mint ™ lite programmable ethernet drives. 22 mint lite - powerful programmable drive software...

Mint™Lite Programmable Ethernet Drives

22

Mint Lite - Powerful Programmable Drive Software

Features Mint is a rich, high-level language, which makes it powerful,

yet easy to learn and use.

Events provide response to time critical functions such as

position latch, input state change and error handling.

Multi-tasking streamlines performance

Capabilities include point to point motion, HMI management,

I/O logic and communications.

Powerful configuration and development tools with context

sensitive help, debugging features and simple configuration

wizards – Mint Workbench supplied free of charge.

Mint ActiveX components for Windows based development,

handle all communication and provide access to the Mint

API. Create PC based HMI or simple interface for data

exchange. Supplied free of charge.

Now Integrated into all e100 drives, as standard

33

Mint Lite - Single Axis Drive Applications

Mint Lite Intelligent Single Axis Drives

Programmable in Mint multitasking

Intelligent single axis systems

Motion tasks such as point to point, indexing and target

position change on the fly (product or print detection)

Logic control via drive I/O or expand I/O using CANopen

Handle HMI via CANopen or 2 wire RS485

Ethernet TCP/IP with ActiveX for communication to a PC

Applications include:

High speed indexingCut to lengthRotary indexing tablesBack-stop axes such as metal / wood cuttingAdjustable guide axesTransfer belts / conveyorsServo driven pump controlAnd many more.

CANopen

Baldor HMI via CANopen

MicroFlex

1 or 3 phase 115-230V

RS485

3rd Party HMI e.g. Red Lion

MotiFlex

3phase 180-460V

CANopen

4

4

Mint Lite – Use CANopen to Communicate

Mint Lite CANopen Peer to Peer

Use CANopen to easily exchange data between two or more drives running Mint Lite.

Mint provides a simple ‘peer to peer’ communication function using a predefined data array area called Comms()

Data is exchanged simply by writing to / reading from Comms() locations using the RemoteComms() keyword

Example: Write 12345 to node 1, comms location 9

RemoteComms(_busCANOPEN,1,9) = 12345

Event COMMSx - up to 10 independent software events can be programmed to generate an interrupt when new data is received via CAN.

Example: New data received in Comms(9)

Event COMMS9 Print “New Data received in comms(9)”,

Comms(9)End Event

The Comms() array can be monitored from Workbench Comms spy window for testing and debugging purposes

RS485

CANopen

Independent axes with separate Mint programs communicating via CANopen (no interpolation)

3rd Party HMI

55

Mint Lite – Use Ethernet TCP/IP to Communicate

TCP/IP

RS485

Use Ethernet to command or communicate to Independent axes (no interpolation)

3rd Party HMI

PLC

Windows PCActiveX

Ethernet FeaturesTwo methods of communicating using Ethernet TCP/IP

Ethernet RAW ICM (Immediate Command Mode)

RAW EthernetRAW Ethernet allows you to send and receive application specific data and use Mint to determine its meaning.

Ethernet messages are presented as a pseudo serial port in Mint

Simply treat the messages as your would a serial port

Modbus TCP via a Mint program (~200ms responses)

ICM – Access to Mint Features via Ethernet TCP/IPPC interface via TCP/IP and Mint ActiveX controls.

ActiveX takes care of all Ethernet communications

Provides Mint API within your preferred windows programming tools

Simply exchange data or execute any Mint feature directly for the PC

Includes advanced functions such as firmware and program update

6

Mint Lite - MotiFlex e100 PLC Control via Fieldbus

Simple, adaptable PLC drive control using Mint

Standard (pre-written) Mint program providing most functions required for simple positioning/indexing applications

Interface to any third party PLC via Fieldbus Option Card

Allows a 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

MotiFlex supports a range of plug-in Fieldbus modules include:

EthernetIP - DeviceNet ProfiNet I/O - Profibus DPv1Modbus TCP - Modbus RTU

Fieldbus

Plug-in Fieldbus modules

Pre-written Mint program for PLC drive control

PLC

77

Mint Lite – Putting it all together…

CANopen

Baldor HMI

TCP/IP

PLC

Windows PCActiveX

Fieldbus

RS485

3rd Party HMI

Independent axes only (no interpolation)

Mint Application Scenarios

Independent, programmable, indexing drive/drives (shown)

