MOTION CONTROL
NextMove ST
Motion Controller
Installation Manual
2/03
MN1921
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Contents
1
2
General Information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-1
Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1
2.1 NextMove ST features . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1
2.2 Receiving and inspection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-2
2.3 Units and abbreviations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-3
3
4
Basic Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-1
3.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-1
3.1.1 Location requirements . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.1.2 Mounting the NextMove ST . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.1.3 Other requirements for installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3-1
3-2
3-3
Input / Output . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-1
4.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-1
4.1.1 Connector locations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4-2
4.2 Power connections . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-3
4.2.1 Operation using combined drive and logic supply . . . . . . . . . . . . . . . . . . . .
4.2.2 Operation using separate drive and logic supplies . . . . . . . . . . . . . . . . . . .
4-3
4-4
4.3 Stepper outputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-5
4.3.1 Stepper axes 0-2 drive outputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.3.2 Stepper axes 0-3 logic outputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4-5
4-8
4.4 Analog I/O . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-9
4.4.1 Analog inputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4-9
4.4.2 Analog output . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-10
4.5 Digital I/O . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-11
4.5.1 Digital inputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-11
4.5.2 Digital outputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-13
4.5.3 Error output . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-14
4.6 Other I/O . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-15
4.6.1 RS232 serial communication . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-15
4.6.2 50-pin edge connector . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-16
4.6.3 CAN communication . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-17
4.7 Connection summary - minimum system wiring . . . . . . . . . . . . . 4-19
MN1921
Contents
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5
Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-1
5.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-1
5.1.1 Connecting the NextMove ST to the PC . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.1.2 Installing WorkBench v5 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.1.3 Starting the NextMove ST . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.1.4 Preliminary checks . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.1.5 Power on checks . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5-1
5-1
5-1
5-1
5-2
5.2 WorkBench v5 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-3
5.2.1 Help file . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.2.2 Starting WorkBench v5 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5-3
5-4
5.3 Configuring an axis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-6
5.3.1 Selecting a scale . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5-6
5.4 Stepper axis - testing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-8
5.4.1 Testing the output . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5-8
5.5 Digital input/output configuration . . . . . . . . . . . . . . . . . . . . . . . . . . 5-9
5.5.1 Digital input configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5-9
5.5.2 Digital output configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-10
5.6 Saving setup information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-11
5.6.1 Loading saved information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-12
6
7
Troubleshooting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-1
6.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-1
6.1.1 Problem diagnosis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.1.2 SupportMe feature . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6-1
6-1
6.2 NextMove ST indicators . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-2
6.2.1 Status display . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.2.2 Surface mount LEDs D3, D4 and D16 . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.2.3 Communication . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.2.4 Motor control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6-2
6-3
6-4
6-4
Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-1
7.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-1
7.1.1 Input power . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
7.1.2 Output power (Power Out connector) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
7.1.3 Analog inputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
7.1.4 Analog output . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
7.1.5 Digital inputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
7.1.6 Digital outputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
7.1.7 Stepper axis 0-2 drive outputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
7.1.8 Stepper axes 0-3 logic outputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
7.1.9 CAN interface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
7.1.10 Environmental . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
7.1.11 Weights and dimensions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
7-1
7-1
7-2
7-2
7-2
7-3
7-3
7-3
7-4
7-4
7-4
MN1921
ii Contents
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1 General Information
1
LT0184A00 Copyright Baldor (c) 2002. All rights reserved.
This manual is copyrighted and all rights are reserved. This document or attached software may not,
in whole or in part, be copied or reproduced in any form without the prior written consent of BALDOR.
BALDOR makes no representations or warranties with respect to the contents hereof and specifically
disclaims any implied warranties of fitness for any particular purpose. The information in this
document is subject to change without notice.
BALDOR assumes no responsibility for any errors that may appear in this document.
Mintt is a registered trademark of Baldor.
Windows 95, Windows 98, Windows ME, Windows NT, Windows 2000 and Windows XP are
registered trademarks of the Microsoft Corporation.
Limited Warranty:
For a period of two (2) years from the date of original purchase, BALDOR will repair or replace without
charge controls and accessories which our examination proves to be defective in material or
workmanship. This warranty is valid if the unit has not been tampered with by unauthorized persons,
misused, abused, or improperly installed and has been used in accordance with the instructions and/or
ratings supplied. This warranty is in lieu of any other warranty or guarantee expressed or implied.
BALDOR shall not be held responsible for any expense (including installation and removal),
inconvenience, or consequential damage, including injury to any person or property caused by items of
our manufacture or sale. (Some countries and U.S. states do not allow exclusion or limitation of
incidental or consequential damages, so the above exclusion may not apply.) In any event,
BALDOR’s total liability, under all circumstances, shall not exceed the full purchase price of the
control. Claims for purchase price refunds, repairs, or replacements must be referred to BALDOR with
all pertinent data as to the defect, the date purchased, the task performed by the control, and the
problem encountered. No liability is assumed for expendable items such as fuses. Goods may be
returned only with written notification including a BALDOR Return Authorization Number and any
return shipments must be prepaid.
Baldor UK Ltd
Baldor ASR GmbH
Mint Motion Centre
6 Bristol Distribution Park
Hawkley Drive
Telephone:
Fax:
+49 (0) 89 90508-0
+49 (0) 89 90508-492
Bristol, BS32 0BF
Baldor ASR AG
Telephone:
Fax:
Telephone:
Fax:
+44 (0) 1454 850000
+44 (0) 1454 850001
+41 (0) 52 647 4700
+41 (0) 52 659 2394
Email:
Web site:
Australian Baldor Pty Ltd
Telephone:
Fax:
+61 2 9674 5455
+61 2 9674 2495
Baldor Electric Company
Telephone:
Fax:
Email:
+1 479 646 4711
Baldor Electric (F.E.) Pte Ltd
+1 479 648 5792
Telephone:
Fax:
+65 744 2572
+65 747 1708
Web site:
Baldor Italia S.R.L
Telephone:
Fax:
+39 (0) 11 56 24 440
+39 (0) 11 56 25 660
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Safety Notice
Only qualified personnel should attempt the start-up procedure or troubleshoot this equipment.
This equipment may be connected to other machines that have rotating parts or parts that are
controlled by this equipment. Improper use can cause serious or fatal injury.
Precautions
WARNING: Do not touch any circuit board, power device or electrical connection before you
first ensure that no high voltage is present at this equipment or other equipment to
which it is connected. Electrical shock can cause serious or fatal injury.
WARNING: Be sure that you are completely familiar with the safe operation and programming
of this equipment. This equipment may be connected to other machines that have
rotating parts or parts that are controlled by this equipment. Improper use can
cause serious or fatal injury.
WARNING: The stop input to this equipment should not be used as the single means of
achieving a safety critical stop. Drive disable, motor disconnect, motor brake and
other means should be used as appropriate.
WARNING: Improper operation or programming may cause violent motion of the motor shaft
and driven equipment. Be certain that unexpected motor shaft movement will not
cause injury to personnel or damage to equipment. Peak torque of several times
the rated motor torque can occur during control failure.
CAUTION: The safe integration of this equipment into a machine system is the responsibility
of the machine designer. Be sure to comply with the local safety requirements at
the place where the machine is to be used. In Europe these are the Machinery
Directive, the ElectroMagnetic Compatibility Directive and the Low Voltage
Directive. In the United States this is the National Electrical code and local codes.
CAUTION: Electrical components can be damaged by static electricity. Use ESD
(electrostatic discharge) procedures when handling this drive.
1-2 General Information
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2 Introduction
2
2.1 NextMove ST features
NextMove ST is a high performance multi-axis intelligent controller for stepper motors.
NextMove ST features the MintMT motion control language. MintMT is a structured form of
Basic, custom designed for stepper or servo motion control applications. It allows you to get
started very quickly with simple motion control programs. In addition, MintMT includes a wide
range of powerful commands for complex applications.
