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. 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

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 RS485 3rd Party HMI e.g. Red Lion MotiFlex 3phase 180-460V CANopen CANopen Baldor HMI via CANopen MicroFlex 1 or 3 phase 115-230V 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. 3

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

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

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 Plug-in Fieldbus modules Pre-written Mint program for PLC drive control PLC

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 TCP/IP PLC Windows PC ActiveX Fieldbus Baldor HMI 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) CANopen RS485 3rd Party HMI Independent axes only (no interpolation) 7

Mint and Mint Lite - Supported Motion Features  Referencing (Homing Homing 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 fly Final 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 CAMs Software 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 profiles Spline 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 motion Interpolated 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.

MicroFlex Mint Lite capabilities include - Jerk control (S ramp) MOVER/A relative / absolute moves JOG (in position or velocity control) 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 Typical applications: Indexing conveyors Adjustable machine settings (backstops/guides etc..) Simple cut to length Non-interpolated Pick and Place Nut runners Many, many, more…. 9 9

MotiFlex Mint Lite capabilities include - Electronic gearing with registration (position lock only) Jerk control (S ramp) MOVER/A - relative / absolute moves JOG (in position or velocity control) Registration / LATCH EVENT handling Referencing (Homing) INCR/A - target change on the fly 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 10

Distributed Mint Tasks within a Powerlink Solution WWW LAN / WAN None Real-Time Ethernet EPL Router (Gateway/ Firewall) Real-Time Ethernet DISTRIBUTED MINT PROGRAMS HMI MOTION CONTROL 3 x ANALOG AXES 4 x STEPPER AXES ADDITIONAL I/O CANopen FIELDBUS PLC / CONTROLLER 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 11

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

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 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 Dual / Multi-Axis Mint Machine Module MotiFlex e100 2-5 Axis Systems 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 MicroFlex e100 and MotiFlex e100 Mint™ Lite NEW Simple Motion Note Electronic gearing on MotiFlex with encoder option card Axes / Complexity

NextMove e100 Choose NextMove e100 for the following: 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

MotiFlex + Mint Module Choose MotiFlex + Mint Module where: 2-5 Axes of tightly coordinated motion is required Interpolation, electronic gearing requiring CAM, FLY, or ‘clutched’ FOLLOW features A ‘drive only’ solution is appealing Eliminate the PLC or external motion controller and save on panel space, wiring and overall system complexity. 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 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

Mint Lite on e100 Choose Mint on e100 drives where: 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 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 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 required Energy savings for the life of the machine

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

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

MicroFlex e100 Overview CANopen AC Operation Integrated Ethernet 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

Capabilities Overview www.baldormotion.com

MotiFlex e100 Overview 2 x Expansion Slots Wide Power Range Top – for Mint module or Fieldbus Digital and analogue cards Additional feedback Interfaces User installed to match the application requirements Wide Power Range A size: 1.5 to 16A B size: 21A to 34.5A C size: 48 and 65A* AC or DC Operation 3 phase 180-560Vac (max) Shared DC bus operation Simple slot-in DC bus links 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

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

Temperature de-rate applies if used in top slot Option Card Support Order Code Description TOP Slot (1) Lower Slot (2) OPT-MF-100 OPT-MF-101 Dual-axis Mint Machine Module Multi-axis Mint Machine Module Mandatory NO OPT-MF-030 Fieldbus Carrier OPT-MF-005 Digital I/O card Yes OPT-MF-001 Analogue I/O card OPT-MF-013 Resolver input card Temperature de-rate applies if used in top slot OPT-MF-011 Encoder input card 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

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

Vector Control and V/Hz support 4kHz 8kHz 16kHz 180 – 528VAC 50/60Hz 2.75 (8.25) Amp Current rms (Peak) 300% 5 (7.5) 150% 5.5 (6.05) 110% 4 (8) 200% Nominal Rating 3 Seconds 60 Seconds 2.7 (8.1) 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 Dynamic Servo axes Higher Current Vector axes AC Vector Motor Control (Closed Loop) 110 and 150% for 60 second overload modes Full torque to zero speed Positioning capabilities 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 Linear Servo Induction

Mint Machine Modules Capabilities Overview www.baldormotion.com

Mint Machine Modules 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 Module - Features at a Glance 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

Dual-axis Mint Machine Module 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 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

Multi-axis Mint Machine Module 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 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

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

E100 Mint Feature Comparison - Part 1 NextMove e100 MotiFlex + Mint Module MotiFlex + 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 Note MotiFlex can be controlled as an analogue drive in combination with a feedback card to provide simulated encoder. Additional Virtual Axes Y 2 All axes can be configured to virtual for simulation. Alternative uses include virtual ‘line shaft’ encoders. TOTAL Coordinated / interpolated Axes 16 5 Total includes the host drive and an analogue axis Communications Real Time Ethernet POWERLINK Manager or CN 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 TCP/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 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/ RS485 2 wire All 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 itself User Scalable Resolution - 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) E100 drives have 3 digital inputs (2 high speed LATCH). Digital Outputs 12 4 (+ 2 on drive) E100 drives have 2 digital outputs. MotiFlex has Digotal and analogue option cards. Analogue Inputs 2 x +-10V 12 bit 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/O 3 axis demands + 1 +-10V 12 bit 1x +/10V 12 bit 2 x 10V 8 bit All e100 products can expand I/o using CANopen