Mint programs on each drive handle local axis tasks

Comms() exchange used to provide control sequence

Mint Adds Communications Capabilities

CANopenExpand and control local CANopen I/OAdd a Baldor HMI on CANopen to the drive or systemAdditional e100 drives can communicate via CANopen to share application data (356 NVRAM locations available)

2 Wire RS485Third-party HMI via 2 wire RS485 port (e.g. Red Lion)

EthernetHandle PLC Ethernet communications using TCP/IP, RAW Ethernet, ICM over TCP/IPModbus TCP can via a Mint program (~300ms responses)PC interface via TCP/IP and ActiveX controls

Fieldbus Options

Additional PLC interfaces via Fieldbus Option Card (e.g. Ethernet/IP, DeviceNet, ProfiNet, Profibus DP)

8

Mint and Mint Lite - Supported Motion Features

Mint Mint Lite Motion Feature

Referencing (HomingHoming or ‘datuming’ provides a configurable approach to finding a start or reference position for an axis. This can also be avoided altogether on e100 products using multi-turn absolute encoders

Registration control / EVENT Handling

Fast inputs provide position LATCH functionality that can Automatically trigger software EVENTS to perform calculations, logic checks and even positional corrections at high speed. Useful for registration functions.

JOG (in position or velocity control)

Jogging of an axis while maintaining position control. Combined with JERK control provides a smooth method to adjust an axis or run a conveyor for example.

INCR/A Target change on the flyFinal position of an axis can adjusted ‘on the fly’ to compensate for some measurement or trigger, for example cut to length of printed material, accurate product positioning, press feeder applications etc

Incremental / Absolute Moves Simple point to point motion.

Jerk control (S ramp)Jerk limitation controls the rate of change of acceleration during motion, to provide a smooth control reducing shock and vibration on the load. This results in ‘softer’ motion and improves mechanical life of the system.

Electronic gearing with simulated clutch and registration features

Replace mechanical linkages with software gearing that can be dynamically controlled at the touch of a button. Change ratio, advance or retard and axis, simulate mechanical clutch engage / disengage.

- FLY - Flying shear segments

FLY segments provide a means to create simple or complex ‘trapezoidal’ based motion which is ‘geared’ to a second axis (master encoder) position. Effectively time is replaced by position of the master axis

- Electronic CAMsSoftware cams eliminate mechanical wear or ‘bounce’ issues associated with mechanical systems. CAM data can be changed for different ‘recipes’ or dynamically varied during operation.

- Splines and PVT profilesSpline and PVT (Position Velocity Time) motion use a series of data points and interpolation to provide smooth path control. Useful for ‘record and replay’ functions for example.

- Multi-axis interpolated motionInterpolated motion controls the position of multiple axes simultaneously to achieve coordinated effort. Typically used in XYZ applications, but can equally be applied where axes must start and finish simultaneously.

MotiFlex e1000 supports Position Locked FOLLOW motion when fitted with a second feedback card to provide a ‘master’ encoder. No clutched Follow support.

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MicroFlex Mint Lite capabilities include -

Typical applications:Indexing conveyorsAdjustable machine settings (backstops/guides etc..)Simple cut to lengthNon-interpolated Pick and PlaceNut runnersMany, many, more….

Jerk control (S ramp)

MOVER/A relative / absolute moves


Registration / LATCH EVENT handling

Referencing (Homing)

INCR/A target change on the fly

Torque or velocity reference (digital only)Note: there are no analogue inputs

1010

MotiFlex Mint Lite capabilities include -

Additional Advantages:PLC data exchange via Fieldbus modulesDirect PLC control of drive / motion via Fieldbus modulesPre-written Mint template for PLC control which can easily be customised

ApplicationsSimple cut to length / indexing applicationsNon-interpolated Pick and Place / material handlingMany, many, more….

Electronic gearing with registration (position lock only)

Jerk control (S ramp)

MOVER/A - relative / absolute moves


Registration / LATCH EVENT handling

Referencing (Homing)

INCR/A - target change on the fly

Torque or velocity reference

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11

Distributed Mint Tasks within a Powerlink Solution

MOTION CONTROLHMI

EPL Router(Gateway/

Firewall)