Standard features include:
H
H
H
H
H
H
H
Three stepper drive outputs, with control for a fourth external stepper axis
Integral AC/DC power supply
Point to point moves, software cams and gearing
24 general purpose 5V digital inputs, software configurable as level or edge triggered
16 general purpose digital outputs (open collector Darlington type)
2 differential ±10V analog inputs with 12-bit resolution
1 single-ended 0-11V analog output with 8-bit resolution for control of a fifth axis or other
equipment
H
Programmable in MintMT.
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Included with NextMove ST is the Baldor Motion Toolkit CD. This contains a number of utilities
and useful resources to get the most from you MintMT controller. These include:
H
H
H
Mint WorkBench v5
This is the user interface for communicating with the NextMove ST. Installing Mint
WorkBench will also install firmware for NextMove ST.
PC Developer Libraries
Installing Mint WorkBench will install ActiveX interfaces that allow PC applications to be
written that communicate with the NextMove ST.
Embedded Developer Libraries
Allows embedded C33 applications to be developed using the Texas Instruments
TMS320C3x v5.11 compiler.
This manual is intended to guide you through the installation of NextMove ST.
The chapters should be read in sequence.
The Basic Installation section describes the mechanical installation of the NextMove ST.
The following sections require knowledge of the low level input/output requirements of the
installation and an understanding of computer software installation. If you are not qualified in
these areas you should seek assistance before proceeding.
Note: You can check that you have the latest firmware and WorkBench v5 releases by
2.2 Receiving and inspection
When you receive your NextMove ST, there are several things you should do immediately:
1. Check the condition of the packaging and report any damage immediately to the carrier
that delivered your NextMove ST.
2. Remove the NextMove ST from the shipping container but do not remove it from its anti-static
bag until you are ready to install it. The packing materials may be retained for future shipment.
3. Verify that the catalog number of the NextMove ST you received is the same as the
catalog number listed on your purchase order. The catalog/part number is described in
the next section.
4. Inspect the NextMove ST for external damage during shipment and report any damage to
the carrier that delivered it.
5. If the NextMove ST is to be stored for several weeks before use, be sure that it is stored in
a location that conforms to the storage humidity and temperature specifications shown in
section 3.1.1.
2-2 Introduction
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2.3 Units and abbreviations
The following units and abbreviations may appear in this manual:
V . . . . . . . . . . . . . . . Volt (also VAC and VDC)
W . . . . . . . . . . . . . . Watt
A . . . . . . . . . . . . . . . Ampere
Ω . . . . . . . . . . . . . . . Ohm
µF . . . . . . . . . . . . . . microfarad
pF . . . . . . . . . . . . . . picofarad
mH . . . . . . . . . . . . . millihenry
Φ . . . . . . . . . . . . . . . phase
ms . . . . . . . . . . . . . . millisecond
µs . . . . . . . . . . . . . . microsecond
ns . . . . . . . . . . . . . . nanosecond
Kbaud . . . . . . . . . . . kilobaud (the same as Kbit/s in most applications)
MB . . . . . . . . . . . . . megabytes
CDROM . . . . . . . . . Compact Disc Read Only Memory
CTRL+E . . . . . . . . . on the PC keyboard, press Ctrl then E at the same time.
mm . . . . . . . . . . . . . millimeter
m . . . . . . . . . . . . . . . meter
in . . . . . . . . . . . . . . . inch
ft . . . . . . . . . . . . . . . feet
lb-in . . . . . . . . . . . . . pound-inch (torque)
Nm . . . . . . . . . . . . . Newton-meter (torque)
DAC . . . . . . . . . . . . Digital to Analog Converter
ADC . . . . . . . . . . . . Analog to Digital Converter
AWG . . . . . . . . . . . . American Wire Gauge
(NC) . . . . . . . . . . . . Not Connected
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2-4 Introduction
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3 Basic Installation
3
3.1 Introduction
You should read all the sections in Basic Installation.
It is important that the correct steps are followed when installing the NextMove ST.
This section describes the mechanical installation of the NextMove ST.
3.1.1 Location requirements
You must read and understand this section before beginning the installation.
CAUTION: To prevent equipment damage, be certain that input and output signals
are powered and referenced correctly.
CAUTION: To ensure reliable performance of this equipment be certain that all
signals to/from the NextMove ST are shielded correctly.
CAUTION: Avoid locating the NextMove ST immediately above or beside heat
generating equipment, or directly below water steam pipes.
CAUTION: Avoid locating the NextMove ST in the vicinity of corrosive substances or
vapors, metal particles and dust.
The safe operation of this equipment depends upon its use in the appropriate environment.
The following points must be considered:
H
H
H
The NextMove ST is designed to be mounted indoors, permanently fixed and located.
The NextMove ST must be secured by the slots in the metal carrier.
The NextMove ST must be installed in an ambient temperature of 0°C to 40°C (32°F to
104°F).
H
The NextMove ST must be installed in relative humidity levels of less than 80% for
temperatures up to 31°C (87°F) decreasing linearly to 50% relative humidity at 40°C
(104°F), non-condensing.
H
H
The NextMove ST must be installed where the pollution degree according to IEC664 shall
not exceed 2.
There shall not be abnormal levels of nuclear radiation or X-rays.
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3.1.2 Mounting the NextMove ST
CAUTION: Before touching the unit be sure to discharge static electricity from your
body and clothing by touching a grounded metal surface. Alternatively,
wear an earth strap while handling the unit.
Ensure you have read and understood the location requirements in section 3.1.1. Mount the
NextMove ST by the four slots in the metal carrier/heatsink assembly. M5 bolts or screws are
recommended.
140 (5.51)
53 (2.09)
Slot detail
6 (0.24)
All dimensions shown as
mm (inches)
127 (5.00)
Figure 1 - Package dimensions
There must be at least 20mm clearance between the NextMove ST and neighboring
equipment to allow sufficient cooling by natural convection. Remember to allow additional
space around the edges to accommodate the mating connectors and associated wiring
leading to the NextMove ST.
3-2 Basic Installation
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3.1.3 Other requirements for installation
H
H
The NextMove ST requires a power supply as described in section 4.2.
A PC that fulfills the following specification:
Minimum specification
Intel Pentium 133MHz
32MB
Recommended specification
Processor
RAM
Intel Pentium 200MHz or faster
64MB
60MB
Hard disk space
CD-ROM
40MB
A CD-ROM drive
One free RS232 serial (COM) port
800 x 600, 256 colors 1024 x 768, 256 colors
Serial port
Screen
Mouse
A mouse or similar pointing device
Operating
system
Windows 95, Windows 98, Windows ME,
Windows NT, Windows 2000 or Windows XP
Software installation will be described later, in section 5.
H
Your PC operating system user manual might be useful if you are not familiar with Windows.
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3-4 Basic Installation
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4 Input / Output
4
4.1 Introduction
This section describes the digital and analog input and output capabilities of the NextMove ST.
