbus

Interface to PLC or Other Device

PLC or other device

CANopen

CANopen slice I/O

1 Powerful external machine controller which can profile up to 16 axes in tight coordinated motion and additional DSP 402 independent axes

2 HMI connected on CANopen

3 Distributed I/O on CANopen from any drive

4 Additional line shaft encoders can be connected to MotiFlex drives or motion controller

5 MicroFlex e100 drive axes on Powerlink

6 PLC or other controller

7 Fieldbus module installed in one or more

MotiFlex e100 drives to provide

Fieldbus modules used to application data exchange between a real-time Ethernet motion control system and a 3rd party device such as embedded controller or PLC.

Fieldbus Modules

Field fittable, plug-in modules

Physics and connectors match the relevant

Fieldbus standard

Access to drive object dictionary

Powerlink to Fieldbus data exchange

Operation in top slot of MotiFlex e100

Application notes

Fieldbus modules provide a means of application data exchange between the Baldor systems and other control systems. This provides a simple and consistent interface method independent of fieldbus type. Ideal for OEM's designing machines with different end user systems to integrate with such as PLCs

Fieldbus functionality and performance varies with each module type and fieldbus specific features

Additional modules are in preparation Contact your sales office if your specific requirement is not listed

Fieldbus

Ethernet/IP

PRoFINET Io

Modbus/TCP

EtherCAT deviceNet

PRoFIBuS dP

Modbus RTu

Notes

Features

CIP Parameter Object Support

Explicit and implicit messaging

Transformer isolated Ethernet interface 10/100 Mbit/s full duplex

PROFINET IO conformance class A

Transformer isolated interface 100 Mbit/s full duplex Ethernet

Coil/bit/register, single and multiple read/write access via process data

Transformer isolated interface 100 Mbit/s full duplex Ethernet

EtherCAT node• supporting CANopen PDO and SDO communication objects

100 Mbit/s full duplex with dual RJ-45 connectors

CIP Parameter Object support

Explicit messaging support

Galvanically isolated interface with auto baud rate detection 125 - 500 kbit/s

Change-of-state / Cyclic I/O / Polled I/O, Bit-strobed I/O, Explicit messaging

Profibus-DP/DPV1 slave

Additional acyclic parameter data

Supports master class 1 & class 2 access

Galvanically isolated Profibus interface with auto baud rate detection 9.6 kbit/s - 12

Mbit/s

Modbus-RTU slave

Galvanically isolated Modbus RTU interface (RS-232/485) with baud rates 1.2 - 115.2 kbit/s

The fieldbus interface supports exchange of up to 64 process data values in each direction (read and write), dependant on system configuration and limitations of some specific networks. Refer to technical documentation for more details.

For a fieldbus not listed please enquire with your local sales office or visit

www.baldormotion.com

e100

Real-Time Ethernet Solutions

dC Shared operation

Energy Efficient Design

As energy costs rise, efficiency of machine operation becomes an increasingly critical measure of modern machine design. Energy generated by axes during braking, or load driven operations is often wasted as heat in regeneration resistors. The simplest and most cost effective solution is allowing other drives to consume the energy. All MotiFlex drives include the ability to share DC energy as standard and more uniquely are able to provide power to other drives. Each MotiFlex drive can convert power from the AC supply to share with other drives, eliminating the need for separate power supplies.

Installation Cost Savings

MotiFlex DC shared systems reduce the number of line side components such as contactors, circuit breakers, fuses and cabling, reducing cost, simplifying design and inherently improving reliability through reduction of components and complexity.

The ability to power other drives eliminates the need for a separate DC power supply in many applications, further reducing system costs. And where required, a single regenerative resistor can be added to provide any occasional or safety margin power dissipation requirements

Single AC supply circuit

Axes utilizing regenerated energy

DC system absorbs energy

Axis regenerating energy

Shared DC Bus Benefits

Installation cost savings

Fewer AC side components such as contactors, fuses or circuit breakers

Less cabling, connectors, terminals, and other components

Reduced design time

Simplified build and reduced wiring time

Lower component count and inventory

Lower energy costs

Reduced panel heating

Reduced panel space

Higher reliability through reduced complexity

Improved ‘ride-through' capability

Shared energy reserve and braking capacity

Energy generated by any axis is absorbed and used by the system, reducing energy wasted as heat. The potential need for braking resistors is therefore greatly reduced.

