Emerson FM-3 Network Card User Manual

FM-3
Programming Module
Reference Manual
P/N 400508-01
Revision: A8
Date: March 10, 2004
© Control Techniques Drives, Inc. 2000-2004
FM-3
Programming Module
Reference Manual
Information furnished by Control Techniques Drives Inc. (Control Techniques) is believed to be
accurate and reliable. However, no responsibility is assumed by Control Techniques for its use.
Control Techniques reserves the right to change the design or operation of the equipment described
herein and any associated motion products without notice. Control Techniques also assumes no
responsibility for any errors that may appear in this document. Information in this document is subject
to change without notice.
P/N 400508-01
Revision: A8
Date: March 10, 2004
© Control Techniques Drives, Inc. 2000-2004
© Control Techniques Drives, Inc. 2000-2004
Part Number: 400508-01
Revision: A8
Date: March 2004
Printed in United States of America
Information in this document is subject to change without notice. No part of this document may be
reproduced or transmitted in any form or by any means, electronic or mechanical, for any purpose,
without the express written permission of Control Techniques.
The following are trademarks of Control Techniques and may not be reproduced in any fashion
without written approval of Control Techniques: EMERSON Motion Control,
EMERSON Motion Control PowerTools, AXIMA, “Motion Made Easy.”
Control Techniques is a division of EMERSON Co.
Control Techniques, Inc. is not affiliated with Microsoft Corporation, owner of the Microsoft,
Windows, and Windows NT trademarks.
This document has been prepared to conform to the current released version of the product. Because
of our extensive development efforts and our desire to further improve and enhance the product,
inconsistencies may exist between the product and documentation in some instances. Call your
customer support representative if you encounter an inconsistency.
ii
Customer Support
Control Techniques
12005 Technology Drive
Eden Prairie, Minnesota 55344-3620
U.S.A.
Telephone: (952) 995-8000 or (800) 893-2321
It is Control Techniques’ goal to ensure your greatest possible satisfaction with the operation
of our products. We are dedicated to providing fast, friendly, and accurate assistance. That is
why we offer you so many ways to get the support you need. Whether it’s by phone, fax or
modem, you can access Control Techniques support information 24 hours a day, seven days
a week. Our wide range of services include:
FAX
(952) 995-8099
You can FAX questions and comments to Control Techniques. Just send a FAX to the number
listed above.
Website and Email
www.emersonct.com
Website: www.emersonct.com
Email: info@emersonct.com
If you have Internet capabilities, you also have access to technical support using our website.
The website includes technical notes, frequently asked questions, release notes and other
technical documentation. This direct technical support connection lets you request assistance
and exchange software files electronically.
Technical Support
(952) 995-8033 or (800) 893-2321
Email: service@emersonct.com
Control Techniques’ “Motion Made Easy” products are backed by a team of professionals
who will service your installation. Our technical support center in Eden Prairie, Minnesota is
ready to help you solve those occasional problems over the telephone. Our technical support
center is available 24 hours a day for emergency service to help speed any problem solving.
Also, all hardware replacement parts, if needed, are available through our customer service
organization.
When you call, please be at your computer, with your documentation easily available, and be
prepared to provide the following information:
•
Product version number, found by choosing About from the Help menu
•
The type of controller or product you are using
iii
•
Exact wording of any messages that appear on your screen
•
What you were doing when the problem occurred
•
How you tried to solve the problem
Need on-site help? Control Techniques provides service, in most cases, the next day. Just call
Control Techniques’ technical support center when on-site service or maintenance is
required.
Training Services
(952) 995-8000 or (800) 893-2321
Email: training@emersonct.com
Control Techniques maintains a highly trained staff of instructors to familiarize customers
with Control Techniques’ “Motion Made Easy” products and their applications. A number of
courses are offered, many of which can be taught in your plant upon request.
Application Engineering
(952) 995-8000 or (800) 893-2321
Email: applengr@emersonct.com
An experienced staff of factory application engineers provides complete customer support for
tough or complex applications. Our engineers offer you a broad base of experience and
knowledge of electronic motion control applications.
Customer Service (Sales)
(952) 995-8000 or (800) 893-2321
Email: customer.service@emersonct.com
Authorized Control Techniques distributors may place orders directly with our Customer
Service department. Contact the Customer Service department at this number for the
distributor nearest you.
Document Conventions
Manual conventions have been established to help you learn to use this manual quickly and
easily. As much as possible, these conventions correspond to those found in other Microsoft®
Windows® compatible software documentation.
Menu names and options are printed in bold type: the File menu.
Dialog box names begin with uppercase letters: the Axis Limits dialog box.
Dialog box field names are in quotes: “Field Name.”
Button names are in italic: OK button.
Source code is printed in Courier font: Case ERMS.
iv
In addition, you will find the following typographic conventions throughout this manual.
This
Represents
bold
Characters that you must type exactly as they appear. For example, if you are directed to type
a:setup, you should type all the bold characters exactly as they are printed.
italic
Placeholders for information you must provide. For example, if you are directed to type
filename, you should type the actual name for a file instead of the word shown in italic type.
ALL CAPITALS
Directory names, file names, key names, and acronyms.
SMALL CAPS
Non-printable ASCII control characters.
KEY1+KEY2
example: (Alt+F)
A plus sign (+) between key names means to press and hold down the first key while you press
the second key.
KEY1,KEY2
example: (Alt,F)
A comma (,) between key names means to press and release the keys one after the other.
Note
For the purpose of this manual and product, “Note” indicates essential information about
the product or the respective part of the manual.
EN
EN Only
For the purpose of this manual and product, the “EN” symbol indicates information about
the EN drive specifically.
Throughout this manual, the word “drive” refers to an EN or MDS drive.
“Warning” indicates a potentially hazardous situation that, if not avoided, could result in
death or serious injury.
“Caution” indicates a potentially hazardous situation that, if not avoided, may result in
minor or moderate injury.
“Caution” used without the safety alert symbol indicates a potentially hazardous situation
that, if not avoided, may result in property damage.
v
Safety Instructions
General Warning
Failure to follow safe installation guidelines can cause death or serious injury. The voltages
used in the product can cause severe electric shock and/or burns and could be lethal. Extreme
care is necessary at all times when working with or adjacent to the product. The installation
must comply with all relevant safety legislation in the country of use.
Qualified Person
For the purpose of this manual and product, a “qualified person” is one who is familiar with
the installation, construction and operation of the equipment and the hazards involved. In
addition, this individual has the following qualifications:
•
Is trained and authorized to energize, de-energize, clear and ground and tag circuits and
equipment in accordance with established safety practices.
•
Is trained in the proper care and use of protective equipment in accordance with
established safety practices.
•
Is trained in rendering first aid.
Reference Materials
The following related reference and installation manuals may be useful with your particular
system.
•
•
•
•
•
vi
Function Module Installation Manual (P/N 400506-03)
Epsilon Eb and EN Drives Reference Manual (P/N 400501-01)
PowerTools Software User’s Guide (P/N 400503-01)
FM-3 and FM-4 Connectivity Modules Reference Manual (P/N 400508-04)
Modular Drive System (MDS) Reference Manual (P/N 400525-01)
Safety Considerations
Safety Precautions
This product is intended for professional integration into a complete system. If you install the
product incorrectly, it may present a safety hazard. The product and system may use high
voltages and currents, carry a high level of stored electrical energy, or control mechanical
equipment that can cause injury.
You should give close attention to the electrical installation and system design to avoid
hazards either in normal operation or in the event of equipment malfunction. System design,
installation, commissioning and maintenance must be carried out by personnel who have the
necessary training and experience. Read and follow this safety information and the instruction
manual carefully.
Enclosure
This product is intended to be mounted in an enclosure which prevents access except by
trained and authorized personnel, and which prevents the ingress of contamination. This
product is designed for use in an environment classified as pollution degree 2 in accordance
with IEC664-1. This means that only dry, non-conducting contamination is acceptable.
Setup, Commissioning and Maintenance
It is essential that you give careful consideration to changes to drive settings. Depending on
the application, a change could have an impact on safety. You must take appropriate
precautions against inadvertent changes or tampering. Restoring default parameters in certain
applications may cause unpredictable or hazardous operation.
Safety of Machinery
Within the European Union all machinery with which this product is used must comply with
Directive 89/392/EEC, Safety of Machinery.
The product has been designed and tested to a high standard, and failures are very unlikely.
However the level of integrity offered by the product’s control function – for example stop/
start, forward/reverse and maximum speed – is not sufficient for use in safety-critical
applications without additional independent channels of protection. All applications where
malfunction could cause injury or loss of life must be subject to a risk assessment, and further
protection provided where needed.
General warning
Failure to follow safe installation guidelines can cause death or serious injury. The voltages used in
this unit can cause severe electric shock and/or burns, and could be lethal. Extreme care is necessary
at all times when working with or adjacent to this equipment. The installation must comply with all
vii
relevant safety legislation in the country of use.
AC supply isolation device
The AC supply must be removed from the drive using an approved isolation device or disconnect
before any servicing work is performed, other than adjustments to the settings or parameters
specified in the manual. The drive contains capacitors which remain charged to a potentially lethal
voltage after the supply has been removed. Allow at least 3 minutes after removing the supply
before carrying out any work which may involve contact with electrical connections to the drive.
Products connected by plug and socket
A special hazard may exist where the drive is incorporated into a product which is connected to the
AC supply by a plug and socket. When unplugged, the pins of the plug may be connected to the
drive input, which is only separated from the charge stored in the bus capacitor by semiconductor
devices. To avoid any possibility of electric shock from the pins, if they are accessible, a means
must be provided for automatically disconnecting the plug from the drive (that is, a latching
contactor).
Grounding (Earthing, equipotential bonding)
The drive must be grounded by a conductor sufficient to carry all possible fault current in the event
of a fault. The ground connections shown in the manual must be followed.
Fuses
Fuses or over-current protection must be provided at the input in accordance with the instructions
in the manual.
Isolation of control circuits
The installer must ensure that the external control circuits are isolated from human contact by at
least one layer of insulation rated for use at the applied AC supply voltage.
viii
Table of Contents
Introduction
1
Operational Overview
3
Software Interface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3
PowerTools Pro Setup Software . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3
Keypad Interface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4
How Motion Works . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
How Jogging Works . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
How Home Works . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8
How Indexes Work . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18
How Communications Work . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
Brake Operation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29
Setting Up Parameters
31
Setup View. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31
Status Online Tab (Online Only). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34
Information Tab (Online Only) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37
User Units View . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38
Master Units View. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42
Position View. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 46
Velocity View . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 50
Ramps View. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 52
Torque View . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 54
Tuning View . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 56
Faults View . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 59
PLS View. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 61
Setup NVM View . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 64
User Variables View . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 65
User Bits View. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 67
I/O Setup Group. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 72
Assignments. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 72
Assignments View . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 72
Selector View. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 77
Input Lines View . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 81
Output Lines View. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 82
Analog Inputs View. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 83
Motion Group . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 85
ix
Jog View . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 86
Home View . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 91
Index View . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 96
Gearing View . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 107
Stopping Motion . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 110
Network Group . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 111
Modbus View . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 111
DeviceNet View . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 113
Profibus View . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 113
Ethernet View . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 113
Programming
115
Program Toolbar Icons . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Programs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Program Instruction Types . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Adding and Deleting Programs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Run Anytime Programs. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Example Programs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
116
119
119
131
132
134
Parameter Descriptions
143
Installation
183
Basic Installation Notes. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Mechanical Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Software Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Starting and Exiting PowerTools . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Accessing Help . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Quick Start
183
183
185
186
187
189
Basic Setup Steps . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 189
Example Application Start Up . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 205
Tuning Procedures
213
PID vs. State-Space . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Tuning Procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Tuning Parameters. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Determining Tuning Parameter Values. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
x
213
214
216
218
Diagnostics and Troubleshooting
225
Diagnostic Display. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 225
Fault Codes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 226
Analog Outputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 234
Diagnostic Analog Output Test Points . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 236
Drive Faults . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 238
Error Messages . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 238
Programming Error Messages . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 240
Online Status Indicators. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 245
Specifications
249
Dimensions and Clearances. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 249
Cable Diagrams . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 251
Glossary
265
Index
273
xi
xii
FM-3 Programming Module Reference Manual
Introduction
The FM-3 module is a compact and rugged function module that attaches to the front of the
drive. It provides eight digital input lines and four digital output lines, in addition to the four
input and three output lines available on the drive.
Unlike other function modules, the FM-3 module offers complex motion profiling. A
complex motion profile consists of two or more indexes that are executed in sequence such
that the final velocity of each index except the last is non-zero. Logical instructions between
index statements can provide a powerful tool for altering motion profiles "on the fly". The
FM-3 module defines complex motion by a configuration file that includes setups, function
assignments and programs. The configuration file is created using PowerTools Pro software1.
Setup views have the same look and feel as dialog boxes. The wiring of input and output
functions is done through assignments in the software. PowerTools Pro is an easy-to-use
Microsoft® Windows® based setup and diagnostics tool.
Figure 1: EN Drive with FM-3 Function Module
Note that the drive’s firmware is disabled whenever a Function Module such as the FM-3
module is attached. Therefore, if the drive’s hardware is FM compatible, then the drive’s
firmware can be any version because the programming features reside in the function
module’s flash memory. Flash files used for firmware upgrades are available on the Control
Techniques webpage.
The FM-3 module stores drive setup parameters within the module itself. This allows you to
transfer the FM-3 module to another drive without losing setup parameters.
1.In this manual, Emerson Motion Control PowerTools Pro software will be referred to as PowerTools Pro.
1
FM-3 Programming Module Reference Manual
Figure 2:
2
FM-3 Programming Module Features
FM-3 Programming Module Reference Manual
Operational Overview
This section provides a complete functional description of the FM-3. It is intended to provide
you with a thorough understanding of all operations. The description includes references to
many FM-3 module and drive parameters which can be displayed and/or edited using
PowerTools Pro software, or through any Modbus interface.
The FM-3 module augments the drive by providing the ability to implement programs written
using PowerTools Pro. When a FM-3 module is attached to an drive, it overrides the operation
and user accessible features of the drive. The drive’s basic operating modes (Pulse, Velocity
and Torque) are not available when a FM-3 module is attached.
The FM-3 module stores drive setup parameters within the module itself. This allows you to
transfer the FM-3 module to another drive without losing setup parameters.
The FM-3 module allows you to set up 55 different indexes, Jog functions and multiple
Homes. It also provides eight digital input lines and four digital output lines in addition to the
four input and three output lines available on the drive.
Software Interface
The FM-3 module is set up using PowerTools Pro software. PowerTools Pro is an easy-to-use
Windows® based setup and diagnostics tool. It provides you with the ability to create, edit
and maintain your drive’s setup. You can download or upload your setup data to or from a
device. You can also save it to a file on your PC or print it for review or permanent storage.
PowerTools Pro Setup Software
PowerTools Pro is designed to be the easiest to use software available for single axis motion
controllers.
Features
•
•
•
•
“Hierarchy View” for quick navigation to any setup screen
Simple I/O function assignments
Powerful online diagnostic capabilities
Programming
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FM-3 Programming Module Reference Manual
Figure 3:
Hierarchy View
The “Hierarchy View” (shown above) contains expandable groups of parameters. The groups
can be expanded and contracted just like folders in Windows Explorer. Left clicking on a
view name in the Hierarchy view displays that View on the right side of the computer screen.
To setup a drive the user simply steps through the Hierarchy View from top to bottom.
Simple applications can be setup in a matter of minutes. Many of the views have Assignment
tabs that display the assignments pertaining to the view (i.e. on the Position view, the position
assignments are displayed).
Keypad Interface
The keypad on the front of the FM-3 module provides navigation through a menu of common
parameters and displays of current functions. Navigation through the menu is accomplished
with the six keys located below the display. The top two keys are called the "soft keys"
because they relate to the commands located directly above each key on the LCD. These keys
are used to select the operation (e.g. Modify, Ok, Cancel), parameter group, and/or to validate
information. The four arrow keys are used to navigate through parameter groups, select a
specific parameter to be modified, and to modify digital and numeric data.
The operation of the arrow keys is dependent upon the type of parameter which is being
modified.
4
Operational Overview
Figure 4:
FM-3 Display Screen and Keypad
On the Menu screen, the drive type and axis address are always shown on the top line of the
display. The second line shows the motor type. If a user defined motor is selected, the user
defined motor name will appear. The third line shows two parameter group names, one above
each of the soft keys.
From the Menu screen, the user selects a group of drive parameters to work with. The group
names are scrolled using the left/right direction keys. The groups correspond roughly to the
tabs used by the PowerTools software. The groups are shown cyclically and wrap around.
The drive parameters available with the FM-3 keypad are arranged into seven groups (see list
below). Upon power-up the FM-3 module will display the default parameter groups
“SECUR” (left soft key) and “QUICK” (right soft key).
•
QUICK (Quick)
•
PROG (Program)
•
INDEX (Index)
•
HOME (Home)
•
JOG (Jog)
•
RAMPS (Ramps)
•
SECUR (Security)
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FM-3 Programming Module Reference Manual
Menu
Screen
EN-204 Adr01
MG-316
SECUR
PBusGroup
DVNET+
Group
Slave Address
MODIF
MENU
Security: 1
MacID
MODIF
Auto Log Out
MENU
Security: 1
Baud Rate
SECUR
Group
MODIF
MENU
RAMPS
Group
<Jog.0.Vel>
Stop
MODIF
MENU
Security: 0
Security: 3
JOG*
Group
MODIF
MENU
Security: 1
HOME
Group
Home.0.Vel
MODIF
MENU
Security: 1
INDEX*
Group
PROG*
Group
<Ind.0.Vel>
<Prg.0.Init>
MODIF
MENU
Security: 1
Baud Rate
Password 1
Stop.Decel
<Jog.0.Accl>
Home.0.Accl
MODIF
MODIF
MODIF
MODIF
MODIF
MODIF
Security: 1
MENU
QUICK
Group
Posn Fdbk
GRAPH
Vel Fdbk
<Ind.0.Accl>
GRAPH
MENU
Security: 0
MENU
Security: 1
Network Sts
MENU
Module Sts
Security: 1
Security: 3
MENU
MENU
Security: 1
MENU
Security: 1
MODIF
MENU
Security: 1
Password 2
<Jog.0.Decl>
Home.0.Decl
<Ind.0.Decl>
MODIF
MODIF
MODIF
MODIF
MODIF
MENU
MENU
MENU
Security: 1
Security: 1
Security: 3
Module Sts
MENU
MENU
Security: 0
Following Er
Network Sts
Security: 0
Security: 0
MENU
MENU
Security: 0
MENU
Security: 1
Log Out Now?
