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ETHERNET Powerlink
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Jon Hampshire & Stuart Bratton
UK Application Engineering
Bristol England
Mint On Board Capabilities
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e100 Ethernet Machine Control
Real-time Ethernet control
TCP/IP and Ethernet RAW
Simple controller to drive cabling
Multi-axis motion control
Mint® Machine intelligent software
Centralized / distributed architecture
EPL / CAN IO expansion
Drive integrated positioning functions
Universal Encoder Interface
Linear / rotary servo and vector motor control
Autotuning or all control loops
Total network visibility
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Ethernet integrated hub
‘Daisy chain’ connection
CANopen interface
DS401 IO expansion
Universal Encoder Interface
Incremental with Halls
Hengstler BiSS absolute
Baumer SSI absolute
EnDat 2.1 and 2.2
1v Sin/Cosine
Tamagawa absolute
Integrated control of -
Position profiler
Position loop
Auto-tuning
Digital Notch filtersUSB Service port
MicroFlex e100
Status LEDS – Health / CAN / Ethernet
Node ID and IP address set by 2 x Hex switches
Drive Enable
3 Digital inputs
(2 x Fast Latch)
2 Digital outputs
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Mint On Board !
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MotiFlex Features Ethernet Powerlink real-time technology
Multi-Axis drive platform
DC shared supply (efficiency and installation cost savings)
Brushless servo and closed loop vector (software configured - same hardware)
Centralized / decentralized / distributed architectures
Hi-performance motion control
Modular design – plug-in expansion options
Flexibility – Motor types, feedback choice, programmable options, communications
Small footprint and minimal panel depth
Mint On Board !
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MotiFlex e100 Option Slots2 option slots top/bottom faces
Provides future proof expansion
Fieldbus cards include -EthernetIP, Modbus TCP, ProfiNet I/O
Profibus DP, DeviceNet
Only fits into Slot 1
Mint Option Card Embed single or multi-axis control
Distributed control
Coordinate axes via drives Powerlink interface
Full NextMove capability
Only fits in Slot 1
I/O cards digital and analogFit in any option slot
Feedback Option CardsEncoder or Resolver
Option slot 1
Option slot 2
Screw lock
Screw lock
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Mint Option Card motion capabilities include -
Electronic gearing with clutch and registration
Variable Electronic CAMs
Multi-axis interpolated motion
Splines and PVT profiles
Jerk control (S ramp)
FLY - Flying shear segments
INCR/A Target change on the fly
JOG (in position or velocity control)
Registration control / EVENT Handling
Referencing (Homing)
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Mint Option Card
Single axis motion control with standard Ethernet interface
NextMove DSP Core performance
Mint multitasking software
Advanced motion and Ethernet networking (TCP/IP or Modbus TCP via Mint interpreter)
Multi-axis motion module4 axes of coordinated motion
Additional devices on CAN / Powerlink
Fieldbus connectivity via other drive(s) for share of application data
Mint Option card
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Fieldbus Options – Gateway ConceptPlug-in fieldbus option cards
A single fieldbus module ‘gateway’ approach
Provides integration with other systems such as PLC’s
Simple data exchange of I/O or machine recipe information e.g. length, speed etc
Provides access to system variables by process data exchange
Support for many fieldbus standards using Anybus® CompactCom products from HMS
Ethernet/IP (AN00173)
Modbus-TCP (AN00174)
ProfiNet-IO (AN00172)
Profibus DPV1 (AN00171)
DeviceNet (AN00170)
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Baldor e100 Solutions – Scalable and Flexible
MOTION CONTROLHMI
STEPPER MOTOR INTEGRATED DRIVER
ADDITIONAL I/OPOWERLINK
ENCODERPOWERLINK
EPL Router(Gateway/
Firewall)
Linear
ADDITIONAL I/OCANopen
WWWWWW
Remote I/O on CANopen
LAN / WAN
Brushless Vector
FIELDBUS PLC or OTHER CONTROLLER
STEPPER OUTPUT (4 AXES)
ANALOG SIGNAL (3 AXES)
Real –Time Ethernet System
Traditional Ethernet Network
DISTRIBUTED MINT PROGRAMS
www.baldormotion.com
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MicroFlex e100 – Additional Capabilities
Standalone programmable drive for simple applications with low I/O count
Expand I/O via CANopen
Baldor CANopen HMI
Third party HMI (e.g. Red Lion) via 2-wire RS485 port
PLC Ethernet interface via Modbus TCP, Raw Ethernet or ICM over TCP (MN1948) - Ethernet/IP in future
PC interface via TCP/IP and ActiveX control
Network additional axes and share application data via CANopen – store data in 256 NVRAM locations
Localised program for networked systems for specific task such as PLC simulation, communications manager or gain scheduling to save processor and fieldbus bandwidth.