A simple and robust DC bus connection system is integrated into each drive. The links can be easily installed by opening the DC bus bar cover on the top of the drive, which is screw locked for additional security and safety. This approach is inherently less costly and more reliable than proprietary backplane approaches.

Energy Savings for the Life of the Machine

Energy costs are rising and machine efficiency is now a key challenge for modern machine designers. A simple but effective DC shared bus scheme, means that the benefits of single AC supply system and the machine lifetime energy savings, can be employed in a greater number of applications. DC bus systems usually become cost effective for typically 5 axes or more. MotiFlex however, has been designed to offer cost effective DC sharing from 2 axes and above.

Intelligent DC Bus Pre-Charge Control

Inrush current can be problematic, causing troublesome fuse trips.

This often leads to over sized fusing, contactors and cabling to compensate. Each MotiFlex drive features an intelligent pre-charge system. Powered from AC, in stand-alone operation, or as a shared

DC system, the pre-charge is active in all drives. This reduces the peak charging currents preventing fuse failure and inherently reducing stress on capacitors, increasing the operational life of the drives.

Determining Power Requirements

The optimum method to analyzing the system power requirements is by developing a power flow analysis. This can be done by calculating power against time for each axis for a complete machine cycle. This will provide peak (overload) power usages, average power usage and any regenerative energy cycles for each axis. By summing these individual axis graphs it is then possible to determine the power supply requirement of continuous and overload requirements and sizing of regenerative braking resistors.

Motor

Solutions

Baldor has been manufacturing and supplying high

performance servo motor solutions to worldwide applications for over 2 decades, and AC motors for almost a century.

Rotary Brushless

Servo Motors

0.4 Nm (4 lbin) through to

134 Nm (1,185 lbin).

High dynamic N series for high acceleration / high duty

High inertia C Series where inertia matching is critical

Stainless range available for wash-down applications

Linear Motors and

Stages

Brushless servo (cog free)

Brushless Iron core

AC Induction linear

Linear Steppers

2 axis linear stepper platens

Choice of feedback devices and bearing solutions

Single bearing stages

Extruded stages

AC Vector Motors

0.75 kW to 375 kW (1 Hp to

500 Hp)

Washdown versions available

Encoder options available

VS1 Drives

Single and three phase inverter / vector drives

Keypad configuration

Expansion via 2 option slots

e100

Real-Time Ethernet Solutions

Drive Current Ratings

Size A Drives

overload

Mode

300% for 3

Seconds

PwM

4khz

8khz

16khz

MFE460A001B MFE460A003B

Continuous

A rms

1.15

overload

A rms

3.45

Continuous

A rms

2.75

2.7

overload

A rms

8.25

8.1

MFE460A006B

Continuous

A rms

4.5

MFE460A010B overload

A rms

13.5

Continuous

A rms

7.33

overload

A rms

MFE460A016B

Continuous

A rms

8.5

overload

A rms

25.5

200% for 3

Seconds

4khz

8khz

16khz

1.75

1.5

3.4

7.5

10.5

7.5

150% for 60

Seconds

4khz

8khz

16khz

2.2

3.3

3.8

7.5

5.7

13.5

10.5

7.5

8.5

19.5

12.75

13.5

110% for 60

Seconds

45˚C

(113˚F)

4khz

8khz

16khz

2.7

3.3

2.97

5.5

4.5

Continuous AC Supply

Current (rms)

Power Supply to dC

Bus (continuous)

(4)

Power supply to dC

Bus (overload)

(4)

Motor Power output

(415v 0.7PF)

9.6kW

10A

5.8kW

7.8kW

0.75kW

6.05

4.95

Nominal drive ratings shown in red, are based on 200% overload at 45˚C (113˚F)