The following conventions will be used to refer to the inputs and outputs:
I/O . . . . . . . . . . . . . . Input / Output
DIN . . . . . . . . . . . . . Digital Input
DOUT . . . . . . . . . . . Digital Output
AIN . . . . . . . . . . . . . Analog Input
AOUT . . . . . . . . . . . Analog Output
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4.1.1 Connector locations
1
2
3
4
5
1
2
3
4
5
5
4
3
2
1
5
4
3
2
1
Shield
A2
B2
C2
D2
PSU Logic
PSU Logic
Shield
PSU Drive
PSU Drive
D0
C0
B0
A0
Shield
D1
C1
B1
A1
Shield
Axis0
Output
Axis2
Output
Axis1
Output
Power
In
Shield
AIN0+
AIN0-
AIN1+
AIN1-
AGND
1
2
3
4
5
6
6
Shield
5
4
3
2
1
-12V OUT
Shield
Analog
Inputs
Power
Out
+12V OUT
DGND
+5V OUT
Shield
DOUT0
DOUT1
DOUT2
DOUT3
DOUT4
DOUT5
DOUT6
DOUT7
OUT COM0
DGND
1
12
11
10
9
Shield
DGND
DIN7
DIN6
DIN5
DIN4
DIN3
DIN2
DIN1
DIN0
DGND
Shield
2
3
4
5
8
Digital
Outputs
0-7
Digital
Inputs
0-7
6
7
7
6
8
5
9
4
10
11
12
3
2
Shield
1
Shield
DOUT8
1
12
11
10
9
Shield
DGND
DIN23
DIN22
DIN21
DIN20
DIN19
DIN18
DIN17
DIN16
DGND
Shield
2
DOUT9
3
DOUT10
DOUT11
DOUT12
DOUT13
DOUT14
DOUT15
OUT COM1
DGND
4
5
8
Digital
Outputs
8-15
Digital
Inputs
16-23
6
7
7
6
8
5
9
4
10
11
12
3
2
Shield
1
12
11
10
9
Shield
Shield
DGND
DIN8
1
DGND
2
AUXZ IN
AUXDIR IN
AUXSTEP IN
BOOST2
DIR2
3
DIN9
4
Digital
Inputs
8-15
Misc
8
DIN10
DIN11
DIN12
DIN13
DIN14
DIN15
DGND
Shield
5
7
6
6
7
5
STEP2
DGND
8
4
9
3
(NC)
10
11
12
2
SGND
Serial
1
SOUT
Mating connectors:
Weidmüller Omnimate BL 3.5/12
Weidmüller Omnimate BL 3.5/6
Weidmüller Omnimate BLZ 5.08/5
50-pin connector (not used)
Tightening torque for terminal block
connections is 0.25Nm (2.2 lb-in)
9-pin D-type socket (female)
4-2 Input / Output
MN1921
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4.2 Power connections
The NextMove ST can accept AC or DC power supplies, and has connections for separate
drive and logic supplies. However, the NextMove ST can operate from a single combined
supply if necessary.
Supply
connection
Recommended
supply voltage
Supply voltage
range
Power
requirement
Logic
Drive
24VDC
24VAC
24VDC
12-35VDC
12-30VAC
60W
60VA
150W
12-35VDC
(must not exceed 6A)
24VAC
24VDC
24VAC
12-30VAC
(must not exceed 6A RMS)
150VA
210W
210VA
Combined
drive and logic
12-35VDC
(must not exceed 8.5A)
12-30VAC
(must not exceed 8.5A RMS)
4.2.1 Operation using combined drive and logic supply
To operate the NextMove ST using a combined drive and logic supply, it is necessary to
connect links between the power input connections as shown in Figure 2. The drive and logic
supply inputs have independent bridge rectifiers so polarity is not important. The NextMove ST
creates its own ±12V and +5V supplies for the control card and internal circuitry by deriving
power from the drive supply.
POWER IN
5
Rectifier
(logic)
4
3
Fuse
2
1
PSU Drive:
12-35VDC or
12-30VAC
Rectifier
(drive)
Fuse
Figure 2 - Linking supply inputs to operate from drive supply only
The regulated ±12V and +5V supplies are made available on the power out connector, for use
with low power external circuitry, such as input potentiometers. Current demand must not
exceed 10mA from the ±12V supply and 200mA from the 5V supply.
MN1921
Input / Output 4-3
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4.2.2 Operation using separate drive and logic supplies
For improved noise immunity, the ±12V and +5V supplies used for the control card and internal
circuitry can be derived from a separate logic supply. To operate the NextMove ST using
separate drive and logic supplies, do not link power input connector pins. Connect power as
shown in Figure 3.
POWER IN
5
4
3
2
1
PSU Logic:
12-35 VDC or
12-30 VAC
Rectifier
(logic)
Fuse
Fuse
PSU Drive:
12-35 VDC or
12-30 VAC
Rectifier
(drive)
Figure 3 - Connecting separate drive and logic supplies
4-4 Input / Output
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4.3 Stepper outputs
The NextMove ST provides three 37VDC (max), 2A stepper axes drive outputs, operating at
10Hz to 200kHz. Logic level outputs are provided to control a fourth stepper axis.
If required, the output current for individual axes can be derated. This can only be achieved by
making precise alterations to the NextMove ST circuitry. Please contact Baldor Technical
Support for details.
4.3.1 Stepper axes 0-2 drive outputs
AXIS 2
5
4
3
2
1
Shield
Step
ST
L297
Controller
ST
L298
Driver
Motor
outputs
Direction
Figure 4 - Stepper output - axis 2 shown
The stepper axis drive outputs operate in half stepping mode.
4.3.1.1 Connecting a 4-wire motor
Four-wire bipolar motors can be used with the NextMove ST. Connections are shown in
Figure 5. If the motor turns in the wrong direction, reverse the connections from one of the
phase outputs AB or CD, but not both.
NextMove ST
axis output
Motor
Shield
Phase 1
Phase 2
Figure 5 - Connecting a 4-wire motor
MN1921
Input / Output 4-5
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4.3.1.2 Connecting a 6-wire motor
Six-wire unipolar motors can be used with the NextMove ST. Six-wire motors are similar to
eight-wire motors except the coils in each phase have a permanent center tap connection.
Connections are shown in Figure 6. If the motor turns in the wrong direction, reverse the
connections from one of the phase outputs AB or CD, but not both. Always leave the common
center tap wires unconnected.
NextMove ST
axis output
Motor
Shield
Phase 1
Phase 2
Figure 6 - Connecting a 6-wire motor
4-6 Input / Output
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4.3.1.3 Connecting a 8-wire motor
Eight-wire (universal) motors can be used with the NextMove ST. Connections are shown in
Figures 7 and 8. If the motor turns in the wrong direction, reverse the connections from one of
the phase outputs AB or CD, but not both. Eight-wire motors can be connected in two ways,
depending on the required torque and speed characteristics.
NextMove ST
axis output
Motor
Shield
Phase 1
Phase 2
Figure 7 - Connecting a 8-wire motor, parallel windings
NextMove ST
axis output
Motor
Shield
Phase 1
Phase 2
Figure 8 - Connecting a 8-wire motor, series windings
MN1921
Input / Output 4-7
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4.3.2 Stepper axes 0-3 logic outputs
DGND
STEP3
DGND
STEP2
DGND
STEP1
DGND
STEP0
DIR3
NextMove ST
BOOST3
DIR2
ULN2003
STEP0
DGND
BOOST2
DIR1
Step
Output
74AHCT244
BOOST1
DIR0
GND
BOOST0
J3
Figure 9 - Stepper output pin header J3, and output circuit (STEP0 shown)
To allow external stepper amplifiers to be used, all of the stepper output signals from the
NextMove ST control card are output on a 16-pin header, J3, mounted on the card. There are
four sets of stepper motor control outputs, operating in the range 10Hz to 1MHz. The step
(pulse), direction and boost signals from the NextMove ST control card are divided into two
groups, each group driven by an ULN2003 open collector Darlington output device.
Each ULN2003 has a maximum power dissipation of 900mW at 25°C. The total combined
output requirements for the group DIR0 - DIR2 and STEP0 - STEP2 must not exceed this limit.
The total combined output requirements of the group DIR3, STEP3 and BOOST0 - BOOST3
must not exceed this limit. The maximum current limit for any individual output in a group is
400mA if only one output is in use, reducing to 50mA if all outputs in the group are in use.
These limits are for a 100% duty cycle.
It is recommended to use separate shielded cables for the step outputs. The shield should be
connected at one end only.
The STEP2, DIR2 and BOOST2 outputs are also duplicated on the MISC connector.
4-8 Input / Output
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4.4 Analog I/O
The NextMove ST provides:
H
H
Two 12-bit resolution analog inputs.
One 0-11V analog output.
4.4.1 Analog inputs
H
H
H
H
H
Differential inputs.
Voltage range: ±10V.
Resolution: 12-bit with sign (accuracy ±4.9mV @ ±10V input).
Input impedance: 120kΩ.
Sampling frequency: 4kHz maximum, 2kHz if both inputs are enabled.