Linear

ADDITIONAL I/OCANopen

WWWWWW

REMOTE I/O on CANopen

LAN / WAN

Brushless AC VectorClosed Loop or V/Hz

PLC /CONTROLLER

3 x ANALOG AXES

Real-Time Ethernet

DISTRIBUTED MINT PROGRAMS

4 x STEPPER AXES

Size C 48-65A

ADDITIONAL I/OCANopen

None Real-Time Ethernet

E.g. Handling Local CAN I/O

E.g. Local Mint handling Fieldbus communications

E.g. Handling Local CAN I/O

FIELDBUS

12

Platform Choice

Mint Motion Control Solutions

Where to choose NextMove e100

Where to choose a Mint Machine Module

Where to choose Mint LIte on e100 Drives

13

MicroFlex e100 and MotiFlex e100Mint™ Lite

Mint Lite on e100 Drives:Independent axes of control : 1 to manyOr Distributed tasks within POWERLINK systemsProgrammable in Mint multi-tasking motion language

Provided free-of-charge as standard

NextMove e100Multi-Axis Controllers

Dual / Multi-Axis Mint Machine ModuleMotiFlex e100

Mint Motion Control Solutions

8-1

6 A

xe

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rdin

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Sy

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Sim

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Mo

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Axes / Complexity

NextMove e100 Controllers:Complete machine control systems up 16 axes coordinated motion (plus additional independent axes)Advanced coordinated motionMix real-time Ethernet POWELINK axes + 3 x analogue and 4 x stepper axesDigital and analogue I/OCANopen manager of I/O, HMI and 3rd party devicesRS232/485 and USB communications

Mint Machine Modules:Plug-in ’NextMove’ core for MotiFlex based systemsComplete machine solution : 1 to 5 axesAdvanced coordinated motionNo external motion controller required4 x Ethernet POWERLINK + 1 x analogue axisMaster encoder input for ‘line shaft’ applications

NEW

Note Electronic gearing on MotiFlex with encoder option card

14

NextMove e100

Choose NextMove e100 for the following:

More than 4 or 5 axes coordinated motionNextMove e100 offers up to 16 axes of tightly coupled motion including interpolation and advanced electronic gearing functions

Stepper and analogue axes requiredNextMove e100 provides 4 stepper axes, 3 analogue axes

Additional onboard digital and analogue I/O20 digital inputs and 12 digital outputsIncluding 4 high speed LATCH inputs4 analogue outputs (3 for analogue axes when used)2 analogue inputs1 relay output

USB, RS232 / 4 wire RS485 requiredFor example to communicate with a simple PLC / HMI

Top Slot of MotiFlex required for Fieldbus gatewayMint Modules and Fieldbus cards can only be installed in the top slot, if you only have one MotiFlex in the system and need a Fieldbus gateway, choose NextMove as your controller

System power ratings are better suited to MicroFlex e100 (no MotiFlex drives required)If your drive requirements are for 115 - 230Vac operation and 3, 6 and 9A rms with 200% overload ratings then MotiFlex would not be required. Hence Mint Modules can not be used

15

MotiFlex + Mint Module

Choose MotiFlex + Mint Module where:

2-5 Axes of tightly coordinated motion is requiredInterpolation, electronic gearing requiring CAM, FLY, or ‘clutched’ FOLLOW features

A single application program is preferredIf using multiple drives within a system, you may prefer to write one central control program rather than distributed Mint programs on each drive

DC Sharing between MotiFlex drives is requiredEnergy savings for the life of the machine by sharing DC energy generation and consumption

Applications requiring:AC VECTOR closed loop motor controlV/Hz motor controlMix of motor technologies in one machine

New machine designsMotiFlex is our latest generation drives and recommended for new machine developments

A ‘drive only’ solution is appealingEliminate the PLC or external motion controller and save on panel space, wiring and overall system complexity.

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Mint Lite on e100

Choose Mint on e100 drives where:

A simple intelligent drive axis is requiredPerforming simple point to point or indexing motion tasksThe application does NOT require CAMs, Flys or Interpolated motionA simple 2 wire RS485 or CANopen HMI may be requiredThe drive has sufficient I/O or CAN I/O is suitable

A drive within an E100 network must manage a local taskA local mint program can handle a simple HMI, local I/O logic or registration functions to provide optimal response

DC Sharing is also required (MotiFlex)Energy savings for the life of the machine

Choose MotiFlex with Mint Lite where:AC VECTOR closed loop motor control or V/Hz motor control is required Perhaps a mix of motor technologies in one machine