Notes

DC Power Data

415VAC 50/60Hz Operation

Temperature

Power Supply

Overload

MFE460A001

3sec 60sec

MFE460A003

3sec 60sec

MFE460A006

3sec 60sec

9.6kW

10A

5.8kW

1.5kW

5.5

7.8kW

8.8

6.06

14A

8.05kW

12kW

3kW

9.8kW

18.5

9.5

MFE460A010

3sec

20.35

16.5

10.45

18A

60sec

10.35kW

5.28kW

24.2

18.7

MFE460A016

3sec

20A

8kW

60sec

11.5kW

22kW 16.6kW

25.7kW

20.2kW

55˚C

(131˚F)

Supply

Conditions

Notes

AC Supply Current

(rms)

7.5A

8.4A

15A 17.5A

Power Supply to dC

Bus (continuous)

(4)

Power supply to dC

Bus (overload)

(4)

Motor Power output

(415v 0.7PF)

Voltage / Line Reactor /

Power Factor (PF)

4.35kW

9.6kW

560W

7.8kW

415VAC 1.2mH line reactor

0.81PF

4.35kW

9.6kW

600W

7.8kW

415VAC 1.2mH line reactor0.81PF

4.83kW

12kW 9.8kW

1.65kW

415VAC 1.2mH line reactor 0.85PF

8.63kW

22kW 16.6kW

3.2kW

415VAC 0.8mH line reactor 0.85PF

10kW

25.7kW

20.2kW

5.2kW

415VAC 0.8mH line reactor 0.8PF

Ratings shown are nominal based on 8kHz PWM with 200% overload unless otherwise stated refer to technical manual for complete rating information

MotiFlex Rating data

Size B Drives

overload

Mode

300% for 3

Seconds

PwM

4khz

8khz

16khz

MFE460A021B

Continuous

A rms

overload

A rms

MFE460A026B

Continuous

A rms

12.5

MFE460A033B overload

A rms

27.5

Continuous

A rms

24.5

overload

A rms

73.5

Regeneration Resistor Ratings

Size A

Size B drive Type

200% for 3

Seconds

4khz

8khz

16khz

150% for 60

Seconds

4khz

8khz

16khz

37.5

34.5

12.5

43.5

18.75

33.5

110% for

60 Seconds

Notes

4khz

8khz

16khz

27.5

25.3

16.5

12.5

31.9

28.6

13.75

33.5

Nominal drive ratings shown in red, are based on 200% overload at 45˚C (113˚F)

50.25

36.85

28.6

Switching

Thresholds

Switching

Current (Max)

Resistance

(1)

(10% Duty)

Resistance

(2)

100% Duty

Peak Power

(1)

(10% Duty)

Rated

Power (2)

(100% duty)

800VDC(on) 775VDC (off)

13.3A

60Ω

150Ω

10.7kW

4.2kW

24.2A

33Ω

68Ω

19.4kW

9.4kW

53.3A

15Ω

60Ω

42.7kW

10.7kW

(1) 10% duty ratings are based on absolute minimum resistance value.

(2) For drives connected in DC bused shared operation, use the 100% duty rating and resistors.

415VAC 50/60Hz Operation

Temperature

Power Supply

Overload

45˚C

(113˚F)

MFE460A021

3sec 60sec

Continuous AC Supply

Current (rms)

(3)

Power Supply to dC

Bus (continuous)

(4)

Power supply to dC

Bus (overload)

(4)

Motor Power output

(415v 0.7PF)

30A

18.3kW

36.6kW

26A

15.9kW

23.8kW

10.5kW

55˚C

(131˚F)

Supply

Conditions

Notes

MFE460A026

3sec

35A

21.3kW

60sec

28A

17.1kW

42.7kW

13kW

25.6kW

MFE460A033

3sec

40A

24.4kW

60sec

34A

20.7kW

48.8kW

31.1kW

16.9kW

The rating information shown is provided as a guide for the nominal operating conditions of

45˚C (113˚F) on 415VAC supply. A detailed set of rating data can be found in the technical manuals.

55˚C (131˚F) derated information is also shown.

