This document describes a dispensing system that uses a Baldor motion controller. It provides details on the controller's features such as memory, programming language support, I/O capabilities. It also describes the user interface software, programming tools, motion control capabilities, fieldbus options and how the system can be used for product selection applications using sensors.

1. Dispensing System With
Baldor Motion Controller
KUDAMM
CORPORATION
KUDAMM
CORPORATION

2. Schematic diagram
AC Servo drives
H
Motion Controllers
Front End
Software tools
(PC) Panel Inputs /Output cards
HMI

3. Baldor Motion Controller
KUDAMM
CORPORATION

4. Features
• It has 4000 Registers which can
store data permanently .
• This memory location is called
NV RAM or non volatile
memory .
• It supports V.B. as a
programming Language
• 240mm (9.65in ) to 140mm (5.51
in) square
• 20 general purpose digital
inputs.
• 12 general purpose digital
outputs.
• Two 12-bit resolution analog
inputs.
• Four 12-bit resolution analog
outputs.
• The only limitation is the limited

5. Front End tool
• User Interface is a V.B.
Based front End tool .
• So PC is the storage
location for all the
programs .
• N Number of programs can
be stored .
• This tool supports
repositioning , deleting
,Name Changing
,Backup ,Swapping etc.
• This helps us storing the
program at any desired
location .

6. Mint Workbench
• One software tool
provides –
– Network configuration
– Drive and motion configuration
– Parameter view, edit, compare
(on/offline)
– Auto-tuning wizard
– 6 channel oscilloscope
– Diagnostics
– Monitoring
– Programming
– Debugging tools
– Integrated help
– Technical support tools

7. Program Selection System
• Motor
– 400 Watt Delta
– 3000 speed
• Drive
– 1.27NM Delta Servo.
– No programming necessary
– Potentiometer or +/- 10V control
FL1210

8. Mint 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)

9. 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
Modbus-TCP
ProfiNet-IO
Profibus DPV1
DeviceNet
Modbus-RTU
CClink (v1/v2)

10. Product Selection system
• Sensors used for product
selection inputs .
• Sensors produces different
combination of outputs for
different products .
• Controller Converts these
inputs to Binary
combination 1 2 4 8 and
hence produce a unique
position no.
• Corresponding Program is
called from that particular
position .
Diffuse Mode
Sensors
40mm