1. ETHERNET Powerlink 1 Jon Hampshire & Stuart Bratton UK Application Engineering Bristol England Mint On Board Capabilities

2. 2 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

3. 3 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 filters USB 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 3 Mint On Board !

4. 4 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 !

5. 5 MotiFlex e100 Option Slots 2 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 analog Fit in any option slot Feedback Option Cards Encoder or Resolver Option slot 1 Option slot 2 Screw lock

6. 6 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)

7. 7 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 module 4 axes of coordinated motion Additional devices on CAN / Powerlink Fieldbus connectivity via other drive(s) for share of application data Mint Option card

8. 8 Fieldbus Options – Gateway Concept Plug-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)

9. 9 Baldor e100 Solutions – Scalable and Flexible MOTION CONTROL HMI STEPPER MOTOR INTEGRATED DRIVER ADDITIONAL I/O POWERLINK ENCODER POWERLINK EPL Router (Gateway/ Firewall) Linear ADDITIONAL I/O CANopen WW W Remote I/O on CANopen LAN / WAN BrushlessVector FIELDBUS PLC or OTHER CONTROLLER STEPPER OUTPUT (4 AXES) ANALOG SIGNAL (3 AXES) Real –Time Ethernet System Traditional Ethernet Network DISTRIBUTED MINT PROGRAMS

10. www.baldormotion.com +

11. 11 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.

12. 12 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….

13. www.baldormotion.com + Mint On Board Demonstration

14. 14 Full multi-tasking program support

15. 15 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)

16. www.baldormotion.com +

17. 17 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)

18. 18 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 Card Template PLC interface providing simple access to motion commands available as a ‘canned application’

19. 19 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

20. www.baldormotion.com + Generic Drive Interface Demonstration

21. 21 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

22. 22 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

23. 23 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

24. 24 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)

25. 25 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)

26. 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 expansion Replace 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 systems Modular 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 market Compatibility with large PLC manufacturers (Siemens, Alan Bradley) Integration with popular fieldbus systems (Ethernet IP, Profinet) 26