DC Sharing is also requiredEnergy savings for the life of the machine

A PLC Fieldbus will be used to control one or more non-interpolated drivesPerforming simple point to point or indexing motion tasksMotiFlex drives will be used and fitted with a Fieldbus of choiceOr RS485, CANopen, TCP/IP, or Ethernet RAW can be used

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Mint Machine Control

Summary of e100 Mint Machine Control Capabilities

Choice of platforms

Mint Lite on e100 drives for simple motion tasks or local tasks within a

Powerlink system

Plug-in programmable machine controller for 2-5 axes coordinated motion

NextMove e100 for more complex applications

Mint Software

Multi-tasking software performance

Simple and Advanced motion features

Non-volatile user data storage for recipe and application data

Flash program storage

FREE Mint Workbench development tools

Mint ActiveX for Microsoft Windows, for developing simple and powerful PC

user interfaces via Ethernet or USB

Communications and Fieldbus

Real-Time Ethernet Powerlink (EPL)

CANopen manager provides I/O expansion capabilities

Fieldbus modules for all major networks

Powerful data exchange to PLCs and other devices

Use one Fieldbus module as a gateway to the entire Powerlink system or direct

PLC drive control

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Supporting Information

MicroFlex and MotiFlex e100 overview

Mint Machine Modules

Mint Lite Feature Comparison to Mint

Machine Module and NextMove e100

Mint Lite Feature Comparison to Flex+DriveII and MintDriveII

Ethernet RAW

ActiveX

Capabilities Overview

www.baldormotion.com

20

MicroFlex e100 Overview

AC Operation1/3 phase 115-230Vac 1.5, 3, 6 and 9A ratings 200% overload for 3 seconds

Integrated Control ofCurrent, Velocity and Position Position profilerAuto-tuningNotch / low pass anti-resonance digital filters

Universal Encoder InputIncremental + HallsSSI single / multi-turnEnDat 2.1/2.2 single / multi-turnSinCos 1V pk-pkBiSS single / multi-turn

CANopenLocal / system I/O expansionHMI control when using Mint

Digital I/ODedicated Enable input3 x Inputs2 x Outputs

Includes 2 x fast LATCH inputs for registration applications

Integrated EthernetReal-time drive controlStandard TCP/IP operationTCP/IP RAW serial emulation

Mint ProgrammableNow supporting Mint Lite as standard


Capabilities Overview

22

MotiFlex e100 Overview

AC or DC Operation3 phase 180-560Vac (max)Shared DC bus operationSimple slot-in DC bus links

Universal Motor ControlServo rotary and linear motorsAC Vector closed loopV/Hz operationFlexible motor overloads

- 110/150 for 60 seconds- 200/300% for 3 seconds

Universal Encoder InputIncremental + HallsSSI single / multi-turnEnDat 2.1/2.2 single / multi-turnSinCos 1V pk-pkBiSS single / multi-turn

2 x Expansion SlotsTop – for Mint module or FieldbusDigital and analogue cardsAdditional feedback InterfacesUser installed to match the application requirements

Integrated EthernetReal-time drive controlStandard TCP/IP operation

CANopenCANopen for I/O expansion

Digital I/ODedicated Enable inputMotor over temperature3 x Inputs2 x Outputs1 x Analogue input


Wide Power RangeA size: 1.5 to 16AB size: 21A to 34.5AC size: 48 and 65A*

Mint ProgrammableNow supporting Mint Lite as standard

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Option Cards Expand System Capability

I/O Expansion Cards – System I/O

Digital and analogue I/O cardsFitted to any MotiFlex, they expand the system I/O seen by the Mint machine module

Fieldbus Options – Gateway Simplicity

Interface 3rd party systems such as to PLCs, PCs and embedded controllersAll major networks available

Feedback Options - Electronic line shaft

Resolver with simulated encoder outputEncoder with simulated encoder output

Use as a master encoder for electronic gearing applicationsUse for dual loop to compensate for mechanical inaccuraciesMint module uses encoder to control motion of other axes

Typical applicationsPrinting, converting, embossing, metal formingPackaging machines

MotiFlex Option Cards Expand the Multi-axis Mint Machine Module Capabilities

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Option Card Support

Order Code Description TOP Slot (1) Lower Slot (2)

OPT-MF-100 OPT-MF-101

Dual-axis Mint Machine ModuleMulti-axis Mint Machine Module

Mandatory NO

OPT-MF-030 Fieldbus Carrier Mandatory NO

OPT-MF-005 Digital I/O card Yes Yes

OPT-MF-001 Analogue I/O cardYes Yes

OPT-MF-013 Resolver input card Temperature de-rate applies if used in top

slotYes

OPT-MF-011 Encoder input cardYes Yes

Note Mint modules and Fieldbus cards both require top slot to function. It is therefore not possible to have a Mint module and Fieldbus card in the same drive.

