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ABB NextMove ESB-2 motion controller

Safety Notice

Only qualified personnel should attempt to start-up, program or troubleshoot this equipment. This

equipment may be connected to other machines that have rotating parts or parts that are controlled

by this equipment. Improper use can cause serious or fatal injury.

Precautions

Do not touch any circuit board, power device or electrical connection before you first

ensure that no high voltage is present at this equipment or other equipment to which it is

connected. Electrical shock can cause serious or fatal injury. Only qualified personnel

should attempt to start-up, program or troubleshoot this equipment.

Be sure that you are completely familiar with the safe operation and programming of this

equipment. This equipment may be connected to other machines that have rotating parts

or parts that are controlled by this equipment. Improper use can cause serious or fatal

injury.

MEDICAL DEVICE / PACEMAKER DANGER: Magnetic and electromagnetic fields in the

vicinity of current carrying conductors and industrial motors can result in a serious health

hazard to persons with cardiac pacemakers, internal cardiac defibrillators,

neurostimulators, metal implants, cochlear implants, hearing aids, and other medical

devices. To avoid risk, stay away from the area surrounding a motor and its current

carrying conductors.

The stop input to this equipment should not be used as the single means of achieving a

safety critical stop. Drive disable, motor disconnect, motor brake and other means

should be used as appropriate.

Improper operation or programming may cause violent motion of the motor shaft and

driven equipment. Be certain that unexpected motor shaft movement will not cause injury

to personnel or damage to equipment. Peak torque of several times the rated motor

torque can occur during control failure.

The safe integration of this equipment into a machine system is the responsibility of the

machine designer. Be sure to comply with the local safety requirements at the place

where the machine is to be used. In Europe these are the Machinery Directive, the

ElectroMagnetic Compatibility Directive and the Low Voltage Directive. In the United

States this is the National Electrical code and local codes.

Electrical components can be damaged by static electricity. Use ESD (electrostatic

discharge) procedures when handling this equipment.

WARNING

CAUTION

NextMove ESB-2 features

NextMove ESB-2 is a high performance multi-axis intelligent controller for servo and stepper

motors.

NextMove ESB-2 features the Mint motion control language. Mint is a structured form of

Basic, custom designed for stepper or servo motion control applications. It allows you to get

started very quickly with simple motion control programs. In addition, Mint includes a wide

range of powerful commands for complex applications.

Standard features include:

 Control of 4 stepper axes and either 3 or 4 servo axes (model dependent).

 Additional encoder input for master follower applications.

 A wide variety of motion types including point to point moves, software cams and

gearing.

 20 general purpose digital inputs, software configurable as level or edge triggered.

 12 general purpose digital outputs.

 2 differential analog inputs with 12-bit resolution.

 4 single-ended analog outputs with 12-bit resolution.

 USB 1.1 serial port (compatible with USB 2.0 and USB 3.0).

 CANopen protocol for communication with Mint controllers and other third party

CANopen devices.

 Programmable in Mint.

 Drop-in replacement for NextMove ESB

This manual is intended to guide you through the installation of NextMove ESB-2.

The chapters should be read in sequence.

The Basic Installation section describes the mechanical installation of the NextMove ESB-2.

The following sections require knowledge of the low level input/output requirements of the

installation and an understanding of computer software installation. If you are not qualified in

these areas you should seek assistance before proceeding.

Note: You can check that you have the latest firmware and Mint WorkBench releases

by visiting the website www.abbmotion.com

Receiving and inspection

When you receive your NextMove ESB-2, there are several things you should do

immediately:

1. Check the condition of the shipping container and report any damage immediately to the

carrier that delivered your NextMove ESB-2.

2. Remove the NextMove ESB-2 from the shipping container and remove all packing

material. The container and packing materials may be retained for future shipment.

3. Verify that the catalog number of the NextMove ESB-2 you received is the same as the

catalog number listed on your purchase order. The catalog number is described in the

next section.

4. Inspect the NextMove ESB-2 for external damage during shipment and report any

damage to the carrier that delivered your NextMove ESB-2.

5. If NextMove ESB-2 is to be stored for several weeks before use, be sure that it is stored

in a location that conforms to the storage humidity and temperature specifications shown

in section 7.1.11.

2.2.1 Identifying the catalog number

Different models of NextMove ESB-2 are available. As a reminder of which product has been

installed, it is a good idea to write the catalog number in the space provided below.

A description of the catalog numbers are show in the following table:

Catalog

number

Description Serial

port

Stepper

output

type

NSB202-501 3 servo axes, 4 stepper axes, 2 extra encoder inputs RS232 Differential

NSB202-502 3 servo axes, 4 stepper axes, 2 extra encoder inputs RS485

NSB203-501 3 servo axes, 4 stepper axes, 2 extra encoder inputs RS232 Open

collector NSB203-502 3 servo axes, 4 stepper axes, 2 extra encoder inputs RS485

NSB204-501 4 servo axes, 4 stepper axes, 1 extra encoder input RS232 Differential

NSB204-502 4 servo axes, 4 stepper axes, 1 extra encoder input RS485

NSB205-501 4 servo axes, 4 stepper axes, 1 extra encoder input RS232 Open

collector NSB205-502 4 servo axes, 4 stepper axes, 1 extra encoder input RS485

Introduction

You should read all the sections in Basic Installation to ensure safe installation.

It is important that the correct steps are followed when installing the NextMove ESB-2. This

section describes the mechanical installation of the NextMove ESB-2.

3.1.1 Location requirements

You must read and understand this section before beginning the installation.

To prevent equipment damage, be certain that input and output signals are

powered and referenced correctly.

To ensure reliable performance of this equipment be certain that all signals to/

from the NextMove ESB-2 are shielded correctly.

Avoid locating the NextMove ESB-2 immediately above or beside heat

generating equipment, or directly below water steam pipes.

Avoid locating the NextMove ESB-2 in the vicinity of corrosive substances or

vapors, metal particles and dust.

The safe operation of this equipment depends upon its use in the appropriate environment.

The following points must be considered:

 The NextMove ESB-2 is designed to be mounted indoors, permanently fixed and

located.

 The NextMove ESB-2 must be secured by the slots in the metal case.

 The NextMove ESB-2 must be installed in an ambient temperature of 0 °C to 45 °C

(32 °F to 113 °F).

 The NextMove ESB-2 must be installed in relative humidity levels of less than 80% for

temperatures up to 31 °C (87 °F) decreasing linearly to 50% relative humidity at 45 °C

(113 °F), non-condensing.

 The NextMove ESB-2 must be installed where the pollution degree according to IEC

60664-1 shall not exceed 2.

 There shall not be abnormal levels of nuclear radiation or X-rays.

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).

Figure 20: Encoder inputs - keyword and channel summary

Location X5, X6, X7, X14, X15

Mating connectors: 9-pin male D-type

Pin Name Description

1 CHA+ Channel A signal

2 CHB+ Channel B signal

3 CHZ+ Index channel signal

4 Shield Shield connection

5 GND Digital ground

6 CHA- Channel A signal complement

7 CHB- Channel A signal complement

8 CHZ- Index channel signal complement

9 +5 V out Power supply to encoder

1

9 5

6

ENC 0

ENC 1

ENC 2

ENC 3

DIN17

DIN18

DIN19

ENC 4 Print ENCODER(0)

Print ENCODER(1)

Print ENCODER(2)

Print ENCODER(3)

Print AUXENCODER(1)

Print FASTAUXENCODER(1)

Print AUXENCODER(0)

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