AC Supply Current

(rms)

21A 18.2A

24.5A

19.6A

Power Supply to dC

Bus (continuous)

(4)

Power supply to dC

Bus (overload)

(4)

Motor Power output

(415v 0.7PF)

12.8kW

36.6kW

6.8kW

11.1kW

23.8kW

14.9kW

42.7kW

6.5kW

11.9kW

25.6kW

Voltage / Line Reactor /

Power Factor (PF)

415VAC 0.5mH line reactor

0.85PF

415VAC 0.5mH line reactor

0.85PF

Ratings shown are nominal based on 8kHz PWM with 200% overload unless otherwise stated refer to technical manual for complete rating information

28A

17kW

48.8kW

8.45kW

23.8A

14.5kW

31.1kW

415VAC 0.5mH line reactor

0.85PF

(Ratings of 33A unit shown for

4kHz pwm).

(3) The continuous AC current rating of size B drives is dependent on the drives overload operating mode (3 seconds or

60seconds).

(4) Power supplied to the DC bus is dependent on AC supply voltage and current. Figures shown assume V supply

415VAC

Ordering Information

MotiFlex® e100

Package

Size

Catalog Number

MFE460A001B

Nominal

Current

1.5A

description

MFE460A003B

Size A

MFE460A006B

MFE460A010B

10.5A

Size B

MFE460A016B

MFE460A021B

MFE460A026B

16A

21A

26A

MotiFlex e100 AC servo/ vector drives with DC sharing capability, integrated Ethernet technology and modular expansion.

MFE460A033B

33.5A

Refer to technical manual for more detailed rating information

option Cards

Catalog Number description oPT-MF-001 oPT-MF-005 oPT-MF-011 oPT-MF-013

Analog I/O +/10V 16bit 4 inputs / 4 outputs differential operation 1mS sampling rate

Digital I/O 12-24V 6 digital inputs / 4 digital outputs

Encoder 5V Line receiver with Halls. Simulated encoder output with selectable encoder output ppr scaling

Resolver input 12/14bit resolution. Simulated encoder output with selectable encoder output ppr scaling

Note resolver option card must be fitted in the lower option slot

Programmable options

oPT-MF-100 oPT-MF-101

Dual axis (drive) control + 1 analog axis interface. Digital and analog IO, 5V incremental Encoder input.

Multiaxis control 4 EPL axes + 1 analog axis interface.

Digital and analog IO, 5V incremental line receiver

Encoder input.

Fieldbus options

Fieldbus gateway modules provide a means to communicate between an e100 system and a 3rd party controller such as a PLC.

oPT-MF-030 oPT-FB-001 oPT-FB-002 oPT-FB-003 oPT-FB-004 oPT-FB-005 oPT-FB-006 oPT-FB-007

Fieldbus Carrier Card (required for all fieldbus options)

DeviceNet

Profibus DP

Modbus RTU

EthernetIP

ModbusTCP

ProfiNet IO

CCLink

Cable Management Brackets

description Catalog

Number oPT-CM-001 oPT-CM-002 oPT-CM-003

To Fit drive Size

A / B

AC power / motor power brackets + clamps

Signal and feedback bracket + cable clamps

dC Bus Bars

Catalog Number To Fit oPT-MF-dC-A oPT-MF-dC-B

Size A

Size B description

Pack of 2 links for drives 1.5A to 16A

Pack of 2 links for drives 20A to 34A

EMC Filters

Catalog Number

FI0035A00

FI0035A01

FI0035A02

Current rating rms

16A

25A

Voltage

3 x 520VAC

FI0035A03

FI0035A04

36A

50A

3 x 520VAC

FI0035A05

66A 3 x 520VAC

All filters meet EN61800-3 Drives Standard.

FI0014A00

16A Optional EMC Filter for 24V Supply

line Reactors

Catalog Number Inductance description lRAC00802

3mH

1.5A or 3A units operating stand alone on poor quality AC supply

6A to 16A units operating stand alone on poor quality AC supply

lRAC02502

1.2mH

lRAC03502

0.8mH

1.5A to 6A units in DC shared systems

10.5A and 16A units DC shared systems

lRAC05502

0.5mH

21A, 26A and 33.5 A units DC shared systems

Line reactors for DC shared systems or operation on poor quality AC supplies.