Alternative solutions – For Multi-axis systems, a second MotiFlex can host the Fieldbus Use NextMove e100 for Multiaxis and use Fieldbus in the MotiFlex e100 Use external gateway solutions – contact technical support for more info For non Powerlink systems use TCP/IP CANopen

Option slot 1

Option slot 2

25

MotiFlex Dimensions and Nominal Ratings

Current ratings (200%)1.5 Amp 3 Amp6 Amp10.5 Amp16 Amp

129mm (5.07”)

79mm (3.3”)

Current ratings (200%)21 Amp 26 Amp33.5 Amp @ 4kHz

Size B

213mm (8.38”)

Size A

Current ratings (200%)48 Amp @ 4kHz65 Amp @ 4kHz

Size C

350m

m (

13.7

8”)

260mm (10.3”)

Available Q3 2010

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Vector Control and V/Hz support

4kHz 8kHz 16kHz

180 – 528VAC 50/60Hz

2.75 (8.25) AmpCurrent rms (Peak)

300%

5 (7.5) AmpCurrent rms (Peak)

150%

5.5 (6.05) AmpCurrent rms (Peak)

110%

Current rms (Peak) 4 (8) Amp

200% Nominal Rating

3 Seconds

3 Seconds

60 Seconds

60 Seconds

2.75 (8.25) 2.7 (8.1)

3 (6)

3.8 (5.7)

4.5 (4.95)

3 (6)

3.8 (5.7)

4.5 (4.95)

Example shown for MFE460A003

AC supply

Tighter control and Lower audibility

Higher current capability

High D

ynamic

Servo axes

Higher C

urrent V

ector axes

AC Vector Motor Control (Closed Loop)

110 and 150% for 60 second overload modesFull torque to zero speedPositioning capabilities

V/Hz Operation (open loop)

No feedback device requiredStandard AC motor with V/Hz operationIdeal for lower performance axes such as conveyorsNo positioning functions

Universal Motor Control Technology

Rotary and linear permanent magnet servo motorsRotary and linear Induction motors

V/Hz operation or AC Vector control with positioning

Ideal for systems using multiple motor technologies requiring the same drive technology

Linear Servo Induction

Mint Machine ModulesCapabilities Overview


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Mint Machine Modules

Plug-in Machine Controller‘NextMove e100 core’Top slot of any MotiFlex driveZero additional panel spaceSignificantly less cabling than an external controller

Dual and Multi-axis VersionsSoftware compatible with NextMove e100 Scalable solution to match the applicationInterpolated motion on 2-5 axes

Real-Time Ethernet TechnologyIntegrate as part of a larger control solutionOr command additional e100 drives (Multi-axis)Digital performance Advanced control functions Diagnostics and monitoring Remote access possibilities

CANopen – Low Cost ExpansionHMI panel for a complete low cost solutionAdd I/o devices, actuators, sensors and more

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Mint Module - Features at a Glance

Mint Machine ModuleAdvanced Mint motion featuresHMI, logic and communicationsNon-volatile application data storageFlash program storage

Mint Multi-taskingSimple to use software toolsPowerful programming languageHandle multiple tasks simultaneouslyCreate EVENT handlers for critical functions e.g. Error handling

Incremental Encoder Input Master encoder following Dual feedback (compensate for

mechanical errors) Position latch(1µS) function

Digital I/OOpto-isolated 12-30VDC operation4 x Inputs4 x Outputs


Analogue I/O12 bit +/- 10V operation1 x Analogue input1 x Analogue output

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Dual Axis Mint Module

Dual-axis Mint Machine Module

System features shown:1) Dual axis Mint module Installed in a MotiFlex top slot

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

3) HMI connected to the MotiFlex via CANopen

4) Additional distributed I/O on CANopen

5) Use the Mint module encoder to provide closed loop control of an analogue axis or as a line shaft encoder input

Features

Compact 2 axis solutionControl 1x MotiFlex + 1 x analogue axisEthernet TCP/IP (RAW) ActiveX support via USB and EthernetControl of the drive’s CAN, USB and I/O