The analog inputs pass through a differential buffer and second order Butterworth filter with a
cut-off frequency of approximately 1kHz.
Both inputs are normally sampled at 2kHz. However, an input can be disabled by setting
ADCMODE to 4 (_a c OFF). With one input disabled, the remaining input will be sampled at 4kHz.
In MintMT, analog inputs can be read using the ADC keyword. See the MintMT help file for full
details of ADC and ADCMODE.
NextMove ST
15k
22nF
10k
120k
120k
-
-
10k
AIN0-
AIN0+
3
2
+
+
MintMT
ADC. 0
10nF
100pF
100pF
AGND
6
Figure 10 - Analog input, AIN0 shown
For differential inputs connect input lines to AIN+ and AIN-. Leave AGND unconnected.
MN1921
Input / Output 4-9
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4.4.2 Analog output
H
H
H
Single ended output.
Voltage range: 0-11V.
Output current: 30mA maximum.
The analog output provides an independent opto-isolated 0-11V output for controlling an
additional axis or other external equipment. The output is controlled using the AUXDAC
keyword - see the MintMT help file. Output offset voltage can be controlled by the variable
resistor R35, located just behind the SOUT and SGND pins of the Misc connector.
NextMove ST
MintMT
AUXDAC. 0
TI TLC272C
Integration of PWM signal
and offset adjustment
PWM
signal
Opto-
isolator
1
2
SOUT
SGND
R35
GND
Figure 11 - Analog output
4-10 Input / Output
MN1921
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4.5 Digital I/O
The NextMove ST provides:
H
H
24 general purpose digital inputs.
16 general purpose digital outputs.
Note: It is recommended to use separate shielded cables for the digital inputs. The
shield should be connected to the input connector’s shield pin.
4.5.1 Digital inputs
The digital inputs are available across a range of connectors, as shown in section 4.1.1.
All digital inputs have a common specification:
H
H
General purpose 5V TTL digital inputs with internal pull-up resistors. Can also be assigned
to special purposes such as Home, Limit, Stop and Error inputs.
Sampling frequency: 1kHz
NextMove ST
+5V
10k
MintMT
I NX. 0
74AHCT14
DIN0
3
2
1nF
DGND
GND
Figure 12 - General purpose digital input - DIN0 shown
CAUTION: Do not connect 24V signals to the digital inputs.
These are unprotected inputs connected directly to 74AHCT14 devices. If an input is
configured as edge triggered, the triggering pulse must have a duration of at least 1ms (one
software scan) to guarantee acceptance by MintMT. The use of shielded cable for inputs is
recommended.
The 24 general purpose digital inputs can be shared between axes and can be configured
using WorkBench v5 (or the Mint keywords beginning I NPUT...) to determine their active level
and other properties. The state of individual inputs can be read directly using the I NX
keyword. See the MintMT help file.
MN1921
Input / Output 4-11
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Using a digital input as a LIMIT or HOME input
An input can be configured as a Limit or Home input for any axis, using the
LI MI TFORWARDI NPUT, LI MI TREVERSEI NPUT or HOMEI NPUT keywords. Typically, limit and
home inputs will be grounded by normally closed switches. When a limit or home switch is
activated, the switch will become open-circuit. If two or more limit switches are to be used they
can be connected in series. If it is necessary to determine which limit has been reached, a
double pole switch can be used at one limit to trigger an additional general purpose digital
input.
Using a digital input as a STOP input
An input can be configured as a Stop input for any axis, using the STOPI NPUT keyword.
Typically, a stop input will be grounded by a normally closed switch. When a stop switch is
activated, the switch will become open-circuit. The action of a STOP input can be controlled
using the STOPI NPUTMODE keyword. Typically, it is used as a safety interlock to stop all axes.
Using a digital input as an ERROR input
An input can be configured as an Error input for any axis, using the ERRORI NPUT keyword.
This input can be used to stop the NextMove ST in the event of an error occurring elsewhere
in the system. The action of an ERROR input can be controlled using the ERRORSWI TCH and
ERRORI NPUTMODE keywords.
See the MintMT help file for details of each keyword.
4.5.1.1 Auxiliary Encoder inputs - AUXSTEP IN, AUXDIR IN, AUXZ IN
These inputs accept step (pulse) and direction signals, allowing an external source to provide
the reference for the speed and direction of an axis. The step frequency (20MHz maximum)
determines the speed, and the direction input determines the direction of motion. Both the
rising and falling edges of the AUXSTEP IN input cause an internal counter to be changed. If
5V is applied to the AUXDIR IN input (or it is left unconnected) the counter will increment. If
the direction input is grounded the counter will be decremented.
Typically, one channel of an encoder signal (either A or B) would be used to provide the
AUXSTEP IN signal, allowing the input to be used as an auxiliary (master) encoder input. The
input can be used as a master position reference for cam, fly and follow move types. For this,
the MASTERSOURCE keyword must be used to configure the pulse input as a master (auxiliary)
encoder input. The master position reference can then be read using the AUXENCODER
keyword.
Since a secondary encoder channel is not used, the AUXDIR IN input allows the direction of
motion to be determined. The AUXZ IN input can be supplied from the encoder’s index signal,
and may be read using the AUXENCODERZLATCH keyword.
See the MintMT help file for details of each keyword.
Note: The AUXSTEP IN and AUXDIR IN inputs use the same type of input circuitry as
the other digital inputs (see Figure 12). However, due to the faster internal
processing required for these signals, they are particularly sensitive to noise. For
this reason, connections must use shielded twisted pair cable.
4-12 Input / Output
MN1921
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4.5.2 Digital outputs
The digital outputs are available across a range of connectors, as shown in section 4.1.1.
H
H
16 general purpose digital outputs
Update frequency: Immediate
There are 16 general purpose digital outputs, arranged in two groups; DOUT0-DOUT7 and
DOUT8-DOUT15. Each group is driven by a ULN2803 device. The outputs are designed to
sink current from an external supply (typically 24VDC), but have no overcurrent or short circuit
protection. When an output is activated, it is grounded through the ULN2803.
The ULN2803 has a maximum power dissipation of 2W at 25°C. The total output requirements
of each group must not exceed this limit. The maximum current limit for any output within a
group is 500mA if only one output is in use, reducing to 150mA if all outputs in the group are in
use. These limits are for a 100% duty cycle.
If the outputs are driving inductive loads such as relays, connect the group’s OUT COMx
connection to the output’s power supply, as shown in Figure 13. This will connect internal
clamp diodes on all outputs in the group.
An output can be configured in MintMT as a general purpose output, a drive enable output or a
global error output. Outputs can be shared between axes and can be configured using
WorkBench v5 (or the OUTPUTACTI VELEVEL keyword) to determine their active level.
Load
supply
24V
NextMove ST
Output
Load
ULN2803
2
MintMT
OUTX. 0
DOUT0
74AHCT244
10
11
OUT COM0
DGND
Load
supply
GND
GND
Figure 13 - Digital output - DOUT0 shown
MN1921
Input / Output 4-13
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4.5.3 Error output
The NextMove ST control card has an internal error output connected directly to the enable
inputs of the ST L297 stepper controllers (see section 4.3.1). The error output must therefore
be used to enable the axes. There are a number of methods for controlling the error output.
4.5.3.1 RELAY keyword
Because the NextMove ST control card is used in products that include a hardware relay, the
error output may be controlled directly by the RELAY keyword. The command RELAY=1 will
enable the stepper controllers; the command RELAY=0 will disable them.
4.5.3.2 DRIVEENABLEOUTPUT keyword
The DRI VEENABLEOUTPUT keyword can be used to configure the error output as the drive
enable output. For example, the command DRI VEENABLEOUTPUT. 1=_RELAY0 will mean
that the error output will be the drive enable output for axis 1. When axis 1 is enabled, the error
output will be activated and the axis enabled. If multiple axes are configured to use the error
output as their drive enable output, enabling one axis will enable all of them. Similarly, if one
axis is disabled, all will be disabled.