<Jog.0.Plus>
Home.0.Init
<Ind.0.Dist>
OK
MODIF
MODIF
MODIF
GRAPH
MENU
Security: 0
Axis Address
MODIF
MENU
Security: 0
MODIF
MENU
MENU
Security: 0
Security: 0
Security: 0
MasterAddr
Net OK
MENU
MENU
Security: 1
Security: 1
<Jog.0.Mius>
MENU
Security: 1
Calc Offset
<Ind.0.Init>
Baud Rate
MODIF
MENU
Security: 3
MENU
MENU
Security: 0
Security: 0
MsgProcessed
MENU
Security: 0
Mster MacID
MENU
Security: 0
MODIF
MENU
Spec Offset
MODIF
DriveInput
Security: 1
Security: 1
Posn Fdbk Ct
MENU
Security: 0
MENU
MENU
Security: 1
Conn Type
MENU
Security: 0
MODIF
MENU
MENU
Security: 0
ModuleInput
Security: 1
Select Offst
MODIF
MENU
MENU
Security: 0
DriveOutput
Security: 1
MENU
Security: 0
Transmit Cntr
ModuleOutput
MENU
Security: 0
Receive Cntr
* Jog Group contains 2 Jogs (Jog.0 and Jog.1)
Index Group contains 7 Indexes (Index.0 to Index.7)
Prog Group contains 4 Programs (Prog.0 to Prog.3)
MENU
Security: 0
Fault Sts 1
MENU
Security: 0
+ DeviceNet Group is only available on FM-3DN and FM-4DN modules
- Profibus Group is only available on FM-3PB and FM-4PB modules
MENU
Security: 3
Fault Sts 2
MENU
On all screens with < > symbols, scroll left and right to select the specific Instance
Security: 0
Clear Fault?
OK
MENU
Security: 0
Module Rev
MENU
Security: 0
Boot Rev
MENU
Security: 0
Parameter Screens
After selecting a group using one of the soft keys, the FM-3 module will display a Parameter
screen for that group. This screen could be either the first screen in the group or the last screen
you used in that group. The FM-3 module keeps track of the last Parameter screen viewed in
6
Operational Overview
each group and returns to that screen when you come back to the group. This is reset on
power-up and the FM-3 keypad displays the first Parameter screen in the group.
In this screen, the parameter name is shown on the first line of the display. The up/down arrow
keys are used to scroll through the parameters available in the selected group.The second line
displays the condition or value of parameters. The third line displays the soft key actions.
The left/right arrow keys are used to scroll through the parameters when the “<“ and “>”
symbols are shown.
Numeric parameter units are sometimes shown before the actual value, because the parameter
value and the units cannot be displayed on one line. The unit of measure will appear on the
second line for about one second. Then the actual parameter value will appear. The parameter
value is updated about five times a second.
How Motion Works
The FM-3 module provides four types of motion: jogging, homing, indexing, and gearing.
Only one index, jog, home, or gear may be in process at any given moment (exclusionary
motion types). Through assignments and programs, the FM-3 module can sequentially run
various motion routines. The Positive direction parameter affects all motion types by
specifying which direction of motor revolution (CW or CCW) is considered motion in the “+”
direction.
How Jogging Works
Jogging produces rotation of the motor at controlled velocities in a positive or negative
direction.
Assignments to jogs are level sensitive such that when the jog input is turned on, jogging
begins and continues jogging until the jog input is removed.
Each jog has its own acceleration and deceleration ramp along with a specified velocity.
Jogging has no distance parameter associated with it. If trying to move a specific distance
or to a known position, then an index is used.
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FM-3 Programming Module Reference Manual
Figure 5:
Jog Tab
How Home Works
The Home is used in applications in which the axis must be precisely aligned with some part
of the machine. The Home is initiated in one of three ways: with the Initiate Destination
function found in the Assignments view, through a program, or with the Online tab. A Home
or Define Home is required to set the Absolute Position Valid so that any index to absolute
position can work.
The FM-3 module can home the motor to an external sensor, the motor’s encoder marker
pulse, or to a sensor and then to the encoder marker pulse.
8
Operational Overview
Figure 6:
Basic Home Function, Example
The figure above show a basic home function using a ball screw. This example uses most of
the setup features in the PowerTools Pro Home tab.
Home Sequence
1.
Back off the sensor (if on the sensor. This step is optional).
2.
Move to the external home sensor to establish a home reference point.
3.
Next it will move to the Offset position.
4.
Then the command and feedback positions are set to the value entered into the End of
Home Position.
Homing to the motor’s encoder marker will establish the most accurate and repeatable home
position. This method will position the motor relative to the location of the rising edge of the
encoder marker pulse. Most applications will use a sensor and marker to find an accurate
home position in the vicinity of the home sensor.
Several parameters affect how the Home function operates. Each of these parameters are
explained in detail on the following pages.
Note
The Home function will NOT be initiated when any other motion command is in progress.
Establishing a Home Reference Position
The first step in setting up a home is to select the desired home reference type. The Home
Reference parameter selected determines how the Home Reference Position is established.
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FM-3 Programming Module Reference Manual
PowerTools Pro allows selection of one of three different Home References: Sensor, Marker,
or Sensor and Marker.
Sensor
Selecting Sensor means the rising edge of the Home Sensor input function is used to establish
the home reference position.
Figure 7:
Sensor Home Reference Position
Marker
Selecting Marker means the rising edge of the motor’s encoder marker channel is used to
establish the reference position.
Figure 8:
10
Marker Home Reference Position
Operational Overview
Sensor and Marker
Selecting Sensor and Marker means the reference position is established using the first
marker rising edge after the device sees the rising edge of the Home Sensor input function.
Figure 9:
Sensor and Marker Home Reference Position Example 1
Accuracy and Repeatability
The amount of accuracy your application requires will determine the Home Reference option
you select. Homing to an external sensor only will establish a repeatable home position within
0.04 revolutions at 3000 RPMs (800 µsec sensor capture interval).
Note
The data above assumes the use of a perfectly repeatable home sensor.
In Sensor and Marker applications, the marker must be at least 800 µsec after the rising edge
of the sensor input to be considered a valid marker pulse.
Note
At 1000 RPM, the motor will travel 0.0133 revolutions (or 4.8°) in 800 µsec.
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FM-3 Programming Module Reference Manual
800 µsec
Sensor
Marker
Direction of Travel
Figure 10:
Sensor and Marker Home Reference Position Example 2
The Home Sensor must be “On” for at least 800 µsec to guarantee that it will be recognized.
Sensor Min.
On Time
Sensor
800 µsec
Figure 11:
Sensor and Marker Home Reference Position Example 3
Home Offset
The Home Offset is the distance from the Reference Position to the final stopping point at the
end of the homing sequence. Regardless of the value you enter for the Offset or which Home
Reference you choose, there is always an offset inherent in the homing process.
The user may either specify a desired offset or allow the drive to calculate an offset
automatically. The drive calculates an offset that guarantees that the motor will not have to
backup to get to the offset position. This is very convenient for unidirectional applications.
The calculated offset is the distance travelled during deceleration ramp from the home
velocity to a stop plus the distance travelled at the home velocity for 800 µsec. This extra
distance is used to guarantee that the motor will not need to backup after the deceleration
ramp.
12
Operational Overview
The Specified Offset allows the user to choose an exact offset from the Home Reference.
Once the home reference is detected, the device will do whatever is necessary to reach the
offset position. This may be as simple as a deceleration to a stop, a continuation at speed
followed by a deceleration to a stop, or a deceleration followed by a move in the opposite
direction.
To enter a specified home offset, select the Specified Offset radio button. PowerTools Pro
always displays the calculated offset value as a reference. If the home reference is detected
before the axis has reached its peak velocity, the axis will still continue to the precise offset
position.
Figure 12:
Calculated Home Offset, Peak Velocity Not Reached
If the Home Reference is detected after the axis has reached its peak velocity, the axis will
decelerate to the precise offset position.
Calculated
Home Offset
Figure 13:
Calculated Home Offset, Peak Velocity Reached
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FM-3 Programming Module Reference Manual
Two examples below show operation when the specified offset is greater or less than the
calculated offset. This causes the axis to continue on at speed before decelerating and
stopping at the offset position, or backing up after the home sensor.
Specified
Offset
Figure 14:
Specified Home Offset, Greater than Calculated Offset
Specified
Offset
Figure 15:
Specified Home Offset, Backup Required
End of Home Position
The End of Home Position (End Posn) defines the home position in relation to the machine’s
coordinate system. At the completion of the home, the value of the End of Home Position is
put into the command position.
14
Operational Overview
Home Limit Distance
This parameter places an upper limit on the incremental distance the motor will travel during
the home.
If no reference is found, the system will decelerate and stop at the limit distance. The Home
Limit Distance Hit function will be activated if the home stops at the limit distance without
finding the reference. Additionally, the Home.CommandComplete function will not turn
“On” if the limit distance is hit.
Home Examples
Example 1: Linear Application
In this example, the system uses an external sensor and the motor’s encoder marker channel
to establish a Home Reference Position. This is the most accurate and most common way to
home.
Figure 16:
Home to Sensor and Marker, Example
When the FM-3 module sees the Home Initiate, it accelerates the motor to the Home Velocity.
The motor continues at that velocity until it first senses the Home Sensor input. It continues
at the same velocity until the motor’s encoder marker channel is sensed. The rising edge of
the motor’s encoder marker channel is used to establish the reference position. Once the
home reference is detected, the motor decelerates to a stop and moves to the offset position.
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FM-3 Programming Module Reference Manual
Home Sequence
1.
If on sensor then back off (if enabled)
2.
Search for sensor
3.
Search for marker
4.
Go to offset (2.0 Revs)
5.
Set feedback position equal to End of Home Position
Velocity
+ 100
+ 100
Back off
Sensor
Time
- 100
Sensor
Figure 17:
Marker
Home Velocity Profile
1
Start of Home
Back Off Sensor
2
Sensor
Marker
Home Move
4
Offset Move
5
Final Position = End of Home Position
2.0 Revs
Offset
Figure 18:
16
Home Move Sequence
Operational Overview
Example 2: Rotary Application
This example uses an external sensor and the motor’s encoder marker pulse to establish a
home reference position.
Figure 19:
Home Sensor and Marker then Offset, Example
When the device sees the rising edge of the Home Initiate function, it accelerates the motor
to the Home Velocity. The motor continues at that velocity until it first senses the Home
Sensor input. The motor continues on at the home velocity until the marker is activated.
The rising edge of the motor’s encoder marker channel is used to establish the reference
position.
After sensing the rising edge of the motor’s marker channel, the device will continue moving
and will decelerate to a stop at the specified offset position.
Figure 20:
Home Velocity Profile
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FM-3 Programming Module Reference Manual
How Indexes Work
An index is a complete motion sequence that moves the motor a specific incremental distance
or to an absolute position. This motion sequence includes an acceleration ramp to a
programmed velocity, a run at velocity, and a deceleration to a stop.
Velocity
Run at Velocity
Acceleration
Deceleration
Time
Figure 21:
18
Index Motion Sequence
Operational Overview
Figure 22:
Indexes View
Indexes use acceleration and deceleration ramps which may or may not reach the specified
velocity depending on the total distance and the ramp values. For example, a short move with
long acceleration and deceleration ramps may not reach the target velocity entered.
Indexes cannot be initiated when any other motion (jogging, homing, or program) is in
progress. Indexes can be aborted with the Stop destination found in the Ramps group on the
Assignments View.
The FM-3 module supports five types of indexes: absolute, incremental, registration, rotary
plus and rotary minus.
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FM-3 Programming Module Reference Manual
Absolute vs. Incremental
The difference between absolute and incremental indexes is that absolute indexes move to a
specific absolute position and incremental indexes move the motor a specific distance. The
figures and explanations below demonstrate this concept.
Absolute Indexes
Absolute indexes are used in applications where the motor must travel to a specific position,
regardless of where the motor is when the index is initiated.
The FM-3 module calculates the distance required to move to the specified position from the
current position.
Absolute Index
Absolute Index
Start Position = 1 Rev
Index Position = 5 Revs
Figure 23:
Absolute Index Example 1
In the example above, the current position is 1 rev. If this index is initiated, the motor will
travel to a position of 5 revs no matter where it is sitting before the move. From 3 revs, it will
travel 2 revs to finish at 5 revs. If the absolute index to 5 revs is initiated a second time
immediately after the index, no motion will occur because the motor will already be at a
position of 5 revs.
The direction of an Absolute Index is determined by the starting position and the absolute
index position. If the starting position for the above index is 9 revs, then the motor will rotate
in the negative direction to end up at 5 revs. The diagram below shows this.
Absolute Index
Start Position = 9 Revs
Index Position = 5 Revs
Figure 24:
20
Absolute Index Example 2
Operational Overview
Absolute indexes with Rotary Rollover enabled will take the shortest path to the position
entered in the index position parameter.
Note
Absolute indexes move to positions relative to where the machine was homed using the
Home, or the DefineHome destination.
Incremental Indexes
An incremental index will move the motor a specified distance in the + or - direction
regardless of the starting position. The direction of the incremental index motion is
determined by the sign (+ or -) of the Index Distance parameter.
Incremental Index
Incremental Index
Start Position = 1 Rev
Index Distance = 2 Revs
Figure 25:
Incremental Index Example
In the example above, the motor starts at 1 rev, travels a distance of 2 revs and stops at 3 revs.
If the same index is initiated a second time, the FM-3 module would move the motor another
2 revs to a position of 5 revs. If initiated a third time, the motor would travel another 2 revs
to a final position of 7 revs. The example below shows this operation.
Incremental Index
Start Position = 1 Rev
Index Distance = 2 Revs
Figure 26:
Incremental Index Example 2
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FM-3 Programming Module Reference Manual
Registration Index
A Registration Index is used in applications where the motor must move until an object is
detected and then move a specific distance from the point of detection, such as finding a
registration mark and moving a distance beyond.
The Registration Index consists of two parts. The first part accelerates the motor to the target
velocity and continues at this velocity until it receives a registration trigger (sensor or analog).
Upon receipt of a registration trigger, the registration offset will be executed at the target
velocity. The Sensor Limit Distance Hit source can be used to turn on an output, if a sensor
input or analog limit is not received within the Limit Distance. A registration window can
also be used to determine the validity of a registration trigger. If a registration trigger is
received outside of the registration window, it will be ignored.
Rotary Plus and Rotary Minus Indexes
Rotary Plus and Rotary Minus Indexes provide forced directional control of moves to
absolute positions. The position entered for a Rotary Plus or Minus type index must be within
the rotary range (i.e. 0 ≤ Position < Rotary Rollover Point). All other parameters function the
same as they do with absolute indexes. An Absolute Index is a direct move to a specific
position, regardless of the starting point. A Rotary Plus Index moves to the specified position,
but is forced in a positive direction. Similarly, a Rotary Minus index moves to the specific
position, but is forced in a negative direction.
Rotary Plus and Minus Indexes are usually used in rotary applications, therefore the rotary
rollover feature on the Setup - Position view in the PowerTools Pro software must be enabled
to use them.
1.
In the following examples the term “D” = (absolute position specified) - (current
position). If “D” is negative, motion in the negative direction is implied.
2.
In the following examples the Rotary Rollover parameter on the Setup - Position view is
set to 360.00°. This means that with each revolution of the motor (or rotary table),
feedback will count up to 359.99°, then roll over to Ø°.
Indexes with Rotary Rollover Enabled
Incremental move distances can be outside of the rotary rollover range. See the Setting
Up Parameters section for an explanation of Rotary Rollover.
Example 1: If the starting position is at Ø° and 720° is the specified distance, an
Incremental index would move 2 revolutions in the positive direction. At the completion
of this index the motor position would be Ø°.
Absolute indexes will take the shortest path to the specified position. Absolute index
positions must be within the rotary rollover range.
Example 2: If the starting position is at 90° and 80° is the specified position, an Absolute
index would travel 10° in the negative direction. At the completion of this index the
motor position would be 80°.
22
Operational Overview
Example 3: If the starting position is 45° and 315° is the specified position, an Absolute
index would travel 90° in the negative direction because that is the shortest path between
45° and 315°.
Rotary Plus indexes will move to the specified position and are forced in a positive (or
plus) direction. Rotary Plus index distances must be within the rotary rollover range.
Example 4: As in example 2 above, the starting position is at 90° and 80° is the specified
position. A Rotary Plus index would travel 350° in the positive direction. At the
completion of this index the motor position would be 80°.
Example 5: If the starting position is 10° and the specified position is 350°, a Rotary Plus
index will travel 340° in the positive direction.
Rotary Minus indexes move to the specified position, but are forced to travel in the
negative (or minus) direction. Rotary Minus index positions must be within the rotary
rollover range.
Example 6: As in examples 2 and 4 above, the starting position is at 90° and 80° is the
specified position. A Rotary Minus index would travel 10° in the negative direction. At
the completion of this index the motor position would be 80°.
Example 7: If the starting position is 15° and the specified position is 270°, a Rotary
Minus index would travel 105° in the negative direction.
How Communications Work
Uploading
Uploading is the process of reading information back from the drive to the PowerTools Pro
configuration screens.
To upload information from a drive, click on the upload button on the PowerTools Pro toolbar
or select upload from the Device menu.
Downloading
Downloading is the process of sending your configuration created with PowerTools Pro from
the PC to the FM-3 module. Changes made in PowerTools Pro will not take effect until the
information has been downloaded or the Update to RAM button has been clicked.
To download information to a FM-3, click on the download button on the PowerTools Pro
toolbar or select download from the Device menu. PowerTools Pro will lead the user through
a series of dialog boxes that determine what baudrate and which communications port on the
user’s PC will be used.
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FM-3 Programming Module Reference Manual
NVM Options for Uploading and Downloading
Uploading
When uploading from a FM-3 module, the values that were last downloaded are uploaded and
put into a PowerTools Pro configuration file. At the completion of the upload, the user will
be asked if they wish to upload the NVM values. This dialog box is shown below.
By selecting Yes, the values of all parameters stored in NVM will be uploaded and entered
into the PowerTools Pro file values. If No is selected, the values entered into the PowerTools
Pro file will remain the same as those that were last downloaded to the FM-3 module.
Downloading
When downloading to the FM-3 module the user will be required to select how to handle the
NVM parameters upon downloading. The dialog box asking the user to select one of three
options for the download is shown below.
A description of each of the options is as follows:
Overwrite – This option will overwrite all the parameters stored in NVM with the current
values in the user configuration (PowerTools Pro file). The values that are in NVM prior to
the download will be lost.
Update – This option will upload the current NVM parameter values from the FM-3 module
and enter them into the user configuration (PowerTools Pro file). Once the NVM values have
been stored in the file, the file is fully downloaded.
Keep – This option will download the entire user configuration, but then NVM parameters
will be restored to the value prior to download. This is similar to the Update option, but the
24
Operational Overview
Keep option does not upload the NVM values into the user configuration (PowerTools Pro
file).