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Multi-Axis Mint Module

Multi-axis Mint Machine Module

System features shown:

1) Mint module Installed in the first MotiFlex top slot (Powerlink Manager)

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

3) Fieldbus gateway in a MotiFlex top slot provides system-wide communications to PLCs

4) HMI connected to the first MotiFlex via CANopen

5) Additional distributed I/O on CANopen from any drive

Features

Compact 5 axis solutionControl 1x MotiFlex + 3 e100 drives1 x analogue axis or use as encoder inputEthernet TCP/IP (RAW) ActiveX support via USB and EthernetControl of the drive’s CAN, USB and I/O

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Feature Comparison:

NextMove – Mint Modules – Mint Lite

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E100 Mint Feature Comparison - Part 1Feature NextMove e100 MotiFlex + Mint

ModuleMotiFlex + Dual Axis Mint Lite Comment

Controlled Axes Coordinated axes capable of interpolated motion and advanced synchronised motion .

Via Ethernet Powerlink (EPL) 8 /12 or 16 axes interpolated +3 CN only CN Only Additional drives that can be controlled via Ethernet

Analogue 3 1 1 Note MotiFlex can be controlled as an analogue drive in combination with a feedback card to provide simulated encoder.

Additional Virtual Axes Y 2 2 1 All axes can be configured to virtual for simulation. Alternative uses include virtual ‘line shaft’ encoders.

TOTAL Coordinated / interpolated Axes 16 5 2 1 Total includes the host drive and an analogue axis

Communications

Real Time Ethernet POWERLINK Manager or CN Manager or CN CN only CN only Mint Lite can be used on any e100 drive within an Powerlink network to handle local tasks such as Logic, HMI, registration etc.

Ethernet TCP/IP Y Y Y YTCP/IP operation is possible when not using Powerlink mode or via Powerlink Router for remote system access. Also provided Ethernet RAW and ICM access via Mint ActiveX tools for example.

CANopen manager Y Y Y Y Add a Baldor HMI panel or expand system I/O and write local CAN Event handlers

Fieldbus options Via MotiFlex (Fieldbus Gateway function)

Via a second MotiFlex

(Top slot required)

External gateways required

MotiFlex via Fieldbus option

Others USB RS232/485 USB USB USB/ RS485 2 wireAll platforms offer USB, RS485, CANopen and Ethernet TCP/IP (requires Router if using EPL). NextMove also supports RS232

Simulated Encoder Out

Support None Option Card Option card On MotiFlex via option MotiFlex feedback cards include a simulated output which can be configured to represent the Drive encoder interface as well as the feedback card itselfUser Scalable Resolution - On MotiFlex via option On MotiFlex via option On MotiFlex via option

Inputs and Outputs CANopen I/O can be added to any e100 drive. Option cards can also be added to MotiFlex drives.

Digital Inputs 20 4 (+ 3 on drive) 4 (+ 3 on drive) 3 E100 drives have 3 digital inputs (2 high speed LATCH).

Digital Outputs 12 4 (+ 2 on drive) 4 (+ 2 on drive) 2 E100 drives have 2 digital outputs. MotiFlex has Digotal and analogue option cards.

Analogue Inputs 2 x +-10V 12 bit1 x +/10V 12 bit

(+1 x 10 bit on drive)1 x +/10V 12 bit

(+1 x 10 bit on drive)2 x +/10V 14 bit MotiFlex also has 1 x +/-10V 10bit input built in

Analogue I/O3 axis demands + 1

+-10V 12 bit1x +/10V 12 bit 1x +/10V 12 bit 2 x 10V 8 bit All e100 products can expand I/o using CANopen

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E100 Mint Feature Comparison - Part 2Feature NextMove e100 MotiFlex +

Multi AxisMotiFlex + Dual

Axis Mint Lite Comment

Motion types

Spine / PVT motion Y Y Y No

Interpolated motion Y Y Y No

Contoured moves Y Y Y No See CONTOURxxx keywords

Cams Y Y Y No Mint on e100 drives does not provide support for complex multi-axis motion types, and some of the more complex geared motion such as Cams and FLYs.FLY segments - Flying shear motion Y Y Y No

Electronic gearing Y Y YPosition Lock modes on

MotiFlex e100 with encoder card

See FOLLOWxx keywords

Incremental / Absolute moves Y Y Y Y MoveR / MoveA keywords

Target position change during motion Y Y Y Y See INCR / INCA keywords

LATCH Event – Registration control Y Y Y Y LATCH channels capture encoder inputs in 1µs and trigger EVENTs for registration purposes

