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Mint ™ Lite Programmable Ethernet Drives

Mint ™ Lite Programmable Ethernet Drives. Mint Lite - Powerful Programmable Drive Software. Features Mint is a rich, high-level language, which makes it powerful, yet easy to learn and use.

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Mint ™ Lite Programmable Ethernet Drives

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  1. Mint™LiteProgrammable Ethernet Drives

  2. 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 2

  3. 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 indexing Cut to length Rotary indexing tables Back-stop axes such as metal / wood cutting Adjustable guide axes Transfer belts / conveyors Servo driven pump control And many more. 3rd Party HMI e.g. Red Lion Baldor HMI via CANopen CANopen CANopen RS485 MotiFlex 3phase 180-460V MicroFlex 1 or 3 phase 115-230V 3

  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) EventCOMMS9 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 CANopen RS485 3rd Party HMI Independent axes with separate Mint programs communicating via CANopen (no interpolation) 4

  5. Mint Lite – Use Ethernet TCP/IP to Communicate Ethernet Features • Two methods of communicating using Ethernet TCP/IP • Ethernet RAW • ICM (Immediate Command Mode) RAW Ethernet RAW 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/IP PC 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 Windows PC ActiveX TCP/IP PLC RS485 3rd Party HMI Use Ethernet to command or communicate to Independent axes (no interpolation) 5

  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 DPv1 Modbus TCP - Modbus RTU Fieldbus PLC Plug-in Fieldbus modules Pre-written Mint program for PLC drive control

  7. Mint Lite – Putting it all together… 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 Windows PC ActiveX TCP/IP Mint Adds Communications Capabilities CANopen • Expand and control local CANopen I/O • Add a Baldor HMI on CANopen to the drive or system • Additional e100 drives can communicate via CANopen to share application data (356 NVRAM locations available) 2 Wire RS485 • Third-party HMI via 2 wire RS485 port (e.g. Red Lion) Ethernet • Handle PLC Ethernet communications using TCP/IP, RAW Ethernet, ICM over TCP/IP • Modbus 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) PLC RS485 3rd Party HMI Fieldbus Baldor HMI CANopen Independent axes only (no interpolation) 7

  8. Mint and Mint Lite - Supported Motion Features

  9. MicroFlex Mint Lite capabilities include - Typical applications: Indexing conveyors Adjustable machine settings (backstops/guides etc..) Simple cut to length Non-interpolated Pick and Place Nut runners Many, many, more…. Jerk control (S ramp) MOVER/A relative / absolute moves INCR/A target change on the fly JOG (in position or velocity control) Registration / LATCH EVENT handling Referencing (Homing) Torque or velocity reference (digital only) Note: there are no analogue inputs 9

  10. MotiFlex Mint Lite capabilities include - Electronic gearing with registration (position lock only) Jerk control (S ramp) MOVER/A - relative / absolute moves INCR/A - target change on the fly JOG (in position or velocity control) Registration / LATCH EVENT handling Referencing (Homing) Torque or velocity reference Additional Advantages: PLC data exchange via Fieldbus modules Direct PLC control of drive / motion via Fieldbus modules Pre-written Mint template for PLC control which can easily be customised Applications Simple cut to length / indexing applications Non-interpolated Pick and Place / material handling Many, many, more…. 10

  11. Distributed Mint Tasks within a Powerlink Solution WWW LAN / WAN None Real-Time Ethernet EPL Router (Gateway/ Firewall) Real-Time Ethernet DISTRIBUTED MINTPROGRAMS HMI MOTION CONTROL 3 x ANALOG AXES 4 x STEPPER AXES FIELDBUS PLC / CONTROLLER ADDITIONAL I/O CANopen E.g. Handling Local CAN I/O E.g. Handling Local CAN I/O E.g. Local Mint handling Fieldbus communications ADDITIONAL I/O CANopen 11 REMOTE I/O on CANopen Size C 48-65A Linear Brushless AC Vector Closed Loop or V/Hz