The RELAY keyword cannot control the error output if it is configured as a drive enable output.
4.5.3.3 GLOBALERROROUTPUT keyword
By default, the error output is used as the global error output. In the event of an error on any
axis, the global error output will be deactivated, disabling all axes. This action overrides the
state of the error output defined by other methods, such as the drive enable status or RELAY
keyword. Alternatively, the GLOBALERROROUTPUT keyword can be used to configure a
general purpose digital output to be the global error output.
See the MintMT help file for details of each keyword.
4.5.3.4 Jumper settings
The operation of the error output is dependent on jumpers JP1, JP3, JP4 and JP5. Jumper
JP1 is situated next to the POWER IN connector on the baseboard, and must be set as shown
in Figure 14.
JP3 (do not fit)
JP4
JP5
JP1
Normal operation.
Stepper controller enable
inputs are under the control
of the NextMove ST Error
output.
Disable.
Stepper controller outputs
are permanently disabled.
Figure 14 - Error output jumper JP1
Jumpers JP3, JP4 and JP5 are situated at the edge of the NextMove ST control card, near the
end of the 50-pin expansion header. JP4 and JP5 must be fitted to allow correct operation of
the error output. The neighboring jumper JP3 must not be fitted.
4-14 Input / Output
MN1921
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4.6 Other I/O
4.6.1 RS232 serial communication
Location Serial
Mating connector: 9-pin female D-type
Pin Name
Description
1
2
3
4
5
6
7
8
9
SC
Shield connection
Receive Data
Transmitted Data
(Not connected)
Signal Ground
(Not connected)
Request To Send
Clear To Send
Ground
RXD
TXD
(NC)
0V GND
(NC)
RTS
1
5
6
9
CTS
DGND
Description RS232 connections on a 9-pin male D-type connector
This connector is used to connect the NextMove ST to the PC running WorkBench v5, or other
controller. It is a full-duplex RS232 serial port with the following preset configuration:
H
H
H
H
H
H
57,600 baud
1 start bit
8 data bits
1 stop bit
No parity
Hardware handshaking lines (RS232) RTS and CTS must be connected.
The configuration can be changed using the SERI ALBAUD keyword. It is stored in EEPROM
and restored at power up. The port is capable of operation at up to 115,200 baud.
The port is configured as a DCE (Data Communications Equipment) unit so it is possible to
operate the controller with any DCE or DTE (Data Terminal Equipment). Full duplex
transmission with hardware handshaking is supported.
Only the TXD, RXD and 0V GND connections are required for communication. Pins 4 and 6
are linked on the NextMove ST.
MN1921
Input / Output 4-15
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RS232
RXD 2
COM
2 RXD
3 TXD
5 GND
7 RTS
8 CTS
TXD 3
GND 5
RTS 7
CTS 8
9-pin
NextMove ST
Computer
COM Port
(DCE / DTE)
(DCE)
Connect overall
shield to connector
backshell.
Figure 15 - RS232 serial port connections
The maximum recommended cable length is 3m (10ft) at 57.6Kbaud. When using lower baud
rates, longer cable lengths may be used up to maximum of 15m (49ft) at 9600 baud. A suitable
cable is available from Baldor, catalog number CBL001-501.
4.6.2 50-pin edge connector
This connector (if present) is fitted for development purposes only and is not used for normal
operation of the NextMove ST.
4-16 Input / Output
MN1921
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4.6.3 CAN communication
The CAN connection is made using the RJ45 connector on the NextMove ST control card.
Location NextMove ST control card
Pin Name
Description
1
CAN+
CAN channel positive
2
CAN-
CAN channel negative
3
-
(NC)
4
CAN 0V
Ground/earth reference for CAN signals
1
8
5
CAN V+
CAN power V+ (12-24V)
6
-
-
-
(NC)
(NC)
(NC)
7
8
Description
Opto-isolated CAN interface using a RJ45 connector.
CAN offers serial communications over a two wire twisted pair cable up to maximum length of
500m (1640ft). It offers very high communication reliability in an industrial environment; the
-11
probability of an undetected error is 4.7x10 . CAN is optimized for the transmission of small
data packets and therefore offers fast update of I/O devices (peripheral devices) connected to
the bus. The maximum (default) transmission rate on NextMove ST is 500Kbit/s.
Correct operation of CAN can only be achieved with screened/shielded twisted-pair cabling.
For improved noise immunity, CAN+ and CAN- must form a twisted pair with the shield
connected to the connector backshell, as shown in Figure 16. A range of suitable CAN cables
are available from Baldor, with catalog numbers beginning CBL004-5...
NextMove ST
RJ45 connector
NextMove ST
RJ45 connector
Baldor HMI
Operator Panel
End node
Twisted pair
Twisted pairs
1
2
1
2
7
2
1
2
T
R
T
R
0V
4
5
4
5
4
5
24V
Figure 16 - Typical CAN network connections
MN1921
Input / Output 4-17
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The CAN channel is opto-isolated. A voltage in the range 12-24V must be applied to pin 5 of
the CAN connector. An internal voltage regulator provides the 5V required for the isolated CAN
circuit. Practical operation of the CAN channel is limited to 500Kbit/s owing to the propagation
delay of the opto-isolators.
The CAN channel must be terminated by a 120Ω resistor connected
between CAN+ and CAN- at both ends of the network and nowhere
else. If the NextMove ST is at the end of the network then ensure
that jumper JP1, located just below the status display, is in position.
This will connect an internal terminating resistor.
JP1
A very low error rate over CAN can only be achieved with a suitable
wiring scheme, so the following points should be observed:
H
The connection arrangement is normally a multi-point drop. The CAN cables should have
a characteristic impedance of 120Ω and a delay of 5ns/m. Other characteristics depend
upon the length of the cabling:
Cable length
Maximum
theoretical
bit rate
Resistance
Conductor
area
2
2
2
0m ~ 300m (0ft ~ 984ft)
500Kbit/s
100Kbit/s
<60mΩ/m
<40mΩ/m
<26mΩ/m
0.34 ~ 0.60mm
0.50 ~ 0.60mm
0.75 ~ 0.80mm
300m ~ 600m (984ft ~ 1968ft)
600m ~ 1000m (1968ft ~ 3280ft) 50Kbit/s
H
The 0V connection of all of the nodes on the network must be tied together through the
CAN cabling. This ensures that the CAN signal levels transmitted by NextMove ST or
CAN peripheral devices are within the common mode range of the receiver circuitry of
other nodes on the network.
4.6.3.1 CANopen and Baldor CAN
The NextMove ST can communicate with other MintMT controllers over a CANopen network.
Baldor CAN is a proprietary CAN protocol, allowing the NextMove ST to communicate with a
range of Baldor ioNode CAN peripherals.
CANopen is a networking system based on the serial bus CAN. It uses the international CAN
standard ISO 11898 as the basis for communication. The Mint firmware implements a
CANopen protocol, based on the ‘Communication Profile’ CiA DS-301, which supports both
direct access to device parameters and time-critical process data communication. This
provides support for a range of Baldor and third-party devices. The NextMove ST has the
ability to act as the network manager node or as a slave on the CANopen network.
Baldor CAN is also a networking system based on the serial bus CAN. It uses the
international CAN standard ISO 11898 as the basis for communication. Optional MintMT
firmware can be downloaded to implement a proprietary Baldor protocol on CAN bus 2, based
on CAL (the CAN Application Layer). This supports both direct access to device parameters
and time-critical process data communication. Baldor CAN provides support for the full range
of Baldor ioNode CAN peripherals.
The baud rate and node number of the NextMove ST can be set using the BUSBAUD and
NODE keywords.
4-18 Input / Output
MN1921
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4.7 Connection summary - minimum system wiring
As a guide, Figure 17 shows an example of the typical minimum wiring required to allow the
NextMove ST to control a single stepper motor. The diagram shows the logic supply being
derived from the main Drive supply (see section 4.2.1).