Mint Functionality

MOVEOUTXMOVEPULSEOUTX

Y Y Y No Load output state changes into the move buffer so that the state is synchronous to the move sequence

FEEDRATExxx Y Y Y No Feed rate override of move buffer velocity

TRIGGERxxx Y Y Y No Configurable triggered motion functions

Other features

Program memory 1MB 1MB 1MB 64KB User file storage including Mint source code and compiled code

Non-volatile user data storage 32bit x 4064 32bit x 4064 32bit x 4064 32bit x 256 Ability to store application data that will be retained on power removal, for recipe data etc

Mint Version 5.5 5.5 5.5 5.5 V5.5 onwards is common to all e100 products

Mint Performance 3-4x 2-3x 2-3x 1x Approximate Mint execution. Note some API functions are hardware dependant and vary between products

35

Feature Comparison:

Mint Lite - Flex+ - MintDriveII

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Mint Lite vs Flex+/MintDriveII Comparison - Part 1Feature Mint Lite Flex + MintDriveII Comment

Control Method Mint Modules control the host drive plus the following additional axes -

Ethernet Powerlink (EPL) Y-

- Additional drives that can be controlled via Ethernet

Analogue Input MotiFlex only* Y Y *Via the analogue input and requires additional feedback card or simulated encoder

Step & Direction 5v and 24V 5v and 24V Uses include virtual ‘line shaft’ encoders, motion simulation

Encoder Following MotiFlex only1 2 Y2 Y 1.Requires additional feedback card as master encoder input. Position lock Follow modes only. 2. Clutched Follow not supported.

Communications

Real Time POWERLINK Y - E100 drives can operate on a Powerlink network and run Mint Lite locally

Ethernet IP Y (See notes)

Ethernet IP Fieldbus module for MotiFlex can be used as direct PLC control or gateway to an e100 system. Basic Ethernet/IP planned as a standard feature for e100 drives to be used in PLC applications in place of Powerlink available summer 2010 . NOTE will not support CIP Sync features or CIP motion

Ethernet TCP/IP and RAW Y - - TCP/IP operation, when not using Powerlink mode, or via Powerlink Router

CANopen manager Y-

Option Add a Baldor HMI panel or expand system I/O

Fieldbus MotiFlex only DeviceNet Profibus DeviceNet ProfibusMotiFlex drives support DeviceNet, Profibus DP, Ethernet IP, Modbus TCP, ProfiNet IO, Modbus RTU plug-in Fieldbus modules

Others RS485 2 wire, USBRS232/485

RS232/485

Simulated Encoder Out

Support MotiFlex only (option)

Standard Standard MotiFlex feedback cards include a simulated output which can be configured to represent the Drive encoder interface as well as the feedback card itself

User Scalable Resolution MotiFlex only (option)

Limited Limited MotiFlex simulated encoder cards offer scaled output e.g. 2500line encoder in scaled to 1000 line out.

Inputs and Outputs Additional I/O cards and CANopen I/O can be added to any MotiFlex drive.

Digital Inputs 31 8 81All have 2 high speed inputs latching position within 1µS. 1. I/O can be expanded using CANopen.

Digital Outputs 21 3 31 1. I/O can be expanded using CANopen on MintDrive and e100 drives.

Analogue Inputs MotiFlex 1 x +/-10V 10bit 1 x +/10V 14bit 2 x +/10V 14bit MotiFlex also has 1 x +/-10V 10bit input built in and analogue option card can be

added for more. CANopen can also be used

Analogue Outputs MotiFlex option card - 2 x 10V 8bit Drive has 1 x analogue input +/10V 12bit making 2 total

37


Feedback Devices

Biss Single and Multi-turn Y N N Hi resolution serial encoders with absolute capability

EnDat 2.1 Y Y Y Heidenhein absolute encoders

EnDat 2.2 Y - - Heidenhein absolute encoders (digital communications only)

SSI Single-turn / Multi-turn Y - - 6 wire serial encoders with absolute capability

Incremental + Halls Y Y Y 5V RS422 differential encoders

1V pk-pk SinCos Y - - Analogue Sin Cos encoders often used tithe linear motors.