The following table shows an example of how these options work:
Before
Download
Overwrite
Option
After Download
Update Option
Keep Option
PT Pro file value for
Index.0.Vel
150
150
500
150
NVM value for
Index.0.Vel
500
150
500
500
Updating to RAM
The Update to RAM button can be used to send changes to the FM-3 module without
performing a complete download. The Update to RAM button is found in the PowerTools Pro
toolbar. This operation will send only those changes that have been made since the last
Update to RAM or Device – Download to the FM-3. The changes will take effect
immediately upon clicking on the button.
The parameters will be sent to the FM-3 module without stopping motion or disabling the
drives. Because of this, it is important to use caution when changing motion parameters
while the motor is in motion.
The Update to RAM button saves the parameters only to RAM and not to Non-Volatile
Memory (NVM). Therefore, if the system power is removed, any changes made using the
Update to RAM button will be lost. In order to save changes to NVM, a full-download must
be performed.
The flowchart below describes a typical process using the Update to RAM to make changes,
and then downloading when complete to save changes to NVM.
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FM-3 Programming Module Reference Manual
Figure 27:
Update to RAM Flow Chart
The Update to RAM button operates according to the following rules:
If no parameters have been modified by the user, the Update to RAM button will be disabled.
If the user modifies a parameter that does not require a full download, the Update to RAM
icon will be enabled.
If while the icon is enabled, the user modifies a parameter that requires a full download, the
Update to RAM icon will become disabled.
When the user clicks on the Update to RAM icon, all the modified parameters are transmitted
to the FM-3. Once transmitted, the icon will become disabled again until another parameter
is changed.
If the user performs a full download while the button is enabled, when the download is
complete, the Update to RAM button will be disabled.
If the user modifies parameters, and disconnects, the update button will be disabled, and the
changes will not be sent.
Options/Preferences/Ptools Operation
This menu controls the pop-ups that the user encounters when uploading and downloading
the FM-3/4 configuration.
Download Section:
“Ignore saving file on Ptools/Drive revision conversion.”
On a download PowerTools Pro checks the firmware revision of the module that it is about
to be downloaded to and is required to make changes to the files that are to be downloaded to
older firmware revisions. This checkbox allows the user to avoid saving the newer file before
converting it to a previous revision.
“Overwrite – Reset the NVM configuration”
26
Operational Overview
When this checkbox is selected the “Overwrite” function will default on every download to
the module. This function will overwrite the entire FM-3 configuration including user defined
NVM parameters as set in the NVM setup area of PowerTools Pro.
Note
It is required to Overwrite the Non-Volatile Memory on the first download to the module
since no Non-Volatile Memory parameters have been loaded into the drive on initial
startup.
“Update – Upload the values into the current Update PowerTools Pro configuration”
When this checkbox is selected the “Update” function will Update the NVM on every
dowload to the module. Upon download the Update function uploads the configured NVM
from the drive and places the data into the PowerTools Pro configuration file. The software
then downloads this newly updated file to the module.
“Keep – Remember the values and restore them after the download”
This option was created to allow users to save the values that have been changed via HMI,
PLC or internally in a program so long as they have been added to the NVM list. When this
checkbox is selected PowerTools Pro will poll the drive on download for all of the values that
have been added to the NVM list. PowerTools Pro then stores these values into a temporary
memory location and after the program download is complete PowerTools Pro reinstates
these values to the parameters before the drive can be enabled.
“Ask on each download”
This option was created for users who want control of whether they will overwrite or keep the
NVM on download. When this checkbox is selected, PowerTools Pro will display a pop-up
window that gives the user the option to Overwrite, Update, or Keep as described above.
Upload Section:
“Always convert Application to latest Ptool capability”
When this checkbox is selected, PowerTools Pro will automatically update an uploaded file
to match the current functionality of PowerTools Pro.
"Always leave Application matching Module capability”
When this checkbox is selected, PowerTools Pro will default to upload and display the
configuration to match the firmware revision and capabilities of the module.
“Ask on each upload”
When this checkbox is selected, PowerTools Pro will default to asking the user to convert the
application to the latest PowerTools Pro capability, or leave the application to match module
capability.
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FM-3 Programming Module Reference Manual
Upload Non-Volatile Memory (NVM) Section:
“Always upload NVM”
When this checkbox is selected, PowerTools Pro will default on an upload to uploading all of
the parameters that have been mapped to the NVM and updating the display of these
parameters in PowerTools Pro.
“Always bypass NVM upload”
When this checkbox is selected, PowerTools Pro will not upload the NVM and the values that
were originally downloaded to the drive will be displayed in the PowerTools Pro
configuration.
“Ask on each upload”
When this checkbox is selected, PowerTools Pro will default to asking the user via a pop-up
window whether to upload the NVM or to bypass the NVM upload.
Secure Downloading
The Secure Download feature allows the user to download a configuration that prevents
anyone from uploading the file, or going online with the system. This is used to protect a file
from being accessed by unauthorized personnel. If a secure file is downloaded to the system,
all diagnostics capabilities in the software are lost. The only way to go online with the system
again is to download the original (non-secure) file over the secure version, or to download a
completely new file.
Before performing a secure download, the file must first be saved in the secure file format.
To do this, open the file you wish to save in the secure format using PowerTools Pro. Then
click File\SaveAs on the Menu Bar. The following SaveAs window should appear on your
screen
On this window, check the “Save also as secure download format” check box located at the
bottom of the window, then click on the Save button. Doing this will save your file in BOTH
28
Operational Overview
the standard file format (.fm3), as well as in the secure file format (.fm3s). The “s” at the end
of the file extension stands for “secure”. The secure file will be saved to the same directory
as the standard file.
To perform the Secure Download, close all open files in PowerTools Pro. Then click on
Device\ Secure Download on the menu bar as shown below.
A window will then pop up asking the user to select the secure file that they wish to download.
Select the secure file that was just saved, and then click on the “Open” button. This will
download the secure file to the target device.
A secure file (.fm3s) cannot be opened or modified. The file extension cannot be changed to
allow the user to open it. The secure file is only valid for use by the secure download function.
If a user attempts to upload a secure file, a message will appear indicating that the file residing
in the system has been protected by the user. An example of this is shown below.
Brake Operation
MG motor brake operation is controlled by the Brake Release and Brake Control destinations.
These destinations can be used together to control the state of the Brake source. The table
below shows the relationship between the Brake sources and destinations (see “Diagnostic
Display”).
Note
No motion should be commanded while the brake is engaged.
Brake Release Destination
Brake Activate Destination
Drive Power
Stage
Off
On
On
Off
On
Off
Enabled
0
1
1
1
Disabled
0
0
1
1
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FM-3 Programming Module Reference Manual
Brake Release
The Brake.Release destination function will release the brake under all conditions. When this
function is active, the Brake output will be on (that is, release brake). This function overrides
all other brake control, thus allowing the brake to be released while a fault is active or the
power stage is disabled. See also Brake source function.
Brake Activate
The Brake.Activate destination function, when active, will engage the brake unless
overridden by the Brake Release function. This function lets you externally engage the brake
while allowing the drive to also control the brake during fault and disabled conditions.
Brake Disengaged
The Brake.Disengaged source function is used to control the motor holding brake. If the
Brake function is off, the brake is mechanically engaged. When the brake is engaged, the
diagnostic display on the front of the drive will display a “b”.
The drive outputs are limited to 150 mA capacity, therefore, a suppressed relay is required to
control motor coil. Control Techniques offers a relay, model # BRM-1.
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FM-3 Programming Module Reference Manual
Setting Up Parameters
Setup View
The Setup View contains all of the primary system setup parameters. These parameters must
be setup prior to using your system.
By selecting Setup in the Hierarchy View, the Setup view will appear on the right side of the
view (see Figure 28). The Setup view is divided into six groups, with an explanation of each
function. The groups are Identification, Configuration, Drive Encoder Output, Positive
Direction, Update Rate and Switching Frequency. Status Online will be shown when online
with the FM-3 module.
Figure 28:
Setup View
Identification Group
The identification group consists of the Device Name and the Target Drive Address.
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FM-3 Programming Module Reference Manual
Name
This is a 12-character alpha/numeric user-configured name for this axis. Enter this name for
the device you are currently setting up. Assigning a unique name for each device in your
system allows you to quickly identify a device when downloading, editing, and
troubleshooting. All keyboard characters are valid. This will default to Axis 1.
Target Drive Address
This is the Modbus address of the target drive to which you will download the configuration.
The default target drive address is 1.
Configuration Group
The configuration group consists of list boxes for Drive Type, Motor Type, and Line Voltage.
Drive Type List Box
Select the drive model for the system you are currently setting up.
Motor Type List Box
Select the motor you want to use.PowerTools Pro software will only display the motor models
that are compatible with the drive you selected and any user defined motors.
Selecting the wrong motor type can cause instability and may cause property damage to
the motor and/or drive.
EN
EN Only
Line Voltage List Box
Line Voltage specifies the applied power and adjusts the internal gains to compensate for
it. This parameter has two choices: 115 VAC and 230 VAC. If the Line Voltage is set to
230 VAC when the actual applied voltage is 115 VAC, the motor will be slightly less
responsive to commands and load disturbances.
The Line voltage must never be set to 115 VAC if the applied voltage is actually 230
VAC. This can cause drive instability and failure, resulting in property damage.
Drive Encoder Output Group
The drive encoder output group consists of the encoder scaling check box and encoder
scaling.
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Setting Up Parameters
Encoder Scaling Check Box
This check box enables the Scaling parameter of the Drive Encoder Output.
Encoder Scaling
This parameter defines the encoder resolution (lines per revolution) of the drive's encoder
output. This feature allows you to change the drive encoder output resolution in increments
of 1 line per revolution up to the density of the encoder in the motor. If the Encoder Output
Scaling parameter is set to a value higher than the motor encoder density, the drive encoder
output density will equal that of the motor encoder.
Positive Direction Group
The Positive Direction group consists of a clockwise (CW) Motor Rotation Radio Button or
a counter-clockwise (CCW) Motor Rotation Radio Button.
The motion will move in either CW direction or counter-clockwise CCW direction.
Perspective of rotation is defined as you face the motor shaft from the front of the motor.
CW Motor Rotation Radio Button
Select this radio button for applications in which CW motor rotation is considered to be
motion in the positive direction (increasing absolute position).
CCW Motor Rotation Radio Button
Select this radio button for applications in which CCW motor rotation is considered to be
motion in the positive direction (increasing absolute position).
Update Rate Group
This parameter configures the interrupt interval for the FM-3 processor. This defines how
often the motion program is interrupted and the Control Loop is processed. In the Control
Loop, the feedback information is processed and a new position command is generated. Also
in the Control Loop, the I/O is scanned. After Control Loop is complete, all messages are
handled. Messages are Modbus data, DeviceNet data, Keypad/Display information, and are
only processed if a message is waiting. If no device is querying data from the FM-3 or sending
data to the FM-3, then messages do not take up any time. Once messages have been
processed, the remainder of the interrupt is dedicated to running the motion programs of user
programs.
Available selections for Trajectory Update are 800, 1200, and 1600 microseconds. The longer
the update, the more time is dedicated to the user programs, and the less time dedicated to
servo performance. The shorter the update , the more precise the servo performance, but less
time is available to process user programs. Diagnostics are available on the Status Online tab
when online with the device to help select the ideal setting. (See description of Control Loop
Group of online parameters for further information)
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FM-3 Programming Module Reference Manual
Switching Frequency Group
This parameter defines the switching frequency of the electronic amplifier. For EN drives, the
switching frequency must be 20 kHz and cannot be changed. For MDS, the switching
frequency can be modified to change system performance. Available selections are 5 kHz,
and 10 kHz. For more information on this setting refer to the MDS Reference Manual, P/N
400525-01.
Status Online Tab (Online Only)
The Status Online tab (see Figure 29) is visible when online and consists of the Motor
Position group, Motor Velocity group, Control Loop group, Master Feedback group, and the
Torque group.
Figure 29:
34
Setup View - Online Status Tab
Setting Up Parameters
Motor Position Group
Position Command
Position command is the commanded motor position sent to the drive by the FM-3 module.
This parameter does not take following error into account. See also PosnFeedback and
FollowingError. Units are in user units.
Position Feedback
Feedback position is the actual motor position in user units. PosnCommand minus the
PosnFeedback is the FollowingError
Following Error
The Following Error is the difference between the Position Command and the Position
Feedback. It is positive when the Position Command is greater than the Position Feedback.
Encoder Position
Motor encoder position in encoder counts. This position reflects the feedback position of the
motor and is not scaled into user units. This is a signed 32 bit value.
Motor Velocity Group
Velocity Command
The Velocity Command is the velocity that the FM-3 module is commanding the motor to run
at. This command is generated by the drive velocity control loop and position loop. It is
displayed in user units.
Velocity Feedback
This is the feedback (or actual) velocity. It is calculated using the change in position of the
motor encoder. It will always return the actual motor velocity - even in synchronized
applications in which the master axis is halted during a move.
Control Loop Group
Changing the Trajectory Update Rate can have a major effect on the performance of your
servo system. A longer trajectory update rate means that more time is available to process user
programs. A shorter update rate means that the control loop is updated more often and
provides the most accurate performance. Without proper diagnostics, it can be impossible to
tell how much time is being consumed by the control loop update, and how much time is
available to run user programs.
The Control Loop group of parameters on the Status Online tab shows the user how much
time is available to run programs. There are two parameters available to help with this. They
are as follows:
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FM-3 Programming Module Reference Manual
Control Loop Limit
This parameter shows the lowest measured time difference (in microseconds) between the
Trajectory Update Rate and the time taken to process the control loop since the last reset.
Certain features in the FM-3 require more time to process (i.e. PLS, Capture, Compound
Indexes), and therefore will cause lower limits. The software records the lowest measured
value and displays it as the limit. To reset the limit to the average and continue tracking the
lowest value, the user can click on the Limit button. If the Limit reaches 0, a fault will be
generated. If a Limit of less then 75 - 100 usec is seen, it is recommended to switch the update
rate to the next higher value.
Margin Average
This parameter shows a running average of the difference (in microseconds) between the
Trajectory Update Rate and the time taken to process the control loop since the Status Online
tab was brought up. The higher the value, the more time available to run user programs. For
Averages less than 150 usec, it is recommended to switch the update rate to the next higher
value.
Master Feedback Group
Master Position
Used for synchronized motion, this displays the position of the master encoder in units
defined on the Master Units Setup View.
Encoder Position
This displays the position of the master encoder in counts.
Master Velocity
This displays the velocity of the master encoder in master units/second.
Torque Group
Torque Command
This displays the torque command value before it is limited. The torque command may be
limited by either the Torque Limit (if the Torque Limit Enable destination is active) or current
foldback. Units for this parameter are defined in the Torque Group on the User Units View.
Limited Torque
This is the actual torque commanded to the motor. This value is the result after the
TorqueCommand is limited by the current foldback or the TorqueLimit value (if enabled).
36
Setting Up Parameters
Foldback RMS
This parameter accurately models the thermal heating and cooling of the drive and motor.
When it reaches 100 percent, current foldback will be activated. See the Diagnostics section
for an explanation of foldback.
Shunt Power RMS
This parameter models the thermal heating and cooling of the drive internal shunt. This
parameter indicates the percent of shunt capacity utilization. When this value reaches 100
percent, the drive will generate an RMS Shunt Power Fault. This parameter is not applicable
to the EN-204 which does not have an internal shunt resistor. This parameter is applicable to
the EN-208 and EN-214.
Information Tab (Online Only)
Drive Information Group
Firmware Part Number
Displays the part number of the drive firmware you are using.
Firmware Revision
Displays the revision of the drive firmware you are using.
Serial Number
Displays the serial number of the drive with which you are currently online.
Module Information Group
Firmware Part Number
Displays the part number of the FM-3 firmware you are using.
Firmware Revision
Displays the revision of the firmware in the FM-3 module with which you are currently
online.
Serial Number
Displays the serial number of the FM-3 module with which you are currently online.
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FM-3 Programming Module Reference Manual
User Units View
The User Units View is used to scale the desired application units into known values. All
information for distance, velocity, and accel/decel units are set up here and used throughout
the system setup.
By selecting User Units in the Hierarchy View, the User Units View will appear on the right
(see Figure 30).
Figure 30:
User Units View
Distance Group
Units Name
This is a 10-character name for the distance user units you want to use in your application.
38
Setting Up Parameters
Decimal Places
The number of decimal places set in this parameter determines the number of digits after the
decimal point used in all distance and position parameters throughout the software. Using a
high number of decimal places will improve position resolution, but will also limit the range
of absolute position. You can select from zero to six decimal places of accuracy.
Note
When the number of decimal places are changed in an existing configuration file the Index
accel and decel parameters need to be checked.
Scaling
A Characteristic Distance and Length must be established to allow the FM-3 module to scale
user units back to actual motor revolutions. This scaling factor is as follows:
Scaling
Characteristic Distance
= ------------------------------------------------------Characteristic Length
Characteristic Distance
This is the distance the load travels (in user units) when the motor travels the characteristic
length (in motor revolutions).
Characteristic Length
This is the distance the motor travels (in whole number of revolutions) to achieve one
characteristic distance of load travel.
Distance Scaling Examples:
A 1.5" diameter pulley is used to drive a conveyor belt, and the user wishes to use units of
inches instead of revolutions.
Units Name — Set to Inches
Decimal Places — Set to desired accuracy 0.000
In one revolution of the motor (or pulley), the belt will travel a distance of one pulley
circumference.
= 1.5" x π
= 1.5 x 3.14...
= 4.712 inches / revolution
Scaling
Distance = 4.712
= Characteristic
--------------------------------------------------------------------------Characteristic Length = 1
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FM-3 Programming Module Reference Manual
If the user decides to put a 5:1 reducer on the system, the user simply needs to change the
Characteristic Length.
Now the belt travels 4.71" in 5 motor revolutions.
Distance = 4.712
Scaling = Characteristic
--------------------------------------------------------------------------Characteristic Length = 5
Keep in mind that the characteristic length is always a whole number and the valid range is
from 1 to 2000.
Note
User Units may affect end motor speed and could cause trajectory faults.
Because of internal math in the FM-3 and FM-4, some user unit combinations may cause
module or drive trajectory faults. The maximum motor velocity allowed by the drive is
detailed under the distance section of the User Units View and is labeled “User Unit Limited
Speed”. When the user unit setup is altered in such a way that the maximum motor speed
allowed by the drive is less than the maximum speed allowed by the chosen motor, the readout
of maximum motor speed allowed by the drive changes to have a red background. If a
configuration is downloaded to the FM-3/4 with a red background on the “User Unit Limited
Speed”, the drive will obtain a trajectory fault at speeds near this velocity. To alleviate this
issue, simply remove decimal places from your user units, and/or change the characteristic
distance (numerator) of your scaling parameters to be a smaller number that it was. The red
background indicating module trajectory faults will go away when the user unit setup is
scaled for a realistic accuracy based on the encoder counts per revolution.