  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. Mint Machine Modules: • Plug-in ’NextMove’ core for MotiFlex based systems • Complete machine solution : 1 to 5 axes • Advanced coordinated motion • No external motion controller required • 4 x Ethernet POWERLINK + 1 x analogue axis • Master encoder input for ‘line shaft’ applications Mint Lite on e100 Drives: • Independent axes of control : 1 to many • Or Distributed tasks within POWERLINK systems • Programmable in Mint multi-tasking motion language Provided free-of-charge as standard Mint Motion Control Solutions NextMove e100 Controllers: • Complete machine control systems up 16 axes coordinated motion (plus additional independent axes) • Advanced coordinated motion • Mix real-time Ethernet POWELINK axes + 3 x analogue and 4 x stepper axes • Digital and analogue I/O • CANopen manager of I/O, HMI and 3rd party devices • RS232/485 and USB communications NextMove e100 Multi-Axis Controllers 8-16 Axes coordinated Dual / Multi-Axis Mint Machine Module MotiFlex e100 2-5 Axis Systems MicroFlex e100 and MotiFlex e100 Mint™ Lite NEW Simple Motion Note Electronic gearing on MotiFlex with encoder option card Axes / Complexity

  14. More than 4 or 5 axes coordinated motion • NextMove e100 offers up to 16 axes of tightly coupled motion including interpolation and advanced electronic gearing functions • Stepper and analogue axes required • NextMove e100 provides 4 stepper axes, 3 analogue axes • Additional onboard digital and analogue I/O • 20 digital inputs and 12 digital outputs • Including 4 high speed LATCH inputs • 4 analogue outputs (3 for analogue axes when used) • 2 analogue inputs • 1 relay output • USB, RS232 / 4 wire RS485 required • For example to communicate with a simple PLC / HMI • Top Slot of MotiFlex required for Fieldbus gateway • Mint 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 NextMove e100 Choose NextMove e100 for the following:

  15. 2-5 Axes of tightly coordinated motion is required • Interpolation, electronic gearing requiring CAM, FLY, or ‘clutched’ FOLLOW features • A single application program is preferred • If 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 required • Energy savings for the life of the machine by sharing DC energy generation and consumption • A ‘drive only’ solution is appealing • Eliminate the PLC or external motion controller and save on panel space, wiring and overall system complexity. • Applications requiring: • AC VECTOR closed loop motor control • V/Hz motor control • Mix of motor technologies in one machine • New machine designs • MotiFlex is our latest generation drives and recommended for new machine developments MotiFlex + Mint Module Choose MotiFlex + Mint Module where:

  16. A simple intelligent drive axis is required • Performing simple point to point or indexing motion tasks • The application does NOT require CAMs, Flys or Interpolated motion • A simple 2 wire RS485 or CANopen HMI may be required • The drive has sufficient I/O or CAN I/O is suitable • DC Sharing is also required (MotiFlex) • Energy savings for the life of the machine • A PLC Fieldbus will be used to control one or more non-interpolated drives • Performing simple point to point or indexing motion tasks • MotiFlex drives will be used and fitted with a Fieldbus of choice • Or RS485, CANopen, TCP/IP, or Ethernet RAW can be used • A drive within an E100 network must manage a local task • A local mint program can handle a simple HMI, local I/O logic or registration functions to provide optimal response • 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 required • Energy savings for the life of the machine Mint Lite on e100 Choose Mint on e100 drives where:

  17. 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

  18. 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

  19. Capabilities Overview www.baldormotion.com

  20. CANopen Local / system I/O expansion HMI control when using Mint AC Operation 1/3 phase 115-230Vac 1.5, 3, 6 and 9A ratings 200% overload for 3 seconds Integrated Ethernet Real-time drive control Standard TCP/IP operation TCP/IP RAW serial emulation Integrated Control of Current, Velocity and Position Position profiler Auto-tuning Notch / low pass anti-resonance digital filters Digital I/O Dedicated Enable input 3 x Inputs 2 x Outputs Includes 2 x fast LATCH inputs for registration applications Universal Encoder Input Incremental + Halls SSI single / multi-turn EnDat 2.1/2.2 single / multi-turn SinCos 1V pk-pk BiSS single / multi-turn Mint Programmable Now supporting Mint Lite as standard MicroFlex e100 Overview