5
4
Drive
power
2
1
supply
Host PC
Stepper motor
Serial
communication
Figure 17 - Example minimum system wiring
MN1921
Input / Output 4-19
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4-20 Input / Output
MN1921
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5 Operation
5
5.1 Introduction
The software provided includes a number of applications and utilities to allow you to configure,
tune and program the NextMove ST. The Baldor Motion Toolkit CD containing the software can
be found separately within the packaging.
5.1.1 Connecting the NextMove ST to the PC
Connect the serial cable between a PC serial port (often labeled as “COM”) to the
NextMove ST RS232 connector. WorkBench v5 can scan all the COM ports, so you can use
any port. If you are not using the Baldor serial cable CBL001-501, your cable must be wired in
accordance with Figure 15 in section 4.6.1.
5.1.2 Installing WorkBench v5
You will need to install WorkBench v5 to configure the NextMove ST.
1. Insert the CD into the drive.
2. After a few seconds the setup wizard should start automatically. If the setup wizard does not
appear, select Run... from the Windows Start menu and type
d:\start
where d represents the drive letter of the CD device.
Follow the on-screen instructions to install WorkBench v5. The setup Wizard will copy the files
to appropriate folders on the hard drive. The preset folder is C:\Program Files\Baldor\MintMT,
although this can be changed during setup.
5.1.3 Starting the NextMove ST
If you have followed the instructions in the previous sections, you should have now connected
power sources, your choice of inputs and outputs and the serial cable linking the PC with the
NextMove ST.
5.1.4 Preliminary checks
Before you apply power for the first time, it is very important to verify the following:
H
H
H
H
Inspect all power connections for accuracy, workmanship and tightness.
Verify that all wiring conforms to applicable codes.
Verify that the NextMove ST is properly earthed/grounded.
Check all signal wiring for accuracy.
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5.1.5 Power on checks
If at any time the status display shows a digit and a flashing decimal point, this indicates that
the NextMove ST has detected a fault - see section 6.
1. Turn on the Logic supply (if separate from the Drive supply).
2. Turn on the Drive supply.
3. After a brief test sequence, ( followed by ), the Status display should show the node
number, for example , the factory default. If the display is not lit then re-check the power
supply connections. A green surface mount LED (D16) near the center of the control card
should also be flashing once every two seconds. The NextMove ST is now ready to be
configured using WorkBench v5.
Note: If the red LED (D4) near the center of the control card remains illuminated, then
the supply voltage to the NextMove ST control card is too low. See section 6.2.2
for LED locations.
5-2 Operation
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5.2 WorkBench v5
WorkBench v5 is a fully featured application for programming and controlling the NextMove ST.
The main WorkBench window contains a menu system, the Toolbox and other toolbars. Many
functions can be accessed from the menu or by clicking a button - use whichever you prefer. Most
buttons include a ‘tool-tip’; hold the mouse pointer over the button (don’t click) and its description
will appear.
5.2.1 Help file
WorkBench v5 includes a comprehensive help file that contains information about every MintMT
keyword, how to use WorkBench and background information on motion control topics. The help
file can be displayed at any time by pressing F1. On the left of the help window, the Contents tab
shows the tree structure of the help file; each book
contains a number of topics . The Index
tab provides an alphabetic list of all topics in the file, and allows you to search for them by name.
The Search tab allows you to search for words or phrases appearing anywhere in the help file.
Many words and phrases are underlined and highlighted with a color (normally blue) to show that
they are links. Just click on the link to go to an associated keyword. Most keyword topics begin
with a list of relevant See Also links.
Figure 18 - The WorkBench help file
For help on using WorkBench v5, click the Contents tab, then click the small plus sign
beside the WorkBench v5 book icon. Double click a
topic name to display it.
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5.2.2 Starting WorkBench v5
1. On the Windows Start menu, select Programs, WorkBench v5, WorkBench v5.
WorkBench v5 will start, and the Tip of the Day dialog will be displayed.
You can prevent the Tip of the Day dialog appearing next time by removing the check
mark next to Show tips at startup.
Click Close to continue.
2. In the small opening dialog box, click Start New Project...
5-4 Operation
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3. In the Select Controller dialog, go to the drop down box near the top and select the PC
serial port to which the NextMove ST is connected. If you are unsure which PC serial port
is connected to the drive, select Scan all serial ports.
Click Scan to search for the NextMove ST.
When the search is complete, click NextMove ST in the list to select it, and click the
Select button.
Note: If the NextMove ST is not listed, check the serial lead between the NextMove ST
and the PC and that the NextMove ST is powered correctly. Click Scan to re-scan
the ports.
4. A dialog box may be displayed to tell you that WorkBench v5 has detected new firmware.
Click OK to continue. WorkBench v5 reads back data from the NextMove ST. When this is
complete, Fine-tuning mode is displayed. This completes the software installation.
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5.3 Configuring an axis
The NextMove ST is capable of controlling up to four stepper axes. This section describes the
basic setup for these axes. Commands typed in the Command window have immediate effect
- they do not need to be separately downloaded to the NextMove ST.
5.3.1 Selecting a scale
When controlling stepper motors, MintMT defines all positional and speed related motion
keywords in terms of steps. The number of steps is divided by the SCALE factor allowing you
to use units more suitable for your application. The unit defined by setting a value for scale is
called the user unit (uu).
Consider a motor with a 1.8° step angle. The NextMove ST operates in half step mode, so
there will be 400 steps per revolution. If SCALE is not set, a MintMT command that involves
distance, speed, or acceleration may need to use a large number to specify a significant
move. For example MOVER=1600 (Move Relative) would rotate the motor by 1600 steps - only
four revolutions. By setting a SCALE factor of 400, the user unit becomes revolutions. The
more understandable command MOVER=4 could now be used to move the motor four
revolutions.
In applications involving linear motion a suitable value for SCALE would allow commands to
express values in linear distance, for example inches, feet or millimetres.
1. In the Toolbox, click Setup, then click
the Parameters icon.
2. Click the Scale tab.
3. Click in the Axis drop down box to select the
axis. Each axis can have a different scale if
required.
4. Click in the Scale box and type a value.
5-6 Operation
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5. Click Apply.
This immediately sets the scaling factor for
the selected axis, which will remain in the
NextMove ST until another scale is defined
or power is removed from the NextMove ST.
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5.4 Stepper axis - testing
This section describes the method for testing a stepper axis. The stepper control is an open
loop system so no tuning is necessary.
5.4.1 Testing the output
This section tests the operation and direction of the output. It is recommended that the system
is initially tested and tuned with the motor shaft disconnected from other machinery.
1. Check that the Drive enable button is
pressed (down).
2. In the Toolbox, click the Edit & Debug icon.
3. Click in the Command window.
4. Type:
J OG. 0=2
where 0 is the axis (stepper output) to be
tested and 2 is the speed.
The J OG command specifies the speed in
user units per second, so the speed is
affected by SCALE (section 5.3.1). If you have not selected a scale, the command
J OG. 0=2 will cause rotation at only 2 half steps per second, so it may be necessary to
increase this figure significantly, to 200 for example. If you have selected a scale that
provides user units of revolutions (as described in section 5.3.1) J OG. 0=2 will cause
rotation at 2 revolutions per second. If there appears to be no drive output, check that
jumper JP1 has not been set to disable the outputs - see section 4.5.3.
5. To repeat the tests for reverse moves, type:
J OG. 0 = - 2
6. To remove the demand and stop the test, type:
STOP. 0
5-8 Operation
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5.5 Digital input/output configuration
The Digital I/O window can be used to setup other digital inputs and outputs.
5.5.1 Digital input configuration
The Digital Inputs tab allows you to define how each digital input will be triggered, and if it
should be assigned to a special purpose function such as a Home or Limit input. In the
following example, digital input 1 will be set to trigger on a falling edge, and allocated to the
forward limit input of axis 0:
1. In the Toolbox, click the Digital I/O icon.
2. At the bottom of the Digital I/O screen, click
the Digital Inputs tab.