Velocity Group
Enable Separate Distance Units Check Box
If checked, separate distance and velocity units, name and scaling will be enabled. If not
enabled, the velocity units, name and scaling will be defined by the Distance Group.
Scaled Distance Name
If the user wants the velocity units to have a different distance scaling than the distance units
a name can be entered here up to 10 characters. For example, the user distance units could be
inches while the velocity units are feet per minute.
Velocity Distance Units Scale Factor
This parameter scales the Velocity Distance Units back to actual distance units. To do this,
enter the number of distance user units that are equal to one velocity scaled distance unit.
40
Setting Up Parameters
Separate Distance Units Example:
A user has an application using a leadscrew with a 0.5"/turn lead. The user wants to have
Distance Units of Inches, but wants Velocity Units of Feet so motion can be programmed in
feet/minute.
Distance Units Name — Set to Inches
Enable Separate Distance Units — Enabled (checked)
Scaled Distance Name — Set to Feet
Velocity Distance Units Scale Factor — # of Distance Units / 1 Scaled Distance Unit
1 Foot = 12 Inches
Velocity Distance Units Scale Factor = 12
Time Scale List Box
The time can be one of two values: seconds or minutes. This selection sets the real-time
velocity time scale.
Decimal Places
The number of decimal places set in this parameter determines the number of digits after the
decimal point used in all real-time velocity parameters throughout the software. Using a high
number of decimal places will improve velocity resolution, but will also limit the maximum
velocity. You can select from zero to six decimal places of programming resolution.
Acceleration Group
Time Scale List Box
From this list box, select the acceleration time scale to be used for all real-time profiles. The
time scale selected will be used for both acceleration and deceleration parameters. You can
select from milliseconds or seconds.
Decimal Places
The number of decimal places set in this parameter determines the number of digits after the
decimal point used in all real-time accel/decel parameters throughout the software. Using a
high number of decimal places will improve accel/decel resolution, but will also limit the
maximum accel/decel rate. You can select from zero to six decimal places of programming
resolution.
Torque Group
Units Name
10-character name for the torque user units.
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FM-3 Programming Module Reference Manual
Decimal Places
The number of decimal places set in this parameter determines the number of digits after the
decimal point used in all torque parameters throughout the software. Using a high number of
decimal places will improve torque resolution, but will also limit the maximum torque. You
can select from zero to six decimal places of programming resolution.
Scaling
The amount of torque in user torque units will be set equal to the Percent Continuous Current.
This parameter is used to scale the actual torque back into the user defined units. The units
of this parameter are % ContinuousCurrent. This scaling factor is used along with the user
torque to establish a relationship between torque user units and actual torque.
Master Units View
Master Units setup provides the setup parameters for use with synchronized motion. This
setup window determines how the encoder signals are interpreted and establishes the scaling
for all master units (master distance, master velocity, etc.).
Figure 31:
42
Master Units View
Setting Up Parameters
Encoder Setup Group
Master Source
Master Source indicates the hardware location of the master encoder input. Select module to
use the sync input connector on the FM-3 module; select drive to use the drive 44-pin
command connector on the drive.
Master Polarity
Master Polarity defines the direction of the master encoder that corresponds to a positive
master position change.
Master Interpretation
Master Interpretation determines how the incoming pulses are seen to generate the
synchronized motion command. This setting allows you to choose the appropriate signal type
to match the device generating the master input pulses.
Drive Input Signal
Drive Input Signal is selected accordingly based on whether the incoming pulses are
Differential (default) or Single Ended.
Output Source
Output Source determines which signal will be sent to the Sync Output connector on the FM3 module. If Motor Encoder (default) is selected, then the encoder signals from the motor that
the FM-3/drive is controlling will be sent out the FM-3 Sync Output connector. If Drive
Encoder Input is selected, then the synchronization signals sent to the Drive 44-pin command
connector will be sent to the FM-3 Sync Output connector. If Module Encoder Input is
selected, then the same signal coming into the FM-3 Sync Input connector will be sent out the
Sync Output connector.
Master Position Setup Group
Define Home Position
Define Home Position is the value that the Master Position Feedback will be set to when the
MasterAxis.DefineHome destination is activated. After the MasterAxis.DefineHome has
been activated, the MasterAxis.AbsolutePosnValid source will activate.
Rotary Rollover Check Box
If checked, the rotary rollover feature for the Master Axis will be enabled.
Rotary Rollover
If enabled, the Master Position will rollover to zero at the value specified here. As the master
encoder counts up, the master position feedback will increase until it reaches the Rotary
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FM-3 Programming Module Reference Manual
Rollover value and then reset to zero and continue to count up. If rotating in the negative
direction, the master position feedback will decrease until it reaches zero, and then start over
at the Rotary Rollover value.
Master Distance Units
The parameters in this group are used to establish the scaling of the master axis into user units.
Units Name
This is a text string up to 12 characters that will be used to define the units of distance traveled
by the master axis for incoming synchronization signals.
Decimal Places
The number of decimal places set in this parameter determines the number of digits after the
decimal point used in all distance and position parameters used in synchronized motion
throughout the software. Using a high number of decimal places will improve position
resolution, but will also limit the maximum position. You can select from zero to six decimal
places of programming resolution.
Scaling
The scaling factor is defined as MasterAxis.CharacteristicDistance / MasterAxis.Counts. The
numerator (top value of the scaling fraction) is the Characteristic Distance. The denominator
(bottom value of the scaling fraction) is the # of Counts. The Characteristic Distance is the
number of Master Distance Units that will be traveled per number of counts in the bottom of
the fraction. The Counts parameter is the number of incoming pulses it takes to travel the
characteristic distance.
Master Velocity Units
Decimal Places
Decimal Places determines the number of decimal places to be used in the velocity parameter
for all synchronized motion.
Master Acceleration Units
Decimal Places
The number of decimal places set in this parameter determines the number of digits after the
decimal point used in all real-time accel/decel parameters used for synchronized motion
throughout the software. Using a high number of decimal places will improve accel/decel
resolution, but will also limit the maximum accel/decel rate. You can select from zero to six
decimal places of programming resolution.
44
Setting Up Parameters
Master Position Filter
The master filter is designed for applications where the master encoder input requires
smoothing due to low resolution or high gain. These applications include low speed masters,
low resolution master encoders, and large follower to master gear ratios.
Filters inherently introduce phase shift (or delay) in the followers response to the master
position, velocity and acceleration. The FM-3 provides Feedforward compensation to correct
for these delays introduced by the filter.
The user may set the number of filter samples to be used to "smooth" the master encoder
velocity. The more samples used by the filter, the smoother the master velocity signal,
however the more positional delay introduced by the filter. This means that more filtering will
cause more position error between master and follower. Feedforward is used in conjunction
with the filter to provide accurate positioning performance while still maintaining smooth
motion.
The table below can be used to best determine the proper filter settings for your application.
# of
Samples
Feedforward OFF
Feedforward ON
Disabled
One update of phase shift
(not velocity dependent)
No Filtering
No delay,
No Filtering
4
Small Lag (function of speed),
Low Filtering
Poor at low speed,
Low Filtering
8
Medium Lag (function of speed),
Medium Filtering
Good at low speed,
Medium Filtering
16
Large Lag (function of speed),
High Filtering
Best at low speeds,
High Filtering
Smoother
Increasing Lag
with FF Off
Reduced Lag
Filter parameters cannot be changed using the "Update to RAM" feature. Changes must be
fully downloaded before taking effect.
The gray box in the table above denotes the default setting for the master filter parameters.
Enable Check Box
The enable check box is used to turn on or turn off the Master Position Filter. If checked, the
filter is active and the user must select the number of samples used by the filter. If unchecked,
the filter is not used.
Samples
Defines the number of samples used by the filter to smooth the master signal. Increasing the
number of samples increases smoothness, but also increases lag. See Filter table above to
select proper setting.
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FM-3 Programming Module Reference Manual
Enable Feedforward Check Box
The Enable Feedforward Check Box is used to turn on or turn off feedforward. If checked,
feedforward is active. If unchecked, feedforward is not used.
Position View
The Position View allows you to set up and view the parameters related to drive positioning.
In Figure 32, Position has been selected in the Hierarchy View. The right side of the view is
divided into groups. An explanation of the groups and their functions is provided below.
Figure 32:
Position View
Settings Group
Define Home Position
This is the value to which the position command will be set when the Define Home
destination is activated. This is used in applications which do not use a home routine, but
require a known reference point. The units are defined on the User Units View.
46
Setting Up Parameters
In Position
The In Position (InPosn) source will activate at the end of a move if the absolute value of
following error is less than or equal to the In Position Window for the In Position Time.
In Position Window
The absolute value of the Following Error must be less than or equal to this value at the end
of an index in order for the InPosn source to activate. This window is set in units specified in
the User Units View.
For example:
The In Position window is set to .0025 revs. At the end of an index, the following error
is calculated to be .0012 revolutions. Therefore, the InPosn source will activate.
In Position window is set to .001 inches. If at the end of an index, the following error is
calculated to be .0015 inches, then the InPosn source will not activate.
In Position Time
This is the amount of time in seconds that commanded motion must be complete and the
absolute value of the following error must be less than the In Position Window for the InPosn
source to activate. If set to zero (default), then InPosn will activate as soon as motion stops
and the following error is less than the In Position Window parameter.
Limits Group
Enable Following Error Check Box
Check this box to enable (or disable if not checked) the Following Error Limit. If enabled, a
fault will be generated if the absolute value of the following error ever exceeds the value in
the following error parameter. If disabled, a fault will never be generated.
Following Error
Following Error is the difference between the Position Command and the Position Feedback.
It is positive when the Position Command is greater than the Position Feedback. If the
absolute value of the following error exceeds the value you enter here, the drive will generate
a Following Error Fault (F). All accumulated Following Error will be cleared when the drive
is disabled.
The Following Error Limit is defined in user units.
Enable Software Travel Limits Check Box
Check this box to enable (or disable if not checked) the software travel limits. If unchecked,
the software travel limits are not monitored.
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FM-3 Programming Module Reference Manual
Software Travel Limits
Software Travel limits can be used to limit machine travel. They are often setup inside the
hardware travel limits to add another level of security or protection from exceeding the
machines travel limits. The FM-3 module constantly monitors the feedback position, and if
this position exceeds the values entered for Software Travel Limit + or -, then the drive will
decel to a stop. Software Travel Limits are not functional unless the AbsolutePosnValid
source is active. AbsolutePosnValid is active upon successful completion of a home or the
DefineHome destination is activated.
To recover from a software travel limit, a jog may be commanded in the opposite direction of
travel. For example, if a software travel limit - is hit, then the axis can be jogged in the +
direction.
Software Travel Limit +
If the absolute position is greater than or equal to this value the Software Travel Limit Plus
Active source shall activate.
A rising edge occurs when the absolute position is greater than or equal to the parameter
Software Travel Limit +. A falling edge will be generated as soon as the above is not true.
Software Travel Limit If the absolute position is less than or equal to this value the Software Travel Limit Minus
Activate shall activate.
A rising edge occurs when the absolute position is less than or equal to the parameter
Software Travel Limit -. A falling edge will be generated as soon as the above is not true.
Rotary Group
Rotary Rollover Check Box
Check this box to enable (or disable if not checked) the rotary rollover feature.
Rotary Rollover
This parameter is used in rotary applications and determines the position at which the internal
position counter will be reset to zero.
Example:
The user has a rotary table application with distance user units of degrees, 360.00 degrees/1
rev. The Rotary Rollover would be set to a value of 360°.
The motor is traveling in the positive direction. As the feedback position reaches 359.999 and
continues on, the feedback position will reset (or roll-over) to zero. If the motor changes
direction and travels in the negative direction, the position will rollover at 0 to 359.999
degrees and count down. The resolution of the rotary rollover point is determined by the
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Setting Up Parameters
Distance Units Decimal Places parameter on the Setup\User Units View in the PowerTools
Pro software.
If an absolute index is used with a non-zero rotary rollover point, the FM-3 module will
calculate the shortest path to its destination and move in the required direction.
To force the motor to run a certain direction, use the Rotary Plus or Rotary Minus type of
indexes.
Online Tab (not shown)
While online, the following real-time data will be displayed.
Motor Position Group
Position Command
This is the commanded position in user units generated by the FM-3 module.
Position Feedback
This is the feedback position of the motor in user units.
Following Error
The Following Error is the difference (in user units) between the Position Command and the
Position Feedback. It is positive when the Position Command is greater than the Position
Feedback.
Encoder Position
The motor position in encoder counts since power up when the value was set to zero. This is
a signed 32-bit value.
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FM-3 Programming Module Reference Manual
Velocity View
The Velocity View allows the setup of feedrate override details.
By selecting Velocity in the Hierarchy View, the Velocity View will appear on the right (see
Figure 33).
Figure 33:
Velocity View
Settings Group
FeedRate Override
This parameter is used to scale all motion. It can be described as scaling in real time. The
default setting of 100% will allow all motion to occur in real time. A setting of 50% will scale
time so that all moves run half as fast as they do at 100%. A setting of 200% will scale time
so that all moves run twice as fast as they would at 100%. FeedRate Override is always active
and affects all motion, including accels, decels, dwells, and synchronized motion. This
parameter may be modified via Modbus or in a program.
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Setting Up Parameters
FeedRate Decel/Accel
The FeedRate Decel/Accel parameter specifies the ramp used when velocity changes due to
a change in the FeedRate Override value. The units of FeedRate Decel/Accel are Seconds/
100% of Feed Rate. Therefore, the user must specify the amount of time (in seconds) to
accelerate or decelerate 100% of FeedRate.
Examples:
FeedRate Override is set to 100% (default). The user wishes to slow down motion to 50% of
programmed velocity. If FeedRate Decel/Accel is set to 1 Sec/100%, when the FeedRate
Override parameter is changed to 50%, it will take 0.5 seconds to decelerate to 50% velocity.
Decel/Accel Time
=
FeedRate Decel/Accel * % Change in Feedrate
=
(1 Sec/100%) * (100% - 50%)
=
0.5 Seconds
A user wishes to accelerate from 100% programmed velocity to 175% in 0.5 Seconds.
Therefore, the value they need to enter for FeedRate Decel/Accel is calculated as follows:
FeedRate Decel/Accel
=
Decel Time/ % Change in Feedrate
=
(0.5 Sec) / (175% - 100%)
=
0.5 Sec / 75%
=
(0.5 Sec) / (100% * 75%)
=
0.66 Sec / 100%
Online Tab (not shown)
If online, this view will show the limits group and the velocity group.
Velocity Group
Velocity Command
The Velocity Command is the actual command generated by the FM-3 module to the motor
in user units.
Velocity Feedback
This parameter is the actual feedback motor velocity in user units.
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FM-3 Programming Module Reference Manual
Ramps View
The Ramps View contains all setup information for the global acceleration and deceleration
profiles.
By selecting Ramps in the Hierarchy View, the Ramps View will appear on the right (see
Figure 34).
Figure 34:
Ramps View
Settings Group
The Settings Group contains the Acceleration Type List Box.
Acceleration Type
Press the arrow by the Acceleration Type list box. It will display the various acceleration
types: 5/8 S-Curve, 1/4 S-Curve, Linear, and S-Curve.
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Setting Up Parameters
This is used to select the acceleration/deceleration type for all motion (homes, jogs and
indexes). The “S-Curve” ramps offer the smoothest motion, but lead to higher peak
acceleration/deceleration rates. “Linear” ramps have the lowest peak acceleration/
deceleration rates but they are the least smooth ramp type. “5/8 S-Curve” ramps and “1/4 SCurve” ramps use smoothing at the beginning and end of the ramp but have constant (linear)
acceleration rates in the middle of their profiles. The “5/8 S-Curve” is less smooth than the
“S-Curve” but smoother than the “1/4 S-Curve”.
S-Curve accelerations are very useful on machines where product slip is a problem. They are
also useful when smooth machine operation is critical. Linear ramps are useful in
applications where low peak torque is critical. Below is a comparison of the 4 ramp types:
S-Curve: Peak Acceleration = 2 x Average Acceleration
5/8 S-Curve: Peak Acceleration = 1.4545 x Average
1/4 S-Curve: Peak Acceleration = 1.142857 x Average Acceleration
Linear: Peak Acceleration = Average Acceleration
Ramps Group
Stop Deceleration
The value you enter here defines the deceleration rate which is used when the Stop destination
is activated. The default is 100 RPM/second.
The Stop destination is found in the Ramps Group in the Assignments view.
Feedhold Decel/Accel
When the Feedhold destination is activated, the motor will decelerate to a stop in the time
specified by the FeedholdDecelTime parameter. When feedhold is cleared, the motor will
accelerate back to speed in the same specified period of time.
Feedhold is a means to halt the motor within a velocity profile and then return to the profile
later at the exact same place in the profile. Feedhold does not ramp and does not decelerate
in terms of velocity. Instead, it stops by decelerating time. For example, if the motor is
running at 50 revs/second and feedhold is activated with 2 seconds specified in the
FeedholdDecelTime parameter, then the motor will actually slow and stop in 2 seconds as
measured time (on a time/velocity profile) goes from 100% to 0%.
Travel Limit Decel
The value entered here is the deceleration ramp that is used when a software or hardware
travel limit is hit.
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FM-3 Programming Module Reference Manual
Torque View
The Torque View allows you to edit torque level and limit parameters as well as view realtime torque values when online.
By selecting Torque in the Hierarchy View, the Torque View will appear on the right (see
Figure 35). The right part of the screen is divided into groups. An explanation of the groups
and their functions is provided below.
Figure 35:
Torque View
Settings Group
Torque Level
This parameter sets the activation point for the Torque Level Active source. If set to 100%,
the Torque Level Active source will activate any time the Torque Command reaches or
exceeds 100% continuous. This parameter is specified in Torque User Units.
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Setting Up Parameters
Limits Group
Torque Limit
This parameter sets the value to which the Torque Command will be limited when the Torque
Limit Enable destination is active. To make the Torque Limit always active, assign the
Torque Limit Enable destination to the Initially Active source on the Assignments view.
Peak Torque
Displays the Peak Torque for the motor drive combination setup in the Setup View.
Online Status Tab
If online, this view will show the Torque Command, Limited Torque, Foldback RMS, and
Shunt Power RMS.
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FM-3 Programming Module Reference Manual
Tuning View
The Tuning View allows you to modify tuning parameters based on specific application
information.
By selecting Tuning in the Hierarchy View, the Tuning View will appear on the right (see
Figure 36). The right part of the screen is divided into groups. An explanation of the groups
and their functions is provided below.
For help on calculating tuning parameters and more in-depth tuning information, turn to
“Tuning Procedures” on page 213.
Figure 36:
Tuning View
Load Group
Inertia Ratio
Inertia Ratio specifies the load to motor inertia ratio and has a range of 0.0 to 50.0. If the exact
inertia is unknown, a conservative approximate value should be used. If you enter an inertia
56
Setting Up Parameters
value higher than the actual inertia, the resultant motor response will tend to be more
oscillatory.