Hiperface Y Y Stegman Hiperface™ absolute encoders

Resolver MotiFlex Via Option Y Y MotiFlex supports resolver via plug-in option card

Motor Control

Brushed AC Servo Rotary Y Y Y

Brushed AC Servo Linear Y Y Y

AC vector Closed Loop Y - - Induction motor with closed loop control

V/Hz MotiFlex only - - Inverter operation

Flexible Overloads MotiFlex only - - Optimise overload, rms rating and PWM to match the application

Master Encoder Input

Line shaft Master MotiFlex Via Option Standard Standard Encoder input for electronic gearing

Resolver as a Master / line shaft MotiFlex Via Option N N Useful for press-feeder applications where mechanical shock is common

Use as Motor Feedback N N Encoder input on Mint module can not be used for motor commutation

Dual Loop (Position) MotiFlex Via Option Y Y Encoder input of Mint module can be used for position feedback

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Motion types

Spine / PVT motion No No NoNot supported - Requires multiple axes of control

Interpolated motion No No No

Contoured moves No No No See CONTOURxxx keywords

Cams No No YMint on e100 drives does not provide support some of the more complex geared motion such as Cams and FLYs. Use Mint Machine modules or NextMove

FLY segments - Flying shear motion No No Y

Electronic gearingPosition Lock modes

on MotiFlex e100 with encoder card

Y Y See FOLLOWxx keywords

Incremental / Absolute moves Y Y Y MoveR / MoveA keywords

Target position change during motion Y Y Y See INCR / INCA keywords

LATCH Event – Registration control Y Y Y LATCH channels capture encoder inputs in 1µs and trigger EVENTs for registration purposes

Mint Functionality

MOVEOUTXMOVEPULSEOUTX

No Y Y Supported on MotiFlex when Mint machine module is used

FEEDRATExxxTRIGGERxxx

No Y Y Supported on MotiFlex when Mint machine module is used

Other features

Program memory 64KB 1MB 1MB User file storage including Mint source code and compiled code

Non-volatile user data storage 32bit x 256 No 32bit x 4064 Ability to store application data that will be retained on power removal, for recipe data etc

Mint Version 5.5 5.0 5.0 Differences between Mint 5.0 to 5.5 include some functional changes such as Error handling and improved syntax, compilation and debugging features

Mint Performance 1 x 0.75 x 0.75 x Approximate Mint execution. Note some API functions are hardware dependant and vary between products

39

Ethernet RAW

What is Ethernet RAW?

User Defined Ethernet Messages

Message contents can be application specificAllows a Mint program to receive and send TCP/IP message contents

Treat Ethernet as a virtual serial port

Mint programs can be written to interpret some Ethernet technologies (NOT real-time ones)Typical message decode takes 1- 300mS

Ethernet RAW is supported when not using Powerlink, on the following controllers:

NextMove e100 Mint Machine ModulesMotiFlex and MicroFlex e100 using Mint Lite

See Application Note AN00159 ‘Mint Modbus TCP Decoder’ for an example

http://www.baldormotion.com/support/SupportMe/ApplicationNotes.asp

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Motion Controller / DriveMotion Controller / Drive

Motion Controller / DriveMotion Controller / Drive

PC ApplicationVisual BasicVisual C++DelphiOthers

ActiveX – Free Software Components

Mint ActiveX Components

ActiveX is a Microsoft technology for Windows developersDevelop HMI, machine control tools for WindowsDevelop in Visual Basic, Visual C++, Delphi, Labview and moreHandle all controller communications tasks and protocolsProvides complete access to all Mint functions

Mint ActiveX Mint ActiveX

Mint MilServer

PCI / Serial / USB / Ethernet

Encoder - DAC - I/O - Ethernet

Mint Motion Library (MML)

Mint Virtual Machine

Immediate Command

Mode (ICM)

Terminal Interface)

User Mint Program

Mint Workbench

FREE !

Mint Active controls are provided free of charge or license costs

Mint ActiveX – Capabilities

Handle all controller communications tasks and protocolsProvides complete access to all Mint functionsControl, Monitor, ConfigureMultiple ActiveX instances can share access via the Milserver e.g. User application and Mint Workbench

41

Thank You

For more information on Baldor motion and drives products Visit www.baldormotion.com Or contact your local sales office

Linear Motors

Servo Motors

AC Motors

Inverters Vector Drives

460V Servo

110-230V Servo

Slice I/O HMI Panels

mint ™ lite programmable ethernet drives. 22 mint lite - powerful programmable drive software...

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