  21. Capabilities Overview www.baldormotion.com

  22. 2 x Expansion Slots Top – for Mint module or Fieldbus Digital and analogue cards Additional feedback Interfaces User installed to match the application requirements • AC or DC Operation • 3 phase 180-560Vac (max) • Shared DC bus operation • Simple slot-in DC bus links • Wide Power Range • A size: 1.5 to 16A • B size: 21A to 34.5A • C size: 48 and 65A* Integrated Ethernet Real-time drive control Standard TCP/IP operation CANopen CANopen for I/O expansion • Universal Motor Control • Servo rotary and linear motors • AC Vector closed loop • V/Hz operation • Flexible motor overloads - 110/150 for 60 seconds - 200/300% for 3 seconds Digital I/O Dedicated Enable input Motor over temperature 3 x Inputs 2 x Outputs 1 x Analogue input Includes 2 x fast LATCH inputs for registration applications Universal Encoder Input Incremental + Halls SSI single / multi-turn EnDat 2.1/2.2 single / multi-turn SinCos 1V pk-pk BiSS single / multi-turn Mint Programmable Now supporting Mint Lite as standard MotiFlex e100 Overview

  23. I/O Expansion Cards – System I/O Digital and analogue I/O cards Fitted 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 controllers All major networks available Feedback Options - Electronic line shaft Resolver with simulated encoder output Encoder with simulated encoder output Use as a master encoder for electronic gearing applications Use for dual loop to compensate for mechanical inaccuracies Mint module uses encoder to control motion of other axes Typical applications Printing, converting, embossing, metal forming Packaging machines Option Cards Expand System Capability MotiFlex Option Cards Expand the Multi-axis Mint Machine Module Capabilities

  24. Option Card Support Option slot 1 Option slot 2

  25. 79mm (3.3”) 129mm (5.07”) 260mm (10.3”) 213mm (8.38”) 350mm (13.78”) MotiFlex Dimensions and Nominal Ratings • Current ratings (200%) • 1.5 Amp • 3 Amp • 6 Amp • 10.5 Amp • 16 Amp Size A • Current ratings (200%) • 21 Amp • 26 Amp • 33.5 Amp @ 4kHz Size B • Current ratings (200%) • 48 Amp @ 4kHz • 65 Amp @ 4kHz Size C Available Q3 2010

  26. Example shown for MFE460A003 4kHz 8kHz 16kHz AC supply 180 – 528VAC 50/60Hz V/Hz Operation (open loop) No feedback device required Standard AC motor with V/Hz operation Ideal for lower performance axes such as conveyors No positioning functions • Universal Motor Control Technology • Rotary and linear permanent magnet servo motors • Rotary 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 AC Vector Motor Control (Closed Loop) 110 and 150% for 60 second overload modes Full torque to zero speed Positioning capabilities High Dynamic Servo axes 300% 2.75 (8.25) 2.7 (8.1) 2.75 (8.25) Amp Current rms (Peak) 200% Nominal Rating Current rms (Peak) 4 (8) 3 (6) Amp 3 (6) 150% 3.8 (5.7) 3.8 (5.7) Current rms (Peak) 5 (7.5) Amp Higher Current Vector axes 110% Current rms (Peak) 5.5 (6.05) Amp 4.5 (4.95) 4.5 (4.95) 3 Seconds Higher current capability Tighter control and Lower audibility 3 Seconds 60 Seconds 60 Seconds Vector Control and V/Hz support Linear Servo Induction

  27. Mint Machine ModulesCapabilities Overview www.baldormotion.com

  28. Plug-in Machine Controller ‘NextMove e100 core’ Top slot of any MotiFlex drive Zero additional panel space Significantly less cabling than an external controller Dual and Multi-axis Versions Software compatible with NextMove e100 Scalable solution to match the application Interpolated motion on 2-5 axes Real-Time Ethernet Technology • Integrate as part of a larger control solution • Or command additional e100 drives (Multi-axis) • Digital performance • Advanced control functions • Diagnostics and monitoring • Remote access possibilities CANopen – Low Cost Expansion • HMI panel for a complete low cost solution • Add I/o devices, actuators, sensors and more Mint Machine Modules