Friction
This parameter is characterized in terms of the rate of friction increase per 100 motor RPM.
If estimated, always use a conservative (less than or equal to actual) estimate. If the friction
is completely unknown, a value of zero should be used. A typical value used here is less than
one percent.
Low Pass Filter Group
The Low Pass Filter will reduce machine resonance due to mechanical coupling and other
flexible drive/load components by filtering the command generated by the velocity loop.
Low Pass Filter Enable Checkbox
When selected it enables a Low Pass Filter to be applied to the output of the velocity
command before the torque compensator.
Low Pass Frequency
This parameter defines the Low Pass Filter cut-off frequency. Signals exceeding this
frequency will be filtered at a rate of 40 dB per decade. The default value is 600Hz.
Tuning Group
Response
The Response adjusts the velocity loop bandwidth with a range of 1 to 500 Hertz. In general,
it affects how quickly the drive will respond to commands, load disturbances and velocity
corrections. A good value to start with (the default) is 50 Hz. The maximum value
recommended is 80 Hz.
Enable Feedforwards Check Box
When feedforwards are enabled, the accuracy of the Inertia and Friction parameters is very
important. If the Inertia parameter is larger than the actual inertia, the result could be a
significant overshoot during ramping. If the Inertia parameter is smaller than the actual
inertia, following error during ramping will be reduced but not eliminated. If the Friction
parameter is greater than the actual friction, it may result in velocity error or instability. If the
Friction parameter is less than the actual friction, velocity error will be reduced but not
eliminated.
Position Error Integral Group
Time Constant Check Box
This enables the Time Constant parameter.
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FM-3 Programming Module Reference Manual
Time Constant
Position Error Integral is a control term, which can be used to compensate for the continuous
torque required to hold a vertical load against gravity. It is also useful in low speed
applications, which have high friction.
The user configures this control term using the “Position Error Integral Time Constant”
parameter. This parameter determines how quickly the drive will correct for in-position
following error. The time constant is in milliseconds and defines how long it will take to
decrease the following error to 37 percent of the original value. In certain circumstances the
value actually used by the drive will be greater than the value specified here.
Min Time Constant = 1000/Response
For example, with “Response” set to 50, the minimum time constant value is 1000/50 = 20
msec.
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Setting Up Parameters
Faults View
The Faults View displays any active faults. Figure 37 below shows the Faults view.
Figure 37:
Faults View
Active Faults Group
The Active Faults group contains the Active Faults window.
Active Faults Window
This window displays any active faults in the system. Those faults which do not require a
reboot can be cleared by clicking on the Reset button. For more detailed fault information,
refer to “Diagnostics and Troubleshooting” on page 225.
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FM-3 Programming Module Reference Manual
Power Up Group
These parameters will be active when online with the drive.
Power Up Count
This parameter shows the numbers of times the drive that the FM-3 is attached to has been
powered up since the last reset be the factory.
Power Up Time
This parameter shows the time, in hours, since the drive was last powered up.
Total Power Up
This parameter shows the total time that the drive has been powered up since reset by the
factory.
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Setting Up Parameters
PLS View
The PLS View allows users to define Programmable Limit Switches (PLS) for advanced
machine operation.
By selecting PLS in the Hierarchy View, the PLS View will appear on the right (see Figure
38).
Figure 38:
PLS View
A PLS can be used to turn on or off a bit based on feedback position, commanded position,
or master feedback position. Eight global PLS’s are available for a single application. To
operate a PLS, first it must be enabled (see the PLS enable destinations in the assignments
view) and then the Absolute Position Valid source must be active. Each PLS has its own
OnPoint and Off Point, as well as a Rollover Point.
The terms OnPoint and Off Point assume movement in the positive direction. Those labels
should be reversed if traveling in the negative direction.
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FM-3 Programming Module Reference Manual
Number of PLS Points
This parameter determines the number of PLS Points that will be used. Count always begins
with 0, so 5 points will be 0 to 4. Up to eight PLS points may be used simultaneously.
Source
The source of a PLS can be assigned to the motor axis (MotorPosnFeedback,
MotorPosnCommand) or a master synchronization signal (MasterPosnFeedback). The term
motor axis refers to the motor being controlled by the FM-3/drive combination. The source
list box is used to select the source for the individual PLS.
On Point
PLS.#.Status will be active when the selected source position is between the PLS.#.OnPosn
and the PLS.#.OffPosn. Assume that the PLS.#.Direction is set to "Both". When traveling in
the positive direction and the feedback position executes the OnPosn, the PLS.#.Status will
activate. As the motor continues in the same direction, the PLS.#.Status will deactivate when
feedback position reaches or exceeds the OffPosn. If motor travel changes to the negative
direction, the PLS.#.Status will activate when the feedback position reaches the OffPosn, and
will deactivate when it continues past the OnPosn. All on/off positions are defined in user
units.
PLS.#.Status will be active if:PLS.#.OnPosn < Feedback Position £ PLS.#.OffPosn
Off Point
PLS.#.Status will be active when the selected source position is between the PLS.#.OnPosn
and the PLS.#.OffPosn. Assume that the PLS.#.Direction is set to "Both". When traveling
in the positive direction and the feedback position reaches the OnPosn, the PLS.#.Status will
activate. As the motor continues in the same direction, the PLS.#.Status will deactivate when
feedback position reaches or exceeds the OffPosn. If motor travel changes to the negative
direction, the PLS.#.Status will activate when feedback position reaches the OffPosn, and will
deactivate when it continues past the OnPosn.
PLS.#.Status will be active if:PLS.#.OnPosn < Feedback Position £ PLS.#.OffPosn
If using negative values for your OnPosn and OffPosn, the most negative value should go in
the OnPosn parameter, and the least negative value should go in the OffPosn.
If the PLS has a rollover point, and the OnPosn is greater than the OffPosn, the PLS will be
active whenever the position feedback is not between the On and Off positions, and in-active
whenever the position feedback is between the two positions. However, the PLS.#.Status will
not turn on until it reaches the OnPosn the first time.All on/off positions are defined in user
units.
Direction
This parameter specifies the direction of motion that a particular PLS output will function. If
set to Both, the PLS will activate regardless of whether the motor (or master motor) is moving
in the positive or negative direction. If set to Plus, the PLS will activate only when the motor
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Setting Up Parameters
is moving in the positive direction. If set to Minus, the PLS will activate only when the motor
is moving in the negative direction.
For example:
A flying cutoff or flying shear application may use this feature to activate
the PLS to fire the knife only when the axis is moving in the positive
direction.
If accessing this parameter from a network, the following table displays values for this 16-bit
integer.
0
N/A
1
Both
2
Plus
3
Minus
Rotary Enable
This parameter is used to enable the RotaryRolloverPosn for this PLS.
Rollover Point
This parameter is the absolute position of the first repeat position for this PLS. When enabled
it causes the PLS to repeat every time this distance is passed. The repeating range begins at
an absolute position of zero and ends at the RotaryRolloverPosn.
For example, in a rotary application a PLS could be setup with an OnPosn of 90 degrees and
an OffPosn of 100 degrees. If the RotaryRolloverPosn is set to 360 degrees the PLS would
come on at 90, go off at 100, go on at 450 (360+90), go off at 460 (360+100), go on at 810
(2*360+90), go off at 820 (2*360+100), and continue repeating every 360 degrees forever.
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FM-3 Programming Module Reference Manual
Setup NVM View
At power-down, parameters can be saved to Non-Volatile Memory (NVM). See the "How
Communications Work" section of the "Operational Overview" chapter for more details. In
PowerTools Pro, you can customize which parameters will be saved in non-volatile memory.
Figure 39:
Setup NVM View
NVM Warning: Assigning parameters to NVM could shorten the life of your FM-3 or FM-4!
The Non-Volatile memory list displays the parameters that will be saved after power down.
A command to store these parameters into the NVM is given to the module whenever a
parameter on the list changes value (via a program or a communications network). Currently
the NVM in the FM-3 will accept at a minimum, 1 million writes before the FM-3 ceases
operation.
Therefore, do not add parameters to the NVM list if these parameters will be changing more
than an average of 1 time every 30 seconds.
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Setting Up Parameters
User Variables View
User variables allow the user to store data related to their system into a parameter, which the
user can name. The user must define each user variable by giving it a name, resolution
(number of decimal places), and initial value. All user variables are signed 32-bit parameters.
Setup for the User Variables is done on the User Variables view located under the Setup group
in the hierarchy. The User Variables view is shown in Figure 40 below.
Figure 40:
User Variables View
The following parameters are part of the User Variable definition:
Name
This is a twelve-character string that allows the user to assign a descriptive name to the
parameter. Spaces are not allowed in the name of a user variable.
Decimal
This parameter defines the number of digits (up to 6) to be used after the decimal point for
the specific variable. This is the maximum resolution that the parameter will have.
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FM-3 Programming Module Reference Manual
Initial Value
This is the initial value of the user variable that will be used on power up. If the user variable
has been configured as a Save to NVM parameter, then the value in NVM will overwrite the
initial value on power up.
Adding and Deleting Variables
The default number of variables is ten. To add more user variables, click on the up arrow next
to the “Number of User Variables” window on the User Variables view. The maximum
number of user variables is 500.
Only the last variable in the list can be deleted. To delete the last variable, simple click on
the down arrow next to the “Number of User Variables” window.
User variables are all of a Global type, meaning that they can be accessed from any program.
Online Tab (not shown)
While online with the FM-3, an online tab will be shown on the lower half of the User
Variables view. This online tab will show the current value of each of the user variables.
Using Variables in a Program
Once setup, user variables can be used inside a program in calculations, motion profile setup,
or any other user-desired function. To access user variables, click on the Drag in Variables
icon in the user program toolbar. User Variables is a branch in the Drag In Variables selection
box.
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Setting Up Parameters
User Bits View
User Bits act just like User Variables except that they allow the user to store bit level
parameters rather than 32-bit parameters. The user may customize each User Bit by giving it
a Name and an Initial Value.
The Name for each bit may be up to 12 characters in length, and must start in an alpha
character (non-numeric character). Spaces are not available in the Name for a User Bit,
however the underscore character ("_") may be used.
The Initial Value for each user bit is configured using a checkbox for the specific bit. To make
the Initial Value "On" or "Active", simply enable the checkbox for that bit. The default value
for each User Bit will be "Off" or "Inactive".
User Bits are configured on the User Bits view as shown in Figure below.
User Bits may be accessed in the User Program. Several examples of this are shown below.
Bit.Raise_Table = ON
Wait For Bit.Vacuum_ON = OFF
Wait For Bit.RunPart_A OR Bit.RunPart_B OR Bit.RunPart_C
If (Bit.RunPart_A = ON AND Bit.Vacuum_ON = OFF) Then
Call Program.1
Endif
Bits are turned on by setting them equal to ON, TRUE, YES, SET, or ENABLE (not case
sensitive), and can be deactivated by setting them equal to OFF, FALSE, NO, CLEAR, or
DISABLE. Setting an individual bit equal to 1 or 0 in a user program will cause a red dot
error. The Boolean values listed above must be used.
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FM-3 Programming Module Reference Manual
Figure 41:
User Bits View
Adding and Deleting User Bits
User bits can be added or deleted in groups of 32-bits. Individual bits cannot be added or
deleted. The default number of User Bits available is 32. To add an additional 32 bits, simply
click on the “Up Arrow” on the spinner box at the top of the User Bits view (see Figure 41).
To decrease the number of User Bits by 32, click the “Down Arrow” on the spinner box.
When decreasing the number of User Bits, it is always the last 32 bits in the list that will be
eliminated.
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Setting Up Parameters
User 32-bit Bit Register and User Bit Masking
When using different communications protocols (i.e. DeviceNet, Profibus, Modbus), it is
often desirable to access groups of User Bits in a single parameter, rather than having to
access them individually. In the FM-3 module it is possible to access 32 User Bits in a single
parameter. This parameter is named BitRegister.#.Value. Because some of the 32 User Bits
may be used by the program, and should not be modified from the network communications,
it is possible to “Mask Off” certain bits. Masking bits prevents them from being modified in
the program when the 32-bit parameter is written to.
When a User Bit Register (group of 32 User Bits) is written to, the value is then logic-AND’ed
with the mask to determine the resulting state of each of the 32 individual bits. If the
individual bit value of the 32-bit mask is “1”, then the corresponding bit from the written 32bit parameter is passed through, and the resulting value stored in the specific bit will be the
written bit value. If the bit value of the 32-bit mask is “0”, then that particular bit is blocked
(or masked), and the resulting bit value does not change, (Original Value AND NOT 32-Bit
Mask) or (Value Written over Network AND 32-Bit Mask). An example of this is shown
below.
Original
Value
Bit #31
15
0
1 0 0 0 0 0 0 1 0 1 0 0 0 0 0 0 1 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0
Value written
over network
0 1 1 0 1 0 0 0 0 1 1 1 1 0 0 0 0 1 1 1 1 1 1 1 0 1 0 1 0 1 1 0
32-bit Mask
0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 1
Result stored
in each bit
1 1 0 0 0 0 0 0 0 1 0 1 0 0 0 0 1 1 0 1 0 1 1 1 0 1 0 1 0 1 0 0
Figure 42:
Writing to the User Bit Register
The Mask is only used when WRITING to the 32-bit parameter, BitRegister.#.Value. When
reading the 32-bit value, all bits are read regardless of the mask.
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FM-3 Programming Module Reference Manual
FM-3/4
Write
Network
Master
Read
AND
Mask
Value
Written data is AND’ed with the Mask
and then written into 32-bit Value.
Read data is read directly from the
32-bit Value and bypasses the Mask.
Figure 43:
User Bits Read/Write Process
Configuring the User Bit Mask Register
The User Bit Mask is a 32-bit parameter that can be configured through Power Tools Pro, in
the User Program, or over the communications network. The default value for the Mask
register is 0xFFFFFFFF (HEX), or all bits ON. To change the Mask value using PowerTools
Pro, navigate to the Mask tab on the User Bits view. See Figure below).
In the User Bits Mask view, each bit of the Mask can be set to 0 or 1 individually. ON (or 1)
is indicated by a shaded square, and OFF (or 0) is indicated by an empty square. Bit 31 is the
most significant bit in the word, and bit 0 is the least significant bit. If the bit is shaded, it
means that particular bit will be passed through when written.
Each additional group of 32 User Bits that are added, a new Mask parameter will appear for
that group. Mask 0 will control the mask for User Bits 0 through 31. Mask 1 will control the
mask for Bits 32 through 63. This sequence repeats for each additional 32 bits that is added.
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Setting Up Parameters
Figure 44:
User Bits Mask View
To configure the mask in a user program, the parameter named BitRegisiter.#.ValueMask is
written to. The mask can be written to using Hexadecimal based values or decimal based
values. To write a hexadecimal value to the parameter, the hex value must be preceded with
the characters "0x". To write a decimal value to the parameter, normal notation is used. For
examples of writing the Mask to a value in a program, see below.
For example:
BitRegister.0.ValueMask = 0xFFFF0000
This example writes a 1 into all bits of the upper sixteen bits, and 0 into each of the lower
sixteen bits using hexadecimal value. To write the same value using decimal notation, the
following instruction would be used.
For example:
BitRegister.0.ValueMask = 4294901760
This instruction would also write a 1 into each of the upper sixteen bits, and a 0 into each of
the lower sixteen bits.
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I/O Setup Group
The I/O Setup group contains four views that control input and output functions as well as
other drive functions. These views are as follows: Selector, Assignments, Input Lines and
Output Lines. These can be viewed by expanding I/O Setup by simply clicking on any one of
the setup views underneath the I/O Setup.
Assignments
External control capability is provided through the use of assignments to the sources (Drive
Inputs and Module Inputs) or the destinations (Drive Outputs and Module Outputs).
Assignments provide a mechanism for the user to define the internal and external dynamic
control structure to separate complex motion profiles. These functions directly correspond to
any input or output line on the drive or the FM-3 module. External controllers, such as a PLC
or other motion controllers, may be connected to affect or monitor the device’s operation.
The drives are equipped with five optically isolated input lines (one dedicated to a Drive
Enable function) and three optically isolated output lines. The FM-3 module has an additional
eight input and four output lines.
The drive’s input and output lines can be accessed through the removable 10-pin I/O
connector (J6), or through the 44-pin command connector (J5). The FM-3 input and output
lines are located on the front of the FM-3 module.
All inputs and outputs are configured as sourcing and are designed to operate from a +10 to
30 VDC power source. You are responsible for limiting the output current to less than 200
mA for each digital output.
Assignments View
The Assignments View not only displays information but also makes assignments regarding
the source and the destination.
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Setting Up Parameters
Figure 45:
Assignments View
The Assignments View is used to tie a source to a destination. Destinations are functions that
need to be triggered, such as Index Initiates, Program Initiates, Jog Initiates and so on.
Sources are located on the left side of the Assignment View and reflect events that occur in
the drive. These events are based on drive activity. By expanding individual groups, you will
see more detailed parameters. For example, if you expand the Inputs source group, you will
see DriveInput.1 through ModuleInput.8, as shown in Figure 45. You can use these events to
trigger certain actions (or destinations) on the right side of the view.
To make an assignment in the FM-3 module occur, you must tie a source to a destination.
Any source can be tied to any destination to create the desired system operation.
Creating An Assignment:
Various methods can be used to tie a source (such as DriveInput.1) to a destination, such as
Index.0.Initiate:
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FM-3 Programming Module Reference Manual
Drag and Drop Method
First, position your pointer over the source on the left that you wish to assign to the destination
on the right. Press the left mouse button while over the source, and hold the button down.
While holding the left button down, drag the source over until your pointer is positioned over
the desired destination and release the left mouse button.
Destinations can also be dragged over to sources.
Assign Button Method
Click on both the source and destination you wish to assign to each other. Once both are
highlighted, the Assign button in the lower left corner of the view will become enabled. Click
on the Assign button to complete the assignment. Figure 46 shows the source and destination
highlighted, and the Assign button has just been clicked.
Once an assignment has been made, you will see the “Assigned to..” and the “Set From”
columns be filled in for the specific sources and destinations. This indicates what
destination(s) an individual source has been assigned to, and what source(s) an individual
destination is assigned to.
Any source can be assigned to up to ten different destinations maximum. Any destination can
have as many sources as desired assigned to it.
Deleting An Assignment
Delete Button Method
Click on both the source and destination your wish to delete. Once both are highlighted, the
Delete button will become available. Click on the Delete button to remove the assignment.
Right Click Method
Position the pointer over the specific assignment you with to delete and click the right mouse
button. A selection box will appear. From this selection box, choose Delete.
After either of these procedures, the assignment will disappear.