E100 Mint Feature Comparison - Part 2 NextMove e100 MotiFlex + Multi Axis MotiFlex + Dual Axis Mint Lite Comment Motion types Spine / PVT motion Y No Interpolated motion Contoured moves See CONTOURxxx keywords Cams 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 Electronic gearing Position Lock modes on MotiFlex e100 with encoder card See FOLLOWxx keywords Incremental / Absolute moves MoveR / MoveA keywords Target position change during motion See INCR / INCA keywords LATCH Event – Registration control LATCH channels capture encoder inputs in 1µs and trigger EVENTs for registration purposes Mint Functionality MOVEOUTX MOVEPULSEOUTX Load output state changes into the move buffer so that the state is synchronous to the move sequence FEEDRATExxx Feed rate override of move buffer velocity TRIGGERxxx Configurable triggered motion functions Other features Program memory 1MB 64KB User file storage including Mint source code and compiled code Non-volatile user data storage 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 V5.5 onwards is common to all e100 products Mint Performance 3-4x 2-3x 1x Approximate Mint execution. Note some API functions are hardware dependant and vary between products

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

Mint Lite vs Flex+/MintDriveII Comparison - Part 1 Feature 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* *Via the analogue input and requires additional feedback card or simulated encoder Step & Direction 5v and 24V Uses include virtual ‘line shaft’ encoders, motion simulation Encoder Following MotiFlex only1 2 Y2 1.Requires additional feedback card as master encoder input. Position lock Follow modes only. 2. Clutched Follow not supported. Communications Real Time POWERLINK 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 TCP/IP operation, when not using Powerlink mode, or via Powerlink Router CANopen manager Option Add a Baldor HMI panel or expand system I/O Fieldbus MotiFlex only DeviceNet Profibus MotiFlex drives support DeviceNet, Profibus DP, Ethernet IP, Modbus TCP, ProfiNet IO, Modbus RTU plug-in Fieldbus modules Others RS485 2 wire, USB RS232/485 Simulated Encoder Out Support MotiFlex only (option) 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 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 81 All have 2 high speed inputs latching position within 1µS. 1. I/O can be expanded using CANopen. Digital Outputs 21 3 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

Mint Lite vs Flex+/MintDriveII Comparison - Part 2 Feature Mint Lite Flex + MintDriveII Comment Feedback Devices Biss Single and Multi-turn Y N Hi resolution serial encoders with absolute capability EnDat 2.1 Heidenhein absolute encoders EnDat 2.2 - Heidenhein absolute encoders (digital communications only) SSI Single-turn / Multi-turn 6 wire serial encoders with absolute capability Incremental + Halls 5V RS422 differential encoders 1V pk-pk SinCos Analogue Sin Cos encoders often used tithe linear motors. Hiperface Stegman Hiperface™ absolute encoders Resolver MotiFlex Via Option MotiFlex supports resolver via plug-in option card Motor Control Brushed AC Servo Rotary Brushed AC Servo Linear AC vector Closed Loop Induction motor with closed loop control V/Hz MotiFlex only Inverter operation Flexible Overloads Optimise overload, rms rating and PWM to match the application Master Encoder Input Line shaft Master Standard Encoder input for electronic gearing Resolver as a Master / line shaft Useful for press-feeder applications where mechanical shock is common Use as Motor Feedback Encoder input on Mint module can not be used for motor commutation Dual Loop (Position) Encoder input of Mint module can be used for position feedback

Mint Lite vs Flex+/MintDriveII Comparison - Part 2 Feature Mint Lite Flex + MintDriveII Comment Motion types Spine / PVT motion No Not supported - Requires multiple axes of control Interpolated motion Contoured moves See CONTOURxxx keywords Cams Y Mint 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 Electronic gearing Position Lock modes on MotiFlex e100 with encoder card See FOLLOWxx keywords Incremental / Absolute moves MoveR / MoveA keywords Target position change during motion See INCR / INCA keywords LATCH Event – Registration control LATCH channels capture encoder inputs in 1µs and trigger EVENTs for registration purposes Mint Functionality MOVEOUTX MOVEPULSEOUTX Supported on MotiFlex when Mint machine module is used FEEDRATExxx TRIGGERxxx Other features Program memory 64KB 1MB User file storage including Mint source code and compiled code Non-volatile user data storage 32bit x 256 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 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 Approximate Mint execution. Note some API functions are hardware dependant and vary between products

See Application Note AN00159 ‘Mint Modbus TCP Decoder’ for an example Ethernet RAW What is Ethernet RAW? 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 See Application Note AN00159 ‘Mint Modbus TCP Decoder’ for an example http://www.baldormotion.com/support/SupportMe/ApplicationNotes.asp

ActiveX – Free Software Components Motion Controller / Drive 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 PC Application Visual Basic Visual C++ Delphi Others Mint Workbench Mint ActiveX Mint ActiveX Mint MilServer PCI / Serial / USB / Ethernet 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 Motion Controller / Drive Immediate Command Mode (ICM) Terminal Interface) User Mint Program Mint Virtual Machine Mint Motion Library (MML) FREE ! Mint Active controls are provided free of charge or license costs Encoder - DAC - I/O - Ethernet

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