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MicroFlex Mint On Board motion capabilities include -
Jerk control (S ramp)
MOVER/A Simple moves
JOG (in position or velocity control)
Registration control / EVENT Handling
Referencing (Homing)
INCR/A Target change on the fly
Torque or speed reference
Typical applications:Indexing conveyors
Adjustable machine settings (backstops/guides etc..)
Simple cut to length
Non-interpolated Pick and Place
Nut runners
Many, many, more….
www.baldormotion.com
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Mint On Board Demonstration
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Full multi-tasking program support
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Variety of PLC Interface methods
Modbus TCP (via Ethernet and Mint decode)
Host Comms Protocol (via 2-wire RS485)
DF1 and other serial protocols (via 2-wire RS485 and Mint decode)
www.baldormotion.com
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MotiFlex e100 Additional Capabilities
Standalone programmable drive for simple applications with low I/O count
Baldor CANopen HMI
Expand I/O via CANopen
Third party HMI (e.g. Red Lion) via 2-wire RS485 port
PLC Ethernet interface via Modbus TCP, Raw Ethernet or ICM over TCP (MN1948) - Ethernet/IP in future
PC interface via TCP/IP and ActiveX control
Network additional axes and share application data via CANopen – store data in 256 NVRAM locations
Additional PLC interfaces via Fieldbus Option Card (e.g. Ethernet/IP, DeviceNet)
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MotiFlex Mint On Board motion capabilities include -
Electronic gearing with registration (position lock only)
Jerk control (S ramp)
MOVER/A Simple moves
JOG (in position or velocity control)
Registration control / EVENT Handling
Referencing (Homing)
INCR/A Target change on the fly
Torque or speed reference
PLC can pass application data/parameters via Fieldbus Option Card
Direct PLC control of motion is now possible via Fieldbus Option CardTemplate PLC interface providing simple access to motion commands available as a ‘canned application’
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Generic Drive Control Interface Standard (pre-written) Mint program providing most functions required for simple positioning/indexing applications
Interface to any third party PLC via Fieldbus Option Card (e.g. Ethernet/IP)
Allows PLC to command motion very easily (PLC code can be as simple as writing to what appears to be an output bit or word)
PLC reads pre-defined status information (enabled, fault, homed, current, velocity, following error etc..)
Mint program can be customised if required
See Application Note AN00188 for full details, Mint program and example Rockwell PLC setup/code
www.baldormotion.com
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Generic Drive Interface
Demonstration
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Additional PLC Connectivity via FOC
For this presentation the right hand MotiFlex e100 in the picture was connected to an Allen Bradley ControlLogix PLC
A Baldor Ethernet/IP FieldBus Option Card (FOC) was plugged into Slot 1 of the MotiFlex e100 drive
Standard Ethernet cable links the drive to an Allen Bradley 1756-ENET/B Ethernet Bridge module
The drive is added to the PLC’s network as a ‘Generic Ethernet Module’
The drive appears on the network as a number of 32 bit wide input and output words
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Direct Control of Motion from PLC
PLC writes to output bits/words to control motion and motion parameters on the drive
PLC reads input bits/words for diagnostic and status information
Pre-written Mint program controls motion once triggered by the PLC
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Customisable Mint Template
Pre-defined PLC interface to share command and status information to suit the majority of applications
Can be modified if necessary by the customer
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Customisable Application Parameters
Application specific parameters (home input, home type, stop input etc..) conveniently arranged as constants for customer to edit
Pre-defined command list that customer can add to in order to create new functionality (e.g. set positive or negative current limits)
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Mint On Board Limitations
No support for complex motion commands…FLY
FOLLOWs other than position lock mode (and only position lock mode only available on MotiFlex e100)
SPLINE
CAM
CONTOURxxx
FEEDRATExxx
TRIGGERxxx
MOVEOUTX, MOVEPULSEOUTX
etc…
As there is no support for FEEDRATE then SPEED/ACCEL/DECEL cannot be changed during a move
No support for commands like PULSEOUTX
Refer to Help file – In general, select ‘MotiFlex e100’ to determine if keyword supported (if Help file states Mint Option Card is required then not supported by MOB)
Summary of Mint On Board Applications
Simple single axis motion (alternative to Flex+ drive) Cut to length
Pick and place
Rotary table Indexer
Point to point motion
Retrofit or servo expansionReplace a competitor or add an additional servo axis to an existing system
Create communications protocols to interface with existing control system
Produce custom motion system in a compact easy to install package
Control competitors motors
Distributed networks systemsModular designs for large complex systems
Utilise available machine space local to the motor
Reduce expensive motor cabling
Process control systems
Large manufacturing lines
Break into large OEM marketCompatibility with large PLC manufacturers (Siemens, Alan Bradley)
Integration with popular fieldbus systems (Ethernet IP, Profinet)
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