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Setting Up Parameters
Figure 46:
Tying a Source to a Destination
Assignment Polarity
The active state of an assignment can be programmed to be Active Off, Active On, or Custom
using PowerTools Pro. Making an assignment “Active On” means that the destination will be
active when the source it is assigned to becomes active, and is inactive when the source is
inactive. Making an assignment “Active Off” means that the destination will be active when
the source it is assigned to is inactive, and will be inactive when the source is active.
The polarity of the assignment can also be changed to Custom when required. Custom
polarity allows you to make a destination activate and deactivate based on two different
sources.
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Note
Destination functions which initiate motion (Jog.PlusInitiate, Jog.MinusInitiate,
Index.#.Initiate, and Home.#.Initiate) cannot be set “Active Off”.
Default polarity for a new assignment is Active On. Two methods will change the polarity of
an assignment.
Polarity Button Method
Click on both the source and the destination to be changed. Once highlighted, the Polarity
button will become available in the lower left corner of the view. Click on the Polarity button
and change the settings as desired in the Polarity edit box. Click OK to apply the changes.
Right Click Method
Position the pointer over the specific assignment you with to change polarity for and click the
right mouse button. A selection box will appear. From this selection box, choose Polarity. A
Polarity edit box will appear. Change the Polarity settings as desired and click OK to apply
the changes.
User Level
The User Level filters the available assignments. The User Level is changed on the Options
menu at the top of the PowerTools toolbar. Choose Options/Preferences/User Levels. Easy
mode filters out all but the most commonly used sources and destinations. Detailed mode
filters out less, expanding the list of sources and destinations for more complex
configurations. Too Much mode does not filter at all and provides all sources and
destinations.
Only Show Assigned
This checkbox removes the unassigned sources and destinations from this view. It allows the
user to quickly see how many sources and destinations have been assigned.
Assignments that Automatically Use Position Capture
Certain assignments (Sources or Destinations) automatically generate position capture data
internally for greater performance and accuracy. This captured data is used by the FM-3
module, but is not directly available to the user. Following is a list of assignments that
automatically generate or use captured data.
Sources that generate capture data
Module Inputs – The FM-3 Module Inputs (not base drive inputs) are constantly monitored
by the processor, and when activated will automatically capture related data. The processor
controls all resetting requirements. The capture only occurs on the rising edge of an input.
When the input is activated, the captured data will automatically be passed to the destination
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Setting Up Parameters
that it is assigned to. The destination may then use the captured data to accurately initiate
motion (if it is a motion-related destination).
Motor Encoder Marker – The rising edge of the motor encoder marker pulse will
automatically capture data. This will allow the user to accurately initiate motion on the rising
edge of the motor encoder marker pulse. The falling edge of the marker pulse does not
capture data.
Master Encoder Marker – The rising edge of the master encoder marker pulse will
automatically capture data. This allows the user to accurately initiate motion on the rising
edge of the master encoder marker pulse. The falling edge of the marker pulse does not
capture data.
Index/Jog Command Complete – Activation of the command complete signal at the end of
indexes and jogs will automatically capture data. A subsequent index, jog, or dwell can then
use the captured data to start itself extremely accurately at the end of the previous motion.
Index/Jog At Velocity – Activation of the command complete signal at the end of indexes
and jogs will automatically capture data. A subsequent index, jog, or dwell can then use the
captured data to start itself extremely accurately at the end of the previous motion.
PLS Status – A rising or a falling edge of a Global PLS will automatically capture data for
use in initiating motion. In order to accurately initiate motion from a Global PLS, an
assignment can be made from PLS.#.Status to the initiate destination.
Destinations that use captured data:
Index/Jog Initiates – When one of the sources listed above is assigned to an Index or Jog
Initiate, the captured information is automatically applied to the index starting point. This
offers extremely high accuracy for initiation of motion, which is beneficial especially in
synchronized applications.
Index.#.SensorTrigger – The sensor trigger destination used in registration indexes can use
captured data to accurately calculate the ending position of the index based on the
Registration Offset parameter. The Offset distance is added to the captured position to get
the accurate stopping position for the registration index.
Selector View
The Selector View is located under I/O Setup in the Hierarchy on the left of the view.
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Figure 47:
Selector View
The selector allows conservation of the number of input lines by using a binary input
conversion to decimal. The binary select lines are set up by assigning sources to the
selector.select destinations on the Assignments view. In most cases, hardware inputs are
assigned to the selector.select functions (see Figure 47).
Based on the status of the binary select lines, a selector.selection source will be active when
the Selector.SelectorInitiate destination is activated.
At the top of the Selector view, the Selector Input Destinations field defines how many binary
select lines will be used. The number of Selector.Selections is a direct result of the number of
select lines. The formula is as follows:
# of selections = 2n where n is the number of select lines.
The maximum number of select lines is eight.
Once you have determined how many select lines you want, the assignments to these
Selector.Select lines must then be made in the Assignments View.
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Setting Up Parameters
Figure 48:
Assignment View
For example, if we entered 2 for the number of Selector Input Destinations, we would have 4
selection lines (Selector.Selection0 through Selector.Selection3). The Selector.Selection
number that is activated is determined by the status of the Selector.Select lines when the
Selector.Selector Initiate bit is activated. Each select line has a specific binary value.
The binary value is determined as follows:
Sn x 2n where Sn = Status of Selector.Select line n
Sn = 0 if Selector.Select line n is inactive, and
Sn = 1 if Selector.Select line n is active
The sum of all the binary values determines which Selector.Selection line will be active.
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The following examples demonstrate how to determine which Selector.Selection will activate
based on the Selector.Select lines.
Example 1:
If Selector.Select2 is active, Selector.Select1 is inactive, and Selector.Select0 is active, then
the total binary value is as follows:
S2 = 1, S1 = 0, and S0 = 1. Therefore,
Total Binary Value = (1 x 22) + (0 x 21) + (1 x 20)
Total Binary Value = 4 + 0 + 1
Total Binary Value = 5
Therefore, when Selector.SelectorInitiate activates, then Selector.Selection5 will activate.
Example 2:
If Selector.Select2 is inactive, Selector.Select1 is active, and Selector.Select0 is active, then
the total binary value would be as follows:
S2 = 0, S1 = 1, and S0 = 1. Therefore,
Total Binary Value = (0 x 22) + (1 x 21) + (1 x 20)
Total Binary Value = 0 + 2 + 1
Total Binary Value = 3
Therefore, Selector.Selection3 would activate.
The Selector.Select lines can change without any action until the Selector.SelectorInitiate
destination is activated.
Selector.Selection sources can be tied to any destination in the Assignments view. Figure 48
shows the four selection lines being tied to Index 0 through Index 3 initiates. By doing this,
we could initiate up to four indexes with only two select lines and a selector initiate. This can
help minimize the number of inputs required to initiate a large number of indexes or
programs.
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Setting Up Parameters
Input Lines View
The Input Lines View displays any functions that have been assigned to the drive or module
hardware inputs. See Figure 49.
Note
No assignments can be made using the Input Lines View, assignments are only displayed
in the Input Lines View.
Figure 49:
Input Lines View
Two functions can be performed on the Input Lines view.
Name
You can assign a descriptive name to each input and make the setup easier to follow. The
length of the text string is limited by the column width with a maximum of 12 characters.
Simply double click on the Name field of any input line to assign a name to it.
Debounce
You can program a “Debounce Time” to any input line, which means the motion profile will
need to be steady for at least the debounce time before it is recognized. This feature helps
prevent false triggering in applications in noisy electrical environments. At the end of the
debounce time, the next action can occur.
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Figure 50:
Input Line Diagram
If the Input Line attached to the home sensor is debounced, the actual rising edge of the Home
Sensor is used to determine the Home Reference Position (the debounce time ensures a
minimum pulse width).
Output Lines View
The Output Lines View displays any functions that have been assigned to the drive or module
hardware outputs. See Figure 51.
Figure 51:
Output Lines View
Names
Descriptive text names can be assigned to individual output lines to make the setup easier to
follow.
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Setting Up Parameters
Analog Inputs View
The FM-3 module is able to use the analog input circuitry located on the drive. The analog
input accepts a +10 to –10 Volt signal. The analog input can be setup on the Analog view,
which is located underneath the I/O Setup group in the PowerTools Pro hierarchy.
Figure 52:
Analog Inputs View
The drive has a 14-bit analog to digital converter (A/D) which is used to transform the analog
voltage to a usable parameter in the FM-3 module. The analog input is scanned every 100
microseconds.
User Units
This parameter allows the user to enter a 12 character string to be used as units for the analog
input parameter.
Decimal
This parameter defines how many digits (up to six) are used after the decimal place for the
user unit scaled analog input parameter. This defines the maximum resolution of the analog
input parameter.
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Bandwidth
This parameter sets the low-pass filter cutoff frequency applied to the analog input. Signals
exceeding this frequency will be filtered at a rate of 20 dB per decade.
Maximum Value
This parameter is used for user unit scaling. Enter the maximum value in analog user units to
which the maximum analog voltage should correspond.
Maximum Voltage
Enter the maximum voltage that will be seen on the analog input terminals. The user can enter
the value in this field by hand, or set the analog source to it’s maximum value, and click on
the “Set Max Voltage to Measured” button next to the edit box. This will read the current
value on the analog channel and enter it into the Maximum Voltage edit box.
Minimum Value
Enter the minimum value in analog user units that the minimum analog voltage should
correspond to.
Minimum Voltage
Enter the minimum voltage that will be seen on the analog input terminals. The user can enter
the value in this field by hand, or set the analog source to it’s minimum value, and click on
the “Set Min Voltage to Measured” button next to the edit box. This will read the current
value on the analog channel and enter it into the Minimum Voltage edit box.
Raw Value
This parameter is visible while Online. It is the raw analog input in Volts.
Value
This parameter is visible while Online. This is the results of the analog value scaled to the
user unit value.
Read Max/Min Voltage Settings
This button is not funtional for the FM-3 module.
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Setting Up Parameters
Motion Group
All motion parameters related to Jogs, Homes, Indexes and Gearing are located in the Motion
hierarchy group.
Motion views will use units that correspond to Realtime or Synchronized motion. This choice
is made on each motion view. The units are customized in the Setup Group: Realtime units
are defined on the User Units View, and Synchronized units are defined on both the User
Units View and the Master Units View.
Each of the motion views, when online, have an Online tab that displays feedback information
and provides buttons to initiate motion.
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Jog View
Jogging produces rotation of the motor at controlled velocities in a positive or negative
direction. The jog is initiated with the Jog.#.Initiate destination or from a program.
Figure 53:
Jog View
Jog Number
This scroll box allows you to select between Jog0 and Jog1 setup views.
Jog Name
This is a descriptive character string which can be assigned to the specific jog. Giving a name
to a jog can make the motion setup easier to follow.
Time Base
This list box allows the user to select between a jog that is based on time (Realtime) as defined
by user units, normally in seconds, or a time based on Master position via an external encoder
(Synchronized) set in the Master Units View.
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Setting Up Parameters
Jog Velocity
This parameter specifies the target jog velocity for the individual Jog. The motor will run at
this velocity when jogging with an assignment or through a program. This value is a signed
number. The direction of the jog is determined by the sign of the jog velocity as well as using
the Jog.PlusInitiate or the Jog.MinusInitiate.
Jog Acceleration
This is the acceleration ramp used when initiating this individual Jog. If S-Curve ramps are
used, then this is the average acceleration rate for the entire ramp. The units for the
acceleration are setup in the Setup - User Units View in PowerTools Pro.
Jog Deceleration
This is the deceleration ramp used when stopping this individual Jog. If S-Curve ramps are
used, then this is the average deceleration rate for the entire ramp. The units for the
deceleration are setup in the Setup - User Units View in PowerTools Pro.
Jog Sources and Destinations
Sources
Jog.AnyCommandComplete
The Jog.AnyCommandComplete source will activate when either Jog0 or Jog1 completes its
deceleration ramp, and reaches zero commanded velocity. It will deactivate when any Jog is
initiated again. If the Stop destination is used during a Jog, then the
Jog.AnyCommandComplete will not activate.
Jog.#.Accelerating
This source is active while a jog is accelerating to its target velocity. Once the Jog reaches the
target velocity, the Jog.#.Accelerating source will deactivate.
Jog.#.AtVel
This source activates when the individual jog reaches its target velocity. It deactivates when
a jog deceleration ramp begins.
Jog.#.CommandInProgress
The Jog.#.CommandInProgress source is active throughout an entire jog profile. The source
activates at the beginning of a jog acceleration ramp, and deactivates at the end of a jog
deceleration ramp.
Jog.#.CommandComplete
The Jog.#.CommandComplete source will activate when the specific jog completes its
deceleration ramp. It will remain active until the specific jog is initiated again. If the Stop
destination is used during a Jog, then the Jog.#.CommandComplete will not activate.
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Jog.#.Decelerating
This source is active while a jog is decelerating from its target velocity. Once the Jog reaches
zero velocity (or its new target velocity), the Jog.#.Decelerating source will deactivate.
Destinations
The following destination functions can be found in the Assignments view under the I/O setup
group:
Jog.PlusActivate
When this destination is activated, jogging motion will begin in the positive direction. The
jog velocity is determined by which jog (Jog0 or Jog1) is active or not. A jog stops when this
destination is deactivated. If the jog velocity is negative, Jog.PlusActivate will cause the
motor to jog in the negative direction.
Jog.MinusActivate
When this destination is activated, jogging motion will begin in the negative direction. The
jog velocity is determined by which jog (Jog0 or Jog1) is active or not. A jog stops when this
destination is deactivated. If the jog velocity is negative, Jog.MinusActivate will cause the
motor to jog in the positive direction.
Jog.Select0
This destination is used to select between Jog0 and Jog1. When the Jog.Select0 destination is
not active, the target velocity for the jog is the Jog.0.Velocity. If the Jog.Select0 destination
is active, the target velocity of the jog is the Jog.1.Velocity. Jog.Select0 can be toggled “On”
or “Off” while jogging. Jog acceleration and deceleration ramps are used to ramp between jog
velocities.
Below is a description of jog operation using these destinations.
Note
In the table below Jog.0.Velocity = 100 RPM and Jog.1.Velocity = -500 RPM.
Jog.PlusActivate
Jog.MinusActivate
Jog.Select0
Motion
Off
Off
Off
0 RPM
On
Off
Off
+100 RPM
Off
On
Off
-100 RPM
On
Off
On
-500 RPM
Off
On
On
+500 RPM
On
On
Off
0 RPM
On
On
On
0 RPM
All Jog destinations are level sensitive.
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Figure 54:
Jog Activation
0
Figure 55:
Jog Select Details
If the Jog direction is reversed, the Jog.#.Decel value will be used to decelerate the motor to
zero speed and then the Jog.#.Accel will be used to accelerate to the new (opposite sign)
velocity.
Note
The Jog destinations cannot be initiated when any other motion type (homing, indexing,
or programs) is in progress.
If both jog input functions are “On” there is no motion after a jog deceleration (they
effectively cancel each other). The drive’s display will show “R”, for ready.
If the device is jogging with the Jog.PlusActivate destination active and the
Jog.MinusActivate destination activates, the motor will behave the same as if it would if
Jog.PlusActivate just deactivated.
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The Stop destination (found under the Ramps group in the Assignments view) will override
the Jog operation and decelerate the motor to zero speed at the stop deceleration rate.
If the motor reaches a Travel Limit, you can Jog off the Travel Limit in the opposite direction.
(Use Jog.PlusActivate to move off a Travel Limit -).
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Setting Up Parameters
Home View
The Home is used in applications in which the axis must be precisely aligned with some part
of the machine. The Home is initiated with the Home.#.Initiate Destination or from a
program.
Figure 56:
Home View
Home Number
The Home Number parameter displays which home sequence you are editing and allows you
to scroll through multiple home sequences using the up and down arrows. The first release
only allows for one home sequence.
Name
Allows you to assign a descriptive name to the home sequence up to 10 characters in length.
Home Reference
This parameter determines the signal used as the reference. The parameter can have one of
three different values: 'Sensor', 'Marker', or 'Marker then Sensor'. When the home reference
is 'Sensor' the rising edge of the 'Home.#.SensorTrigger' destination is used to establish the
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home position. When the home reference is 'Marker' the rising edge of the motor encoder's
marker channel is used to establish the home position. When the home reference is 'Sensor
then Marker' the home position is established using the first marker rising edge after the
Home.#.SensorTrigger destination activates.
Time Base
Selects the Time Base for the home move velocity and acceleration/deceleration. Realtime
and Synchronized are the allowed selections.
Velocity
Sets the target velocity for the home. The polarity determines the home direction. Positive
numbers cause motion in the positive direction and negative numbers cause motion in the
negative direction in search of the home reference.
Acceleration
Average Acceleration rate used during the home. Units are specified on the User Units View.
Deceleration
This is the average Deceleration rate used at the end of the Home move in user units.
If on sensor... Group
These radio buttons determine how the system reacts if the Home.#.SensorTrigger is already
active when the home is initiated.
’Back off before homing’ Radio Button
If this radio button is set, the drive will back off the sensor before beginning the home. It does
this by moving the direction opposite to that specified by the sign of the home velocity. It
continues moving in this direction at the target home velocity until the sensor goes
deactivates. The motor then decelerates to a stop and performs a standard home.
’Go forward to next sensor’ Radio Button
If this radio button is set, then the system will ignore the sensor that is active when the home
is initiated, and move in the proper direction until the first low to high transition of the Home
Reference signal.
Home Offset Group
The Home Offset group has two buttons, the calculated Offset Radio Button and the Specified
Offset Radio Button.
Calculated Offset Radio Button
The calculated offset is defined as the distance traveled during deceleration ramp from the
home velocity to a stop plus the distance traveled at the home velocity for 1600µs. This extra
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Setting Up Parameters
distance is used to guarantee that the motor will not need to backup after the deceleration
ramp.
Specified Offset Radio Button
The specified offset allows the user to choose an exact offset from the Home Reference point.
The commanded motion will stop at exactly the offset distance away from the reference point
as specified. If the specified offset is smaller than the calculated offset, the motor will
decelerate to a stop and then back up to its final offset position.
Limit Distance
LimitDistEnable
This checkbox enables the specified Home Limit Distance.
The Limit Distance parameter places an upper limit on the incremental distance traveled
during a home. If no home reference is found in this distance, the motor will decelerate to a
stop at the limit distance and activate the Home.#.LimitDistHit source.
End of Home Position
This parameter defines the position at the completion of the home. This defaults to 0.0 such
that at the end of a home, the Feedback Position and the Commanded Position are set to 0.0.
If you wish your Feedback Position to be something other than 0.0 at the end of a home, then
enter the exact desired position here.
Below is a diagram of a home using the "Back off before homing" radio box, a Home
Reference of "Sensor", and using a "Calculated Offset".
Home
Sensor
Input
Off
On
On
Off
Velocity
Back off
Sensor Move
Time
Start of Normal
Home Routine
Home Reference
Position
Figure 57:
Home Reference Position
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Home Sources and Destinations
Sources
Home.AbsolutePosnValid
This source is activated when a Home is successfully completed. It indicates that the device
has been homed properly. It is will be deactivated by the Home.#.Initiate destination, an
encoder fault, a reboot, or when the device is powered down, unless using Auxiliary Logic
Supply (ALP).