The left of the screen shows a column of
yellow icons - High, Low, Rising, Falling
and Rise/Fall. These describe how the
input will be triggered.
3. Drag the Falling icon
onto the IN1 icon
. This will setup IN1 to respond to a falling edge.
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4. Now drag the IN1 icon
onto the Fwd Limit icon
.
This will setup IN1 as the Forward Limit input of axis 0.
5. Click Apply to send the changes to the NextMove ST.
Note: If required, multiple inputs can be configured before clicking Apply.
5.5.2 Digital output configuration
The Digital Outputs tab allows you to define how each digital output will operate and if it is to
be configured as an error output. Remember to click Apply to send the changes to the
NextMove ST.
5-10 Operation
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5.6 Saving setup information
When power is removed from the NextMove ST all data, including configuration parameters, is
lost. You should therefore save this information in a file, which can be loaded when the card is
next used. Alternatively, the information can be included in program files as part of the Startup
block.
1. In the Toolbox, click the Edit & Debug icon.
2. On the main menu, choose File, New File.
A new program editing window will appear.
3. On the main menu, choose Tools,
Upload Configuration Parameters.
WorkBench v5 will read all the
configuration information from the
NextMove ST and place it in a Startup
block. For details of the Startup block,
see the MintMT help file.
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4. On the main menu, choose File, Save File. Locate a folder, enter a filename and click Save.
5.6.1 Loading saved information
1. In the Toolbox, click the Edit & Debug icon.
2. On the main menu, choose File, Open File...
Locate the file and click Open.
A Startup block should be included in every Mint program, so that whenever a program is
loaded and run the NextMove ST will be correctly configured. If the same program is used
on a different NextMove ST installation, remember the Startup block might need to be
changed to accommodate a different motor type.
5-12 Operation
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6 Troubleshooting
6
6.1 Introduction
This section explains common problems and their solutions.
If you want to know the meaning of the LED indicators, see section 6.2.
6.1.1 Problem diagnosis
If you have followed all the instructions in this manual in sequence, you should have few
problems installing the NextMove ST. If you do have a problem, read this section first.
In WorkBench v5, use the Error Log tool to view recent errors and then check the help file.
If you cannot solve the problem or the problem persists, the SupportMe feature can be used.
6.1.2 SupportMe feature
The SupportMe feature is available from the Help menu or by clicking the
button on the
motion toolbar. SupportMe can be used to gather information which can then be e-mailed,
saved as a text file, or copied to another application. The PC must have e-mail facilities to use
the e-mail feature. If you prefer to contact Baldor technical support by telephone or fax, contact
details are provided at the front of this manual. Please have the following information ready:
H
H
H
H
H
The serial number of your NextMove ST (if known).
Use the Help, SupportMe menu item in WorkBench v5 to view details about your system.
The type of motor that you are using.
A clear description of what you are trying to do.
A clear description of the symptoms that you can observe, for example error messages
displayed in WorkBench v5, or the current value of any of the Mint error keywords
AXI SERROR, AXI SSTATUS, I NI TERROR, and MI SCERROR.
H
H
The type of motion generated in the motor shaft.
Give a list of any parameters that you have setup, for example the scale settings you have
entered.
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6.2 NextMove ST indicators
6.2.1 Status display
The Status LED normally displays the unit’s node number. To display information
about a specific axis, use the LED keyword (see the MintMT help file). When a specific
axis is selected, the following symbols may be displayed by the Status LED. Some
characters will flash to indicate an error.
Spline. A spline move is being performed. See the SPLI NE keyword and related
commands.
Axis enabled.
Torque mode. The NextMove ST is in Torque mode. See the TORQUE keyword and
related commands.
Hold to Analog. The axis is in Hold To Analog mode. See the HTA keyword and related
commands.
Follow and offset. When an axis is following a demand signal it may be necessary to
advance or retard the slave in relation to the master. To do this an offset move is
performed in parallel with the follow. See the FOLLOW and OFFSET keywords.
Circle. A circle move is being performed. See the CI RCLEA or CI RCLER keywords.
Cam. A Cam profile is being profiled. See the CAM keyword.
General error. See the AXI SERROR keyword. The motion toolbar displays the status of
AXI SERROR, which is a bit pattern of all latched errors. See also the Error Log topics in
the help file.
Error input. The ERRORI NPUT has been activated and generated an error.
Flying shear. A flying shear is being profiled. See the FLY keyword.
Follow mode. The axis is in Follow mode. See the FOLLOW keyword.
Homing. The axis is currently homing. See the HOME keyword.
Incremental move. An incremental move is being profiled. See the I NCA and I NCR
keywords.
Jog. The axis is jogging. In the Mint help file, see the topics J OG, J OGCOMMAND and
Jog mode.
Offset move. The axis is performing an offset move.
Positional Move. The axis is performing a linear move. See the MOVEA and MOVER
keywords.
Stop. A STOP command has been issued or the stop input is active.
6-2 Troubleshooting
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Axis disabled. The axis/drive must be enabled before operation can continue. See
section 5.4.1. Click the Drive enable button in WorkBench v5.
Suspend. The SUSPEND command has been issued and is active. Motion will be
ramped to zero demand whilst active.
Reverse software or hardware limit. A reverse software limit has been activated.
See AXI SERROR and/or AXI SSTATUS to determine which applies.
Forward software or hardware limit. A forward software limit has been activated.
See AXI SERROR and/or AXI SSTATUS to determine which applies.
Firmware being updated (horizontal bars appear sequentially). New firmware is being
downloaded to the NextMove ST.
Initialization error. An initialization error has occurred at power on. See the Error Log or
I NI TERROR topics in the help file. Initialization errors should not normally occur.
When a node number between 1 and 15 is displayed, it is shown in hexadecimal format (1 - F).
For node numbers greater than 15, three horizontal bars are displayed. User defined symbols
can be made to appear using the LED and LEDDI SPLAY keywords.
See the MintMT help file for details of each keyword.
6.2.2 Surface mount LEDs D3, D4 and D16
The NextMove ST control card contains a number of surface mount LEDs that indicate
hardware status:
D3
D3 (yellow):
Indicates that the FPGA is being initialized at startup.
D4 (red):
Indicates that the card is in hardware reset. If this LED
remains illuminated after power up, the supply voltage to
the card is too low. Check power supply connections.
D4
D16
D16 (flashing green):
Flashes at 0.5Hz to indicate normal operation.
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6.2.3 Communication
If the problem is not listed below please contact Baldor Technical Support.
Symptom
Check
Cannot detect NextMove ST Check that the NextMove ST is powered.
Check that the serial lead is wired correctly and properly
connected.
Check that no other application on the PC is attempting to
use the same serial port.
Cannot communicate with
the controller.
Verify that WorkBench v5 is loaded and that NextMove ST is
the currently selected controller.
Check that the NextMove ST control card is correctly
connected to the baseboard.
6.2.4 Motor control
Symptom
Check
Controller appears to be
working but will not cause
motor to turn.
Check that the connections between motor and drive are
correct. Use WorkBench v5 to perform the basic system
tests (see section 5.4).
A motor that is controlled by
the analog output runs as
soon as the controller is
switched on.
Adjust the Spindle output’s offset potentiometer to remove
any offset voltage (see section 4.4.2).
Use a digital output from the NextMove ST to control the
enable input of the motor’s drive amplifier. This will allow the
amplifier to be disabled at startup.
Verify that the NextMove ST and drive are correctly
grounded to a common earth point.
Motor is under control, but
when moved to a position
and then back to the start it
does not return to the same
position.
The motor is not maintaining synchronization with the
NextMove ST drive output signals due to excessive
acceleration, speed or load demands on the motor.
Check that the acceleration, speed and load are within the
capabilities of the motor.
6-4 Troubleshooting
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7 Specifications
7
7.1 Introduction
This section provides technical specifications of the NextMove ST.