  29. Mint Machine Module • Advanced Mint motion features • HMI, logic and communications • Non-volatile application data storage • Flash program storage Incremental Encoder Input • Master encoder following • Dual feedback (compensate for mechanical errors) • Position latch(1µS) function Digital I/O Opto-isolated 12-30VDC operation 4 x Inputs 4 x Outputs Includes 2 x fast LATCH inputs for registration applications • Mint Multi-tasking • Simple to use software tools • Powerful programming language • Handle multiple tasks simultaneously • Create EVENT handlers for critical functions e.g. Error handling Analogue I/O 12 bit +/- 10V operation 1 x Analogue input 1 x Analogue output Mint Module - Features at a Glance

  30. Features Compact 2 axis solution Control 1x MotiFlex + 1 x analogue axis Ethernet TCP/IP (RAW) ActiveX support via USB and Ethernet Control of the drive’s CAN, USB and I/O Dual-axis Mint Machine Module • System features shown: • Dual axis Mint module Installed in a MotiFlex top slot • Second feedback card for line-shaft encoder following or dual loop control • HMI connected to the MotiFlex via CANopen • Additional distributed I/O on CANopen • Use the Mint module encoder to provide closed loop control of an analogue axis or as a line shaft encoder input Dual Axis Mint Module

  31. Features Compact 5 axis solution Control 1x MotiFlex + 3 e100 drives 1 x analogue axis or use as encoder input Ethernet TCP/IP (RAW) ActiveX support via USB and Ethernet Control of the drive’s CAN, USB and I/O Multi-axis Mint Machine Module • System features shown: • Mint module Installed in the first MotiFlex top slot (Powerlink Manager) • Second feedback card for line-shaft encoder following or dual loop control • Fieldbus gateway in a MotiFlex top slot provides system-wide communications to PLCs • HMI connected to the first MotiFlex via CANopen • Additional distributed I/O on CANopen from any drive Multi-Axis Mint Module

  32. Feature Comparison: NextMove – Mint Modules – Mint Lite

  33. E100 Mint Feature Comparison - Part 1

  34. E100 Mint Feature Comparison - Part 2

  35. Feature Comparison: Mint Lite - Flex+ - MintDriveII

  36. Mint Lite vs Flex+/MintDriveII Comparison - Part 1

  37. Mint Lite vs Flex+/MintDriveII Comparison - Part 2

  38. Mint Lite vs Flex+/MintDriveII Comparison - Part 2

  39. User Defined Ethernet Messages • Message contents can be application specific • Allows 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 Modules • MotiFlex and MicroFlex e100 using Mint Lite Ethernet RAW What is Ethernet RAW? See Application Note AN00159 ‘Mint Modbus TCP Decoder’ for an example http://www.baldormotion.com/support/SupportMe/ApplicationNotes.asp

  40. Mint ActiveX Components ActiveX is a Microsoft technology for Windows developers Develop HMI, machine control tools for Windows Develop in Visual Basic, Visual C++, Delphi, Labview and more Handle all controller communications tasks and protocols Provides complete access to all Mint functions Mint ActiveX – Capabilities Handle all controller communications tasks and protocols Provides complete access to all Mint functions Control, Monitor, Configure Multiple ActiveX instances can share access via the Milserver e.g. User application and Mint Workbench FREE ! Mint Active controls are provided free of charge or license costs ActiveX – Free Software Components Motion Controller / Drive PC Application Visual Basic Visual C++ Delphi Others Mint Workbench Mint ActiveX Mint ActiveX Mint MilServer PCI / Serial / USB / Ethernet Motion Controller / Drive Immediate Command Mode (ICM) Terminal Interface) User Mint Program Mint Virtual Machine Mint Motion Library (MML) Encoder - DAC - I/O - Ethernet

  41. Linear Motors Servo Motors AC Motors Inverters Vector Drives 460V Servo 110-230V Servo Slice I/O HMI Panels Thank You • For more information on Baldor motion and drives products • Visit www.baldormotion.com • Or contact your local sales office

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