Home.AnyCommandComplete
This source is activated when any home motion command is completed. If a drive stop
destination is activated before the home has completed, this source will not activate. It will
be deactivated when another home is initiated.
Home.#.Accelerating
This source is active while a home is accelerating to its target velocity. Once the home reaches
the target velocity, the Home.#.Accelerating source will deactivate. This source will also
activate during the "back off sensor" motion before the actual home.
Home.#.AtVel
This source activates when the home reaches its target velocity. It deactivates when a home
deceleration ramp begins. Home.#.AtVel will not be activated during the "back off sensor"
portion of the home.
Home.#.CommandComplete
The Home.#.CommandComplete source will activate when the specific home completes its
deceleration ramp. It will remain active until the specific home is initiated again. If the drive
stop destination is used during a home, then the Home.#.CommandComplete will not
activate.
Home.#.CommandInProgress
Activated when the Home is initiated and remains active until all motion related to the Home
has completed.
Home.#.Decelerating
This source is active while a home is decelerating from its target velocity. Once the home
reaches zero velocity (or its’ new target velocity), the Home.#.Decelerating source will
deactivate. This source will also activate during the "back off sensor" motion before the actual
home.
Home.#.LimitDistHit
This source is activated when the home reference is not found before the Home Limit
Distance is traveled. It will remain active until the home is initiated again.
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Setting Up Parameters
Destinations
Home.#.Initiate
The Home.#.Initiate destination is used to initiate the home function. The Home is initiated
on the rising edge of this function. The device will not initiate a Home if there is an Index,
Jog, or Program in progress, or if the Stop destination is active or if a travel limit is active.
Home.#.SensorTrigger
This destination is required to be used if you are homing to a sensor. This destination is edge
sensitive. The home position is determined when the Home Sensor destination is activated.
If the device receives a Home.#.Initiate input while the Home.#.SensorTrigger is active, you
can choose to have the motor “back-off” of the home sensor before it initiates the home
function, or move forward to the next sensor.
If debounce is used on the hardware input that the Home.#.SensorTrigger is assigned to, the
debounce determines the length of time the input must be active to be considered a valid input.
The rising edge of the sensor is still used for the reference position. This maintains accuracy
while providing the ability to ignore false inputs.
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Index View
An index is a complete motion sequence that moves the motor a specific incremental distance
or to an absolute position. The index is initiated with the Index.#.Initiate destination or from
a program.
Figure 58:
Index View
Index Number
The Index Number parameter selects the index number with a scroll box.
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Setting Up Parameters
Index Name
The User can specify an Index name of up to 12 alphanumeric characters. This allows
assigning a descriptive name to each index indicating different machine operations.
IndexType
Select the index type from Incremental, Absolute, Registration, Rotary Plus, or Rotary Minus.
Click the down arrow on the parameter list box to select the desired type of Index profiles, as
follows:
Incremental Indexes run a specified distance from the current position.
Absolute Indexes move to an exact position with respect to the home reference point. The
absolute index could run in either a clockwise (CW) or counterclockwise (CCW) direction
dependent on the current position when it is initiated.
A Registration Index runs at the specified velocity until a registration sensor is seen or until
it reaches the Registration Limit Distance. If a Registration Sensor is seen, then the index runs
an additional Registration Offset distance.
Rotary Plus and Rotary Minus type indexes are typically used in applications which use rotary
rollover. These absolute indexes are forced to run in a specific direction regardless of the
starting point.
Time Base
This list box selects the Time Base for the index velocity and acceleration/deceleration. Realtime and Synchronized are the allowed selections.
Distance/Position
The Distance/Position parameter is a signed value which specifies the distance the index will
travel (incremental index) or the absolute position the index will move to (absolute index). In
the case of an incremental index, this parameter also determines the direction the index will
travel. If an index type of Registration is selected, then this is a limit distance, or the
maximum distance the index will travel if a registration sensor is not seen.
Velocity
This sets the target velocity for the index profile. The velocity parameter is unsigned and must
be greater than zero. Direction of the index is not determined by the velocity, but by the
Distance/Position parameter.
Acceleration
Average Acceleration rate used during the index. Units are specified on the User Units View.
Deceleration
The Deceleration parameter specifies the deceleration value to be used during the index in
user units.
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Timed Indexes
A Timed Index allows the user to specify the amount of time in which to perform an index
rather than specifying the Velocity, Acceleration, and Deceleration. The processor in the FM3 will automatically calculate the necessary velocity, accel, and decel in order to achieve the
programmed distance in the specified time. A Timed Index can not be compounded into or
out of.
All index types can be specified as a Timed Index, except for Registration type indexes. This
is because a registration index does not have a specified distance or absolute position. During
a registration type index, the registration sensor could activate at any time, and therefore it is
impossible to calculate the necessary velocity, accel, and decel. If Registration type is
selected, then the Time checkbox will become disabled.
Based on the Distance entered (or Position for Absolute indexes) and the Time value
specified, the calculations could result in extremely high Velocities, Accels, and Decels. To
avoid damage to mechanical parts, or potentially dangerous situations, the user is allowed to
enter the Maximum Velocity, Acceleration, and Deceleration used for the calculations. The
results of the firmware calculations will never exceed the maximum values specified.
Figure below shows a screen capture in which the Time checkbox has been enabled. Notice
how the parameters which normally say Velocity, Acceleration, and Deceleration have
changed to say Max. Velocity, Max. Acceleration, and Max. Deceleration. When the Time
checkbox is enabled, these parameters automatically become maximums for use in the
calculations.
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Setting Up Parameters
Figure 59:
Time Checkbox Enabled
If the values for Max.Velocity, Max.Acceleration, and Max.Deceleration are such that the
distance cannot be covered in the specified time, the Index.ProfileLimited flag will activate
when the index is initiated, indicating the index cannot be performed as desired. The internal
calculation are performed only when the index is initiated, and therefore is the only time the
flag will activate. The Index.ProfileLimited flag will remain active until cleared using the
Index.ResetProfileLimited assignment or program instruction. In this situation, the index
will still operate, but the time will be extended. In other words, the profile will be performed
using the maximums values and still cover the specified distance, but not in the specified
time.
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The units for the Time parameter depend on the current setting of the Time Base parameter.
If Time Base is set to “Realtime” (default), then the units for the Time parameter are Seconds.
The user can program the index time with resolution of 0.001 Seconds (or milliseconds). If
Time Base is set to “Synchronized”, the units for the Time parameter are defined by the
Master Distance Units found on the Master Setup screen.
Doing a synchronized Timed Index means that the user can specify the master distance in
which the index should be performed. This can be very useful in many synchronized motion
applications.
The internal calculations are designed to calculate a triangular profile (all accel and decel)
The ratio of acceleration to deceleration will be the same ratio as Max. Acceleration to Max.
Deceleration parameters. For example, if the deceleration is desired to be twice the
acceleration, a number twice the value of max acceleration would we entered for maximum
deceleration. If the Maximum Velocity is low enough such that the profile will become
trapezoidal (some duration at max velocity). Even in trapezoidal moves, the same ratio of
acceleration and deceleration is maintained.
The calculations are based on the assumption that Feedrate Override is set to 100%. If set to
greater that 100%, the motor could run in excess of the specified Max. Velocity.
Max Velocity
Max Accel
Trapezoidal
Move
Max Decel
Index.ProfileLimited activates
for this profile
Triangle
Move
Time
Figure 60:
Timed Index Profiles
Enable Index PLS
This check box enables (when checked) or disables the Index PLS function.
An Index PLS is similar to a global PLS (explained in the PLS View section), but is
incremental in nature. The Index PLS has On and Off points just like a global PLS, but the
On and Off points are specified as an incremental distance from the start of the index, instead
of absolute positions. Each index has its’ own On and Off points, and the Index.#.PLSStatus
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is only updated when Index# is run. The direction of the PLS does not matter, the
Index.#.PLSStatus will activate and deactivate the same incremental distance from the start
of the index.
PLS On Point
This parameter is an incremental distance from the start position of the index, at which the
PLS.#.Status will become active. It is an unsigned value in user units. The On Point must
always be less than the Off Point.
PLS Off Point
This parameter is an incremental distance from the start position of the index, at which the
PLS.#.Status will deactivate. It is an unsigned value in user units. The Off Point must always
be greater than the On Point. If the Off Point is larger than the Distance parameter in an
Incremental type of index, the PLS Status will never deactivate until the index is run again.
Example 1:
Index 0 is an Incremental index with a distance of 5 Revs. The PLS On Point is set to 1 Rev,
and the PLS Off Point is set to 4 Revs. A home is completed, and Position Feedback is equal
to 0.0 Revs.
If Index 0 is run, the Index.0.PLSStatus will activate when the feedback position reaches 1
Rev and remain active until feedback position reaches 4 Revs, and deactivate. At the end of
Index 0, position feedback is equal to 5 Revs. If we initiate Index 0 again, Index.0.PLSStatus
will activate 1 Rev into the index, or at 6 Revs. It will remain active until position feedback
reaches 9 Revs, and deactivate. This index could be run over and over again, and
Index.0.PLSStatus will activate 1 Rev from the starting position and deactivate 4 Revs from
the starting position every time.
Example 2:
Index 1 is an Incremental index with a distance of -10 revs. The PLS On Point is set to 4 Revs,
and the PLS Off Point is set to 6 Revs. A home is completed, and Position Feedback is equal
to 0.0 Revs.
If Index 1 is run, the Index.1.PLSStatus will activate when the position feedback reaches -4
Revs (or 4 Revs from the start of the index). Index.1.PLSStatus will then deactivate when
position feedback reaches -6 Revs (or 6 Revs from the start of the index). If Index 1 is run
again, Index.1.PLSStatus will activate and deactivate at -14 Revs and -16 Revs respectively.
Index PLS’s can be used on any type of an index.
If an index is so short (possible in the case of an absolute index) that it reaches the On Point,
or incremental distance, into the index, but never reaches the Off Point, the Index.#.PLSStatus
will remain active until the index is run again.
Similarly, if the index is so short that it never reaches the On Point, the Index.#.PLSStatus
will never activate.
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Registration Parameters
The following parameters are only used if Registration is selected as the Index Type.
’Analog’ or ’Sensor’ Radio Buttons
Select one of these radio buttons to determine what signal will be used as your registration
trigger.
If ’Sensor’ is selected, a source must be assigned to the Index.#.SensorTrigger Typically a
proximity sensor is wired to a hardware input, and therefore a module or drive input source
is assigned to the Index.#.SensorTrigger, but any source can be used.
If ’Analog’ is selected, one of the analog signals must be selected in the analog list box.
Available selections are Analog In, Torque Command, or Torque Feedback. Then a
comparison operator must be selected from the operator list box. Available selections are >
(greater than) and < (less than). Last, an analog value must be entered for comparison.
Registration to Analog Input Value
If Analog In is selected, the value of the drive Analog Input is used as the registration signal.
When the value of the analog input reaches a value that satisfies the comparison operator, the
sensor trigger will activate. Units for the registration value will match the units configured on
the Analog Inputs screen when Analog In selected.
Registration Offset
The incremental distance the motor will travel after a valid registration sensor or analog limit
value has been detected. This is a signed parameter; so if an index is travelling in the negative
direction, the offset needs to be negative and continue in the same direction. If the registration
offset is zero or less than the decel distance shown on the calculations tab, the motor will
decelerate at the programmed rate and then back up to the specified offset distance from the
trigger position.
Enable Registration Window
This check box enables (if checked) the Registration Sensor Valid Window. When active,
only registration marks that occur inside the registration window are seen as valid.
Window Start
This parameter defines the start of the Registration Sensor Valid Window relative to start
position of this index. This is an unsigned value and is relative only to starting position of this
index. Index direction does not affect this parameter. The Registration Window Start position
(or distance) should be less than the Registration Window End position. If a registration
sensor is seen outside of this window (not between the WindowStart and WindowEnd
positions) then it will be ignored.
Window End
This parameter defines the end of the Registration Sensor Valid Window relative to start
position of this index. This is an unsigned value and is relative only to starting position of this
index. Index direction does not affect this parameter. The Registration Window End position
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(or distance) should be greater than the Registration Window Start position. If a registration
sensor is seen outside of this window (not between the WindowStart and WindowEnd
positions) then it will be ignored.
Example:
Index 0 is defined as a Registration type of index. The user wants the index to run at velocity
for 10 Revs, or until the Torque Feedback reaches 50% continuous torque and then continue
for another 0.5 Revs.
In the Limit Distance parameter, enter 10.0
On the registration tab, select the Analog radio button.
In the analog list box, select Torque Command
In the comparison operator list box, select ">"
In the analog value parameter, enter 50 (Units are established on the User Units view)
In the Registration Offset parameter, enter 1.5
This index would accelerate up to its’ target velocity, and run at speed until one of the
following:
The Limit Distance is approaching, and the index decels down to zero velocity, completing
the move at the Limit Distance. At this point, the Index.#.LimitDistHit source would activate.
Or,
The Torque Command reaches or exceeds 50% continuous, and the index continues at speed
before decelerating to zero velocity at the registration point plus the Registration Offset
distance.
If the Registration Offset distance is in the opposite direction from the move, or is so short
that the motor cannot stop in the specified distance at the programmed deceleration rate, the
motor will decelerate with the programmed ramp, and then back-up to the specified position
(registration point + the Registration Offset).
Index Sources and Destinations
Sources
Index.AnyCommandComplete
Active when any index motion command is completed. If a stop is activated before the index
has completed, this destination will not activate. Deactivated when any new index command
is initiated.
Index.#.Accelerating
This source is active while an index is accelerating to its’ target velocity. Once the index
reaches the target velocity, or begins to decelerate, the Index.#.Accelerating source will
deactivate.
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Index.#.AtVel
This source activates when the target index velocity is reached. If Feedrate override is
changed or FeedHold is activated AtVelocity shall remain active. Index.#.AtVel will
deactivate at the start of any deceleration or acceleration. During a synchronized index, this
source could be active even without any motor motion if the master axis stops.
Index.#.Command Complete
The Index.#.CommandComplete source will activate when the specific index completes its
deceleration ramp. It will remain active until the specific index is initiated again. If the drive
stop destination is used during an Index, then the Index.#.CommandComplete will not
activate.
Index.#.Command In Progress
The Index.#.CommandInProgress source is active throughout an entire index profile. The
source activates at the beginning of the index acceleration ramp, and deactivates at the end of
the index deceleration ramp. During a synchronized index, this source could be active even
without any motor motion if the master axis stops.
Index.#.Decelerating
This source is active while an index is decelerating from its’ target velocity. Once the index
reaches zero velocity, or its’ next target velocity, the Index.#.Decelerating source will
deactivate.
Index.#.LimitDistHit
Activated when the registration sensor is not found before the Limit Distance is traveled. If
the Registration Window is enabled the sensor must be activated inside the window to be
recognized.
Index.#.PLSStatus
Controlled by the PLSOn and PLSOff Points which are relative to the distance commanded
since the start of the index. Activated when index distance command is in between the
PLSOn point and PLSOff points.
Index.ProfileLimited
For timed indexes, if the values for Max. Velocity, Max. Acceleration, and Max. Deceleration
are such that the distance cannot be covered in the specified time, the Index.ProfileLimited
flag will activate when the index is initiated, indicating that the index cannot be performed as
desired. The Index.ProfileLimited flag will remain active until cleared using the
Index.ResetProfileLimited assignment or program instruction. In this situation, the index will
still operate, but the time will be extended. In other words, the profile will be performed using
the maximums values and still cover the specified distance, but not in the specified time.
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Destinations
Index.ResetProfileLimited
If a timed index was not able to complete in the specified time, the Index.ProfileLimited
source will activate. Index.ResetProfileLimited is used to clear the ProfileLimited flag and
acknowledge that the index did not complete in the specified time. This can be activated
through an assignment, or through a user program. This function is edge-sensitive, so holding
it active will not prevent ProfileLimited from activating.
Index.#.Initiate
The Index.#.Initiate destination is used to initiate the specific index. The Index is initiated on
the rising edge of this function. An Index cannot be initiated if there is an Home, Jog, or
Program in progress, or if the Stop destination or if a travel limit is active. It can be activated
from an assignment or from a program.
Index.#.Sensor Trigger
If registration to Sensor is selected, when this destination activates, motor position is captured
and is used as the registration point for registration type indexes.
Adding and Deleting Indexes
Adding or removing indexes from the user configuration can be done in three ways. Indexes
may only be added or deleted while offline.
Toolbar Icon Method
The Add Index icon (shown below) will add a new index to the user configuration. Indexes
are added in sequential order. Clicking on the icon will add an index and bring you to the
Index setup screen allowing you to enter the index parameters.
The Delete Index icon (shown below) will delete an index from the user configuration. The
highest numbered index will automatically be deleted unless a different index is selected on
the Indexes heading screen. To delete a specific index, click on the Motion/Indexes branch
in the hierarchy. From this view, select the specific Index you wish to delete, and then click
on the Delete Index icon.
PowerTools Menu Bar Method
Adding an Index
From the PowerTools Pro menu bar, select Edit/New/Index. An index will be added in
sequential order and you will be brought to the Index setup screen allowing you to enter the
index parameters.
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Deleting an Index
Navigate to the Indexes View, and select the Index you wish to delete. From the PowerTools
Pro menu bar, select Edit/Delete/Index. The selected Index will be deleted from the
configuration.
Right Click Method
Adding an Index
Navigate to the Indexes View. Position your mouse pointer in the right side of the view and
right-click on your mouse. A selection menu will appear allowing you to add a New Index
or Delete an Index. Click on New Index and an index will be added in sequential order and
you will be brought to the Index setup screen allowing you to enter the index parameters.
Deleting an Index
Navigate to the Indexes View. Select the Index you wish to delete, and then right-click on
your mouse. A selection menu will appear allowing you to add a New Index or Delete an
Index. Click on Delete Index and the selected index will be deleted from the configuration.
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Gearing View
Figure 61:
Gearing View
Gearing is used to fix the motion of the motor to the motion of the master axis signal at a
specified ratio. This is commonly called “electronic line shafting” or “electronic gearing”. To
gear the motor to the master axis, a ratio must be specified as a relationship between follower
distance units and master distance units. The ratio is as follows:
# of Follower Distance Units
Gear Ratio = ------------------------------------1 Master Distance Unit
The ratio is defined as the number of follower distance units to move the motor per master
distance unit of travel. The master distance units are configured on the Master Setup screen.
The gear ratio can be positive or negative and is a signed 32-bit parameter. The resolution of
the parameter is determined by the number of decimal places configured for the Master
Velocity Units on the Master Setup screen.