7.1.1 Input power
Description
Value
Logic power
Nominal supply voltage
24VDC / 24VAC
12VDC / 12VAC
35VDC / 30VAC
60W / 60VA
Minimum supply voltage
Maximum supply voltage
Power consumption
Drive power
Nominal supply voltage
Minimum supply voltage
Maximum supply voltage
Power consumption
24VDC / 24VAC
12VDC / 12VAC
35VDC / 30VAC
150W / 150VA
(current not to exceed 6A)
Combined drive & logic power
Nominal supply voltage
24VDC / 24VAC
12VDC / 12VAC
35VDC / 30VAC
Minimum supply voltage
Maximum supply voltage
Power consumption
210W / 210VA
(current not to exceed 8.5A)
7.1.2 Output power (Power Out connector)
Description
Value
Output power
±12V at 10mA
and
+5V at 200mA
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7.1.3 Analog inputs
Description
Unit
Value
Type
Differential
Common mode voltage range
VDC
kÙ
±10
Input impedance
120
12 (includes sign bit)
±4.9
Input ADC resolution
Equivalent resolution (±10V input)
Sampling interval
bits
mV
ìs
500 (both inputs enabled)
250 (one input disabled)
7.1.4 Analog output
Description
Unit
Value
Single ended
0-11V
Type
Output voltage range
Output current (max)
Update interval
VDC
mA
1
Immediate
7.1.5 Digital inputs
Description
Type
Unit
VDC
VDC
Value
+5V inputs, non-isolated
Input voltage
Maximum
Minimum
High
5.5
0
>3.5V
<1.5V
Low
Input current (approximate, per input)
mA
ms
0.5
1
Sampling interval
7-2 Specifications
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7.1.6 Digital outputs
Description
Unit
V
Value
Load supply voltage
50
(maximum)
Output current (DOUT0-DOUT7)
mA
mA
Per output, one output on
Per output, all outputs on
500
150
Output current (DOUT8-DOUT15)
Per output, one output on
500
150
Per output, all outputs on
Update interval
Immediate
7.1.7 Stepper axis 0-2 drive outputs
Description
Unit
kHz
VDC
A
Value
200
40
Maximum output frequency
Output voltage
Output current (maximum, per axis)
2
7.1.8 Stepper axes 0-3 logic outputs
Description
Unit
Value
Output type
Pulse (step), direction and boost
Maximum output frequency
MHz
mA
3
Output current
50
(maximum sink, per output)
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7.1.9 CAN interface
Description
Signal
Unit
Value
2-wire, isolated
1
Channels
Protocols
CANopen
Baldor CAN (with optional firmware)
Bit rates
Kbit/s
Unit
10, 20, 50, 100, 125, 250, 500
7.1.10 Environmental
Description
Operating temperature range
Min
Max
°C
°F
0
+40
+32
+104
Maximum humidity
80% for temperatures up to 31°C (87°F)
decreasingly linearly to 50% relative
humidity at 40°C (104°F), non-condensing
(according to DIN40 040 / IEC144)
%
Maximum installation altitude
(above m.s.l.)
m
ft
2000
6560
See also section 3.1.1.
7.1.11 Weights and dimensions
Description
Value
Weight
Approximately 880g (1.94 lb)
Nominal overall dimensions
263mm x 140mm x 53mm
(10.35in x 5.51in x 2.09in)
7-4 Specifications
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Index
A
E
Abbreviations, 2-3
Environmental, 3-1, 7-4
Analog I/O, 4-9
Error output, 4-14
analog inputs, 4-9
analog output, 4-10
Auxiliary encoder, 4-12
DRIVEENABLEOUTPUT keyword, 4-14
GLOBALERROROUTPUT keyword, 4-14
RELAY keyword, 4-14
F
B
Features, 2-1
Basic Installation, 3-1
location requirements, 3-1
mounting, 3-2
G
GLOBALERROROUTPUT keyword, 4-14
C
CAN interface
connection, 4-17
specifications, 7-4
Configuration
H
Hardware requirements, 3-3
Help file, 5-3
axis, 5-6
I
digital inputs, 5-9
digital outputs, 5-10
selecting a scale, 5-6
testing an axis, 5-8
Connectors
CAN, 4-17
locations, 4-2
power, 4-3
Indicators, 6-2
status display, 6-2
surface mount LEDs, 6-3
Input / Output, 4-1
analog inputs, 4-9, 7-2
analog output, 4-10, 7-2
CAN connection, 4-17
connection summary, 4-19
connector locations, 4-2
digital inputs, 4-11
RS232, 4-15
D
digital outputs, 4-11, 4-13, 7-2, 7-3
error input, 4-12
Digital I/O, 4-11
auxiliary encoder inputs, 4-12
configuration, 5-9
home input, 4-12
limit input, 4-12
digital inputs, 4-11
serial port, 4-15
digital outputs, 4-13
error output, 4-14
stepper drive outputs, 7-3
stepper logic outputs, 7-3
stop input, 4-12
DRIVEENABLEOUTPUT keyword, 4-14
Installation, 3-1
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CAN interface, 7-4
digital inputs, 7-2
digital outputs, 7-3
environmental, 7-4
input power, 7-1
J
Jumper settings
CAN terminator, 4-18
error output, 4-14
output power, 7-1
L
stepper axis outputs, 7-3
stepper logic outputs, 7-3
weights and dimensions, 7-4
Status display, 6-2
LED indicators
status display, 6-2
surface mount, 6-3
Loading saved information, 5-12
Stepper axis, 5-8
0-2 drive outputs, 4-5
connecting a 4-wire motor, 4-5
connecting a 6-wire motor, 4-6
connecting a 8-wire motor, 4-7
0-3 logic outputs, 4-8
testing the output, 5-8
O
Operation, 5-1
connecting to the PC, 5-1
installing WorkBench v5, 5-1
power on checks, 5-2
preliminary checks, 5-1
starting, 5-1
T
Testing, an axis, 5-8
Troubleshooting, 6-1
communication, 6-4
help file, 5-3
motor control, 6-4
problem diagnosis, 6-1
status display, 6-2
SupportMe, 6-1
P
Power
sources, 3-3, 4-3, 7-1
using a single drive supply, 4-3
using separate drive and logic supplies, 4-4
Precautions, 1-2
R
Receiving and Inspection, 2-2
RELAY keyword, 4-14
RS232 port, 4-15
U
Units and abbreviations, 2-3
W
S
Weights and dimensions, 7-4
Safety Notice, 1-2
WorkBench v5, 5-3
Saving setup information, 5-11
Scale, selecting, 5-6
Specifications, 7-1
analog inputs, 7-2
analog outputs, 7-2
digital input/output configuration, 5-9
help file, 5-3
loading saved information, 5-12
saving setup information, 5-11
starting, 5-4
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Comments
If you have any suggestions for improvements to this manual, please let us know. Write your
comments in the space provided below, remove this page from the manual and mail it to:
Manuals
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Mint Motion Centre
6 Bristol Distribution Park
Hawkley Drive
Bristol
BS32 0BF
United Kingdom.
Alternatively, you can e-mail your comments to:
Comment:
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Comments
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Baldor Electric Company
P.O. Box 2400
Ft. Smith, AR 72902-2400
U.S.A.
Australia
Mexico
Australian Baldor PTY Ltd
Tel: +61 2 9674 5455
Fax: +61 2 9674 2495
Baldor de Mexico
Tel: +52 477 761 2030
Fax: +52 477 761 2010
Europe
Singapore
Baldor ASR GmbH, Germany
Tel: +49 (0) 89 905 080
Fax: +49 (0) 89 905 08491
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Tel: +65 744 2572
Fax: +65 747 1708
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United Kingdom
Baldor UK Ltd
Tel: +44 1454 850000
Fax: +44 1454 859001
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Tel: +41 52 647 4700
Fax: +41 52 659 2394
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U.S.A. (Headquarters)
Baldor Electric Company
Tel: +1 479 646 4711
Fax: +1 479 648 5792
Baldor Japan Corporation
Tel: +81 45 412 4506
Fax: +81 45 412 4507
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