ABB Nextmove ESB-2 motion controller

Note that encoder input ENC 4 forms another auxiliary encoder input, using normal incremental encoder connections A, B and Z. This supports a higher frequency input and additional functionality - see section 4.4.3

4.4 Other I/O

4.4.1 Stepper control outputs - models NSB202... / NSB204...

The stepper control outputs are available on connectors X2 and X3, as shown in section 4.1.1. There are four sets of stepper motor control outputs, operating in the range 0 Hz to 500 kHz. Each of the step (pulse) and direction signals from the NextMove ESB-2 is driven by DS26LS31 line drivers, providing RS422 differential outputs. It is recommended to use separate shielded cables for the step outputs. The shield should be connected at one end only. The STEPPERDELAY keyword allows a 0 - 4.25 μs delay to be introduced between state changes of the step and direction outputs. The FREQ keyword can be used to directly control the output frequency, between 60 Hz and 500 kHz - see the Mint help file. The DS26LS31 drivers are static sensitive devices. Take appropriate ESD precautions when handling the NextMove ESB-2. When connecting the outputs to single ended inputs as shown in Figures 17 and 18, do not connect the STEPx- or DIRx- outputs to ground; leave them unconnected.

4.4.2 Stepper control outputs - models NSB203... / NSB205...

The stepper control outputs are available on connectors X2 and X3, as shown in section 4.1.1. There are four sets of stepper motor control outputs, operating in the range 0 Hz to 500 kHz. Each of the step (pulse) and direction signals from the NextMove ESB-2 is driven by a ULN2803 open collector Darlington output device. The STEPPERDELAY keyword allows a 0 - 4.25 μs delay to be introduced between state changes of the step and direction outputs. The FREQ keyword can be used to directly control the output frequency, between 60 Hz and 500 kHz - see the Mint help file.

The ULN2803 drivers are static sensitive devices. Take appropriate ESD precautions when handling the NextMove ESB-2. A 5 V, 600 mA supply is provided on connectors X2 and X3 for powering external circuits, as shown in Figure 19. The same 5 V supply is also present on connectors X5, X6, X7, X14 and X15 for powering encoders. Ensure that the total combined current demand of all 5 V outputs does not exceed 1.8 A. It is usually necessary to connect a 470 Ω pull-up resistor between the output and the 5 V supply (pin 4), especially where induced noise is affecting a step or direction output.

Five incremental encoders may be connected to NextMove ESB-2, each with complementary A, B and Z channel inputs. Each input channel uses a MAX3095 differential line receiver with pull up resistors and terminators. Encoders must provide RS422 differential signals. The use of individually shielded twisted pair cable is recommended. A 5 V (±5%), 250 mA supply is provided on each connector for powering the encoder. The same 5 V supply is also present on connectors X2 and X3 for powering external circuits (see sections 4.4.1 and 4.4.2). Ensure that the total combined current demand of all 5 V outputs does not exceed 1.85 A.

 Encoder inputs ENC 0 - ENC 3 can be read and controlled with a range of Mint keywords

beginning with ENCODER... . When using these keywords, the encoder’s number is used

as the channel parameter. For example, Print ENCODER(2) reads the ENC 2 input.

 Encoder input ENC 4 can be read and controlled with a range of Mint keywords

beginning with AUXENCODER... . When its position has been latched by a fast interrupt

(see section 4.3.1.1) it can also be controlled using Mint keywords beginning with

FASTAUX... . When using the AUXENCODER... or FASTAUX... keywords, the channel

parameter 1 is used (i.e. auxiliary encoder channel 1). For example,

Print FASTAUXENCODER(1) reads the latched value read from ENC 4. Note that

auxiliary encoder channel 0 is used to reference the auxiliary encoder input formed by

digital inputs DIN17 - DIN19 (see section 4.3.1.4).

Relay connections

The relay connections are available on connector X12, as shown in section 4.1.1. The relay outputs are isolated from any internal circuits in the NextMove ESB-2. In normal operation, while there is no error, the relay is energized and REL COM is connected to REL NO. In the event of an error or power loss, the relay is de-energized, and REL COM is connected to REL NC. The relay can be controlled by the RELAY keyword, and can be configured as the global error output by setting GLOBALERROROUTPUT to 1000 (_RELAY0). See the Mint help file

USB port

The USB connector can be used as an alternative method for connecting the NextMove ESB-2 to a PC running Mint WorkBench. The NextMove ESB-2 is a self-powered, USB 1.1 (12 Mbps) compatible device. If it is connected to a slower USB 1.0 host PC or hub, communication speed will be limited to the USB 1.0 specification (1.5 Mbps). If it is connected to a faster USB 2.0 (480 Mbps) or USB 3.0 (5 Gbps) host PC or hub, communication speed will remain at the USB 1.1 specification of the NextMove ESB-2. Ideally, the NextMove ESB-2 should be connected directly to a USB port on the host PC. If it is connected to a hub shared by other USB devices, communication could be affected by the activity of the other devices. The maximum recommended cable length is 5 m (16.4 ft).