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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