Refer to the technical manual for more information

MotiFlex Braking Resistors

Catalog

Number

RGJ160

RGJ260

RGJ360

RGJ1150

RGJ2150

RGJ3150

RGJ533

Rating

100W 60 Ohm

200W 60 Ohm

300W 60 Ohm

100W 150 Ohm

200W 150 Ohm

300W 150 Ohm

500W 33 Ohm

Single drive

60 Ohm

dC Shared or duty >0.2

150 Ohm

MotiFlex Cat Nr.

MFE460A 001

MFE460A 003

MFE460A 006

MFE460A 010

RGJ368

300W 68 Ohm

33 Ohm 68 Ohm

MFE460A 016

MFE460A 021

RGJ515

500W 15 Ohm

15 Ohm 60 Ohm

MFE460A 026

RGJ360

300W 60 Ohm

MFE460A 033

Refer to the technical manual for more detailed sizing information

NextMove

e100

Catalog Number description

NXE100-16xxdB

NXE100-16xxSB

NextMove e100 - 8,12 or 16 Axis motion controller:

differential stepper outputs

NextMove e100 - 8,12 or 16 Axis motion controller: Single ended open collector stepper outputs for use with DSM integrated stepper/driver motors xx = 08, 12, or 16 for number of supported axes which can perform interpolated motion (e.g. circular or vectored moves). Additional DS402 in dependant axes can be added

MicroFlex™ e100

Catalog Number Nomnal

Current

MFE230A003B

MFE230A006B

MFE230A009B

description

MicroFlex e100 AC Servo Drive

105-230VAC 50/60Hz

MicroFlex EMC Filters

Catalog Number description

FI0029A00

FI0015A00

FI0015A02

FI0018A00

FI0018A03

FI0014A00

Current rating

22A

12A

7.7A

17.5A

16A

1 phase 250VAC Foot-mount filter

1 phase 250VAC

3 phase 230/480VAC

Optional EMC Filter for 24V Supply

MicroFlex Braking Resistors

Catalog Number description

RG56

RG39

Power rating

44W

100W

For use with 3A MicroFlex

For use with 6A and 9A MicroFlex

MicroFlex Fan Tray

Catalog Number description

FAN001-24

Additional cooling fan for nominal rms currents exceeding

4A or high ambient temperatures. See MicroFlex technical manual for more information.

Ethernet Powerlink Cat5e 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

24VdC Power Supply units

Catalog

Number dR-75-24 dR-120-24 dRP-240-24 description

75W (3.2A) Din rail mount 24VDC power supply

120W (5A) Din rail mount 24VDC power supply

240W (10A) Din rail mount 24VDC power supply

System Cables

A range of cables, both pre-made and raw, are available. These include motor power cables, feedback cables and communication cables. Available in different lengths.

Further details can be found in the brochure BR1202-H

EPl Router

Catalog

Number description oPT036-501

Ethernet Powerlink Router enables controlled access from an external Ethernet network for purposes such as remote monitoring or maintenance, data exchange with MRP systems or PC equipment for visualization.

Programmable hMI Panels

Baldor’s programmable HMI range from simple text displays through to large color touch screen panels.

> Text displays from 4x20 character displays to 8x40 with keyboard entry

> Touch screen displays from mono 3.8" to color TFT 12.1"

All displays are programmable with an easy to use Windows tools Refer to catalog BR1202-h for full information.

Baldor's Motion Solutions Catalogs

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

Local Distributor:

BR1202 - I

5000

01/09

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Key features

Real-time Ethernet control
Multi-axis machine control
Plug & Play connectivity
Integrated CANopen support
Intelligent drive capabilities
Flexible network architecture
Remote access and control

Frequently asked questions

The e100 platform offers advantages like increased performance, scalability, reduced cabling complexity, and improved reliability compared to traditional fieldbus systems. It also provides total network visibility and shorter machine build times, making it a versatile and efficient solution for various applications.

Mint is a compiled BASIC programming language that provides an intuitive and easy-to-use interface for developing complex machine control applications. It offers features like multitasking, modular programming, and an extensive library of motion types to streamline development and debugging.

Ethernet Powerlink is a real-time Ethernet protocol designed specifically for industrial automation. It offers deterministic communication, high bandwidth, and flexible network architectures, making it ideal for demanding motion control applications.