By default, gearing does not use acceleration or deceleration ramps with respect to the master
encoder. This means that once gearing is activated, peak torque is available to try to achieve
the specified gear ratio. Therefore, if the master axis is already in motion when gearing is
activated, the control loop will attempt to accelerate the motor to the programmed ratio within
one update (800µsec < update rate < 1600 µsec). Analogously, when gearing is deactivated,
the motor will use peak torque to bring the motor to a stop without a deceleration ramp.
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Acceleration and Deceleration ramps may be enabled on the Gearing setup screen as seen in
Figure 61 above (B3 firmware or later is required for Accel / Decel). If enabled, the accel and
decel ramps are specified in units of Follower Units / Velocity Time Base / Acceleration Time
Base. Note that this is a Realtime ramp. Therefore, the time that it takes to reach the
programmed ratio depends on how fast the master is traveling when gearing is activated.
Figure 62 below demonstrates that the faster the Master Velocity, the longer it will take to
reach the programmed ratio. If the Master Axis is not moving when gearing is initiated, then
the follower locks into its programmed gear ratio instantly (no acceleration time required).
Figure 62:
Gearing Acceleration Ramp Description
The GearRatio can be changed on the fly (while in motion), but acceleration or deceleration
must be enabled to use ramps to achieve the new ratio. If gearing accel and/or decel ramps
are not enabled, the motor will attempt to achieve the new ratio in one trajectory update
(800<t<16000 microseconds).
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Setting Up Parameters
Initiating Gearing Motion
Gearing can be activated through an Assignment, or from a program instruction
(Gear.Initiate). If initiated from an assignment, the Gear.Activate destination is a levelsensitive event. This means that gearing will be active as long as the source to which it is
assigned is active. If gearing from a program, the Gear.Stop instruction is used to stop the
gearing motion.
Stopping Gearing Motion
The method used to stop gearing motion depends on how the gearing was initiated. If gearing
was initiated using an Assignment, then simply deactivating the Gear.Active destination will
cause gearing motion to stop. If gearing was initiated from within a program, then the
Gear.Stop command must be used to stop gearing. If gearing motion is operating on Profile.1
(FM-4 only), then the On Profile.1 motion modifier must be used after the Gear.Stop
instruction.
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Stopping Motion
Motion Stop from a Program
The MotionStop command will cause all motion to stop regardless of what type of motion it
is, or where it was initiated from. Upon activation of the MotionStop, all motion will begin to
decelerate to a stop using the standard Stop deceleration ramp. That ramp is defined using the
StopDecel parameter. MotionStop is a level sensitive command meaning that as long as it is
active, all motion will be stopped and prevented from running. When MotionStop is
deactivated, all motion is permitted again. Any motion that is interrupted with the MotionStop
command is cancelled, and will not complete when MotionStop deactivates.
The MotionStop command DOES NOT stop any programs. All programs that are active
when the MotionStop is activated will continue to run as normal.
All motion stopped using the MotionStop command will stop using a realtime deceleration
ramp (even if the timebase of the motion being stopped is synchronized). This can help in
applications that use synchronized motion if the master stops and then the user wishes to
break out of the synch motion without performing an synchronized deceleration ramp.
Neither the CommandComplete signals from motion objects nor the ProgramComplete
signals will activate if they have been stopped using the MotionStop command.
In the example below, Program 0 runs an infinite loop in which Index 5 runs and then waits
for half a second and then repeats itself. When Input 2 activates, Index 5 will stop if in
progress and the program will loop back to the Index.5.Initiate.
Example:
Program 0 – Running on Task 0
Do While TRUE
Index.5.Initiate
Wait For (Index.AnyCommandComplete OR MotionStop = ON)
Wait For Time 0.50 ‘Seconds
Loop
Program 1 – Running on Task 1
Wait For DriveInput.2 = ON
MotionStop = ON
Wait For DriveInput.2 = OFF
MotionStop = OFF
MotionStop for an Assignment
The MotionStop as explained above can also be initiated from an Assignment. MotionStop
can be found in the Ramps group of Destinations.
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Network Group
For information on the DeviceNet and Profibus View, please refer to the FM-3 and FM-4
Connectivity Reference Manual (P/N 400508-04).
Modbus View
The Modbus View is used to assign Modbus addresses to individual parameters.
By selecting Modbus in the Hierarchy View, the Modbus View will appear on the right (see
Figure 63). The right part of the screen displays all of the drive parameters. The number of
parameters that appear depends on the User Level.
Figure 63:
Modbus View
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An external device such as a Human Machine Interface (HMI) or PLC can be used to monitor
or edit individual FM-3 module parameters. The FM-3 module and drives use a 32-bit
Modbus RTU communications protocol.
In order to view or modify a parameter, a Modbus address must be assigned to the specific
parameter. To do this, locate the parameter you wish to read/write to or from in the variables
list in the middle of the view. Once you have found the proper parameter, click and hold the
left mouse button over the parameter. While still holding the button on your mouse, drag the
parameter into the Modbus window area on the right of the view. Now let go of the mouse
button.
A “New Assignment” dialog box will appear. This will automatically assign the next
available modbus address, or allow you to enter a different Modbus address. Once you click
on OK, then you will be able to read or write the parameter at that address.
Figure 64:
Modbus Address Assignment Box
Address ranges are as follows:
Address Range
Accessibility
Type
Data Size
4xxxx
Read/Write
Register
32 bit word
3xxxx
Read Only
Register
32 bit word
1xxxx
Read Only
Input Bits
bit
0xxxx
Read/Write
Coil
bit
Any individual Modbus address can be deleted by highlighting the parameter you wish to
delete, and clicking on the Remove button. The address selected will be removed from the
list. If you wish to delete all of the Modbus addresses that have been created, then simply click
on the Remove All button. All of the addresses will disappear and the Modbus window will
be empty.
Some Modbus addresses have been reserved and can not be assigned:
39980-39999 and 49501-49999.
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Setting Up Parameters
DeviceNet View
For those modules that have the DeviceNet option, please refer to the FM-3 and FM-4
Connectivity Reference Manual, P/N 400508-04, which can be found on the Control
Techniques MME Power CD.
Profibus View
For those modules that have the Profibus option, please refer to the FM-3 and FM-4
Connectivity Reference Manual, P/N 400508-04, which can be found on the Control
Techniques MME Power CD.
Ethernet View
For those modules that have the Ethernet option, please refer to the FM-3 and FM-4
Connectivity Reference Manual, P/N 400508-04, which can be found on the Control
Techniques MME Power CD.
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Programming
By selecting Program in the hierarchy view, the Program View will appear in the right (see
Figure 65). The left side of this view contains the program instructions. The right side of the
Program view contains the Program Toolbar above the program.
Figure 65:
Program View
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Program Toolbar Icons
Following is a detailed description of each of the icons found on the Program Toolbar. These
icons will help the user edit programs as well as debug errors and troubleshoot program
functionality. Some of these icons are only available when online with the module.
Undo Last Change
This icon will undo the last change made to the program. PowerTools Pro will save up to ten
of the last changes performed in the program.
Redo Last Change
This icon will redo the last change that was undone. PowerTools Pro will save up to ten of the
last changes that have been undone in the program.
Find
This icon allows the user to search for a given string inside the program. Modifying several
parameters in the Find dialog box (i.e. Search Up, Search Down, Match Case, etc.) can
customize the search.
Find Next
This icon will find the next instance of the string last searched for. This allows you to quickly
find all the matches to your search with out re-entering the selected word.
Book Mark
This icon will insert a bookmark on the line of code on which the cursor is placed. Bookmarks
allow the user to mark certain sections of the program for easy access to at a later time. The
next BookMark and Previous BookMark icons can be used to jump from one bookmark to the
next very quickly. If this icon is clicked when a bookmark already exists on the line of code,
the bookmark will be removed.
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Next Book Mark
This icon will position the cursor on the next available bookmark ahead of the cursor in the
program.
Previous Book Mark
This icon will position the cursor on the previous bookmark behind the cursor in the program.
Delete All Book Marks
This icon will delete all of the bookmarks in the program. To delete only a single bookmark,
place the cursor on the line for which you wish to delete the bookmark, and click on the Book
Mark icon.
Red Dot Help
If a user program contains an error, the realtime program parser will detect it, and place a reddot next to the line of code with the error. For help on what the particular error is, click on the
Red-Dot Help icon, and then click on the line of code with the red-dot next to it. PowerTools
Pro will attempt to give a detailed description of the error.
Drag In I/O
Clicking on this icon will bring up the Drag In I/O pop-up window. From this window, the
user can drag Drive and Module Input/Output lines of text into the program. This feature can
be used to minimize the need to type in program statements. The Input or Output state (i.e.
=ON or =OFF) can also be dragged into the program from this window.
Drag In Operands
This icon will bring up the Drag In Operands pop-up window. From this window, the user can
drag formula Operands (i.e. +, -, /, *) into the program formula.
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Drag In Variables
This icon will bring up the Drag In Variables pop-up window. From this window, the user can
find any variable they wish to use in a program, and simply drag it into the program code.
This list will easily allow you to find any of the available pre-defined variables in the FM-3.
The available parameters shown in the window depends on the selected Program User Level.
Lock Program
Toggling this icon will lock and unlock the program for editing. When locked, the user is not
able to modify the program code. After downloading, the program automatically locks to
prevent the user from inadvertently changing program statements. To unlock the program,
simply click the icon.
Run This Program
Clicking on this icon will automatically initiate the program that is currently being viewed.
The drive must first be enabled in order to run a program. (Only available while online)
Program Where Am I?
Clicking on this icon will show the line of the program that is currently being executed. A
blue arrow will point to the line in the program that was executing when the icon was clicked.
The arrow will not continue to follow program flow. If the program is not currently running,
then the arrow will point to the top of the program, or to the last line of the program that was
processed before it was stopped. (Only available while online)
Stop All
This icon is the same as the Stop destination found in the assignments screen. Clicking o this
icon will stop all programs and motion. If in motion, the motor will decelerate to a stop using
the StopDeceleration ramp value. (Only available while online)
Disable Error Check
This icon can be used to temporarily disable the program parser. The parser is what detects
errors in a user program. When user programs are very large, the parser can take an
appreciable amount of time to check the entire program for errors. To avoid this, the user can
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Programming
disable the program parser, enter all of the changes, and then re-enable the parser to check for
errors. (Only available while online)
Programs
Motion Programs are a series of indexes, homes and jogs that have been previously setup.
You combine these with other programming steps to create a complex motion profile. Each
motion program provides a series of movements in conjunction with other machine functions.
The movements are used to perform a particular machine operation.
Multiple programs can be created using PowerTools Pro software and stored in the FM-3. The
FM-3 module is capable of storing up to 55 indexes, 99 motion programs, and a maximum of
1024 program steps in the FM-3 Flash Memory. The amount of available Flash Memory
determines how many programs, program steps, indexes, etc. that the configuration can hold.
The number of available programs and average number of steps per program are directly
related to each other. The memory is setup such that if you require 99 programs (maximum),
each program can have an average of 10 program steps each. If the number of programs is
reduced to a minimum, you could have as many as 1024 steps in a single program.
Program Instruction Types
Program Flow Instructions
If/Then/Endif
This is a program flow control instruction used to selectively run a section of code only if a
logical test condition is true. If the test evaluates to true the code between the If/Then and
Endif lines is executed. If the test evaluates to false the code is not executed and the program
skips to the next line of code after the Endif.
Logical tests (AND, OR, NOT) can be used in the If/Then/Endif instruction. Parenthesis “()”
can be used to group the logical tests.
Examples:
If DriveInput.1=ON Then
’Turn Outputs 1 On and 2 Off if Drive
’Input.1 is ON.
DriveOutput.1=ON
DriveOutput.2=OFF
Endif
If (DriveInput.1=ON AND DriveInput.2=OFF) Then
‘Turn Outputs 1 On and 2 Off if Drive
‘Input.1 is ON and DriveInput.2 is OFF
DriveOutput.1=ON
DriveOutput.2=OFF
Endif
If (ModuleInput.2=ON) Then
‘Jog+ when ModuleInput.2=ON
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Jog.0.PlusInitiate
Wait For ModuleInput.2=OFF
Jog.Stop
Endif
‘Vel=20in/s
‘Stop when the input goes OFF
‘Decelerate to a stop
If (ModuleInput.3=ON) Then
Jog.0.MinusInitiate
Wait For ModuleInput.3=OFF
Jog.Stop
Endif
‘Jog- when ModuleInput.3=ON
‘Vel=20in/s
‘Stop when the input goes OFF
‘Decelerate to a stop
Else
This program flow instruction is used in conjunction with the If/Then/Endif instruction. If the
If/Then test condition evaluates to true the code after the If/Then and before the Else is executed.
If the test evaluates to false the code between the Else and the Endif is executed.
Examples:
If DriveInput.1=ON Then
DriveOutput.1=ON
DriveOutput.2=OFF
Else
‘The following two lines are executed if
‘DriveInput.1=ON
‘The following two lines are executed if
‘DriveInput.1=OFF
DriveOutput.1=OFF
DriveOutput.2=ON
Endif
If (ModuleInput.5=ON) Then
Jog.0.Vel = 1.0 ‘in/s
Else
Jog.0.Vel = 0.1 ‘in/s
Endif
‘Set fast velocity if ModuleInput.5 = ON
‘Set slow velocity if ModuleInput.5 = OFF
For Count/Next
This instruction is used to execute section of code a specific number of times.
Examples:
For Count = 1 to 5
Index.1.Initiate
‘Incremetal,Dist=5.250in,Vel=10.0in/s
Dwell For Time 1.000
‘seconds
Next
For Count = 1 To 10
Wait For ModuleInput.1 = ON
Index.0.Initiate
‘Incremetal,Dist=5.000in,Vel=50in/s
Wait For Index.AnyCommandComplete
ModuleOutput.1=ON
‘Turn ModuleOutput.1 On
Wait For Time 1.000
‘seconds
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Programming
ModuleOutput.1=OFF
Next
‘Turn ModuleOutput.1 Off
Do While/Loop
This program instruction is used for repeating a sequence of code as long as an expression is
true. To loop forever use “TRUE” as the test expression as shown in the third example below.
The test expression is tested before the loop is entered. If the test expression is evaluated as
False (0) the code in the loop will be skipped over.
Logical tests (AND, OR, NOT) can be used in the Do While/Loop instruction. Parenthesis “()”
can be used to group the logical tests.
Examples:
Do While ModuleInput.1=ON
Index.1.Initiate
Dwell For Time 1.000
Loop
‘Repeat the three lines of code below
‘as long as ModuleInput.1 is ON.
‘Incremental,Dist=5.250in,Vel=10.0in/s
‘seconds
Do While (ModuleInput.1=ON AND ModuleInput.2=OFF)
‘Repeat the three lines of code below
‘as long as ModuleInput.1 is ON and
‘ModuleInput.2=OFF.
Index.1.Initiate
‘Incremental,Dist=5.250in,Vel=10.0in/s
Dwell For Time 1.000
‘seconds
Loop
Do While (TRUE)
Index.1.Initiate
Dwell For Time 1.000
Loop
‘Repeat until the program is halted
‘Incremental,Dist=5.250in,Vel=10.0in/s
‘seconds
Wait For
This program flow instruction is used to halt program execution until an expression becomes
true. Once the expression becomes true the program continues on with the next line of code.
Logical tests (AND, OR, NOT) can be used in the Wait For instruction. Output events
(DriveInput=ON, AtVel, etc.) as well as comparisons (PosnFeedback > 1234, VelFeedback
< 100, etc.) can be used in a Wait For instruction.
Examples:
Wait For (ModuleInput.1=ON AND ModuleInput.2=OFF)
Index.0.Initiate
Wait For Index.AnyCommandComplete
If (ModuleInput.2=ON) Then
Jog.0.PlusInitiate
Wait For ModuleInput.2=OFF
‘Jog+ when ModuleInput.2=ON
‘Vel=20in/s
‘Stop when the input goes OFF
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Jog.Stop
Endif
‘Decelerate to a stop
If (ModuleInput.3=ON) Then
Jog.0.MinusInitiate
Wait For ModuleInput.3=OFF
Jog.Stop
Endif
‘Jog- when ModuleInput.3=ON
‘Vel=20in/s
‘Stop when the input goes OFF
‘Decelerate to a stop
Wait For (MasterAxis.PosnFeedback > 1000.00)
DriveOutput.1 = ON
Wait For (VelFeedback > 50.00)
DriveOutput.2 = ON
Wait For Time
This program instruction is used to halt program execution for a specified period of time. This
instruction is not a motion instruction and can be used while a motion instruction is executing.
Units: Seconds, Resolution: 0.001 seconds
A comment is automatically inserted after the “Wait For Time” instruction which notes that the
time is in units of seconds. The comment starts with the apostrophe ‘ character.
Examples:
Wait For Time 5.000
‘seconds
Do While (TRUE)
Index.1.Initiate
Wait For AtVel
‘Repeat until the program is halted
‘Incremental,Dist=25.250in,Vel=10.0in/s
‘Turn Output 1 ON for 1 second, after the
‘index reaches its’ target velocity
DriveOutput.1=ON
Wait For Time 1.000
‘seconds
DriveOutput.1=OFF
Wait For Index.AnyCommandComplete
Loop
Call Program
This program flow instruction is used to call another program. When the called program
finishes the controller picks up where it left off in the program that called it. This is often used
when a section of code is used in multiple places in a program. By moving the code to another
program and calling that program the total number of program lines can be reduced. This can
also make the program easier to understand. Care should be taken not to "nest" more than four
program calls due to processor stack overflow. Therefore, no more than four different programs
should be called without returning to the original program.
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In the diagram below, => Represents a Call Program instruction
Program0=>Program1=>Program2=>Program3=>Program4 => NO MORE THAN 4!
Examples:
Call Program.10
‘Program 10 contains a complex home
‘routine.
Call Program.100
‘Program 100 contains a “teach position”
‘routine.
End
This program flow instruction is used to halt the execution of the program. It can be used in
multiple places within the program. It is not required on the last line of every program. It is
implied that after the controller executes the last line of code in a program the program will halt.
It is commonly used inside of If/Then/Endif constructs to end the program if a certain condition
has been met.
Examples:
If DriveInput.1=OFF Then
End
Endif
If DriveInput.1=ON Then
DriveOutput.1=ON
End
Endif
Formula
This program instruction can be used to enter a formula or assignment into a program. All
FM-3 parameters are available for use in a formula. They may be dragged and dropped into a
formula, but the program User Level will determine how many appear for dragging and
dropping (see the section on User Level in the Setting Up Parameters chapter). Formulas can
also be created by simply typing them into the program. This instruction was created to
inform the user that formulas can be used in a program.
Examples:
Index.1.Vel = 20.0
Index.0.Dist = Index.2.Dist + 0.1
ModuleOutput.1 = ON
Index.0.Accel = (Index.0.Accel*1000)+5.00
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Bit And
This operator may be used when it is desireable to AND each individual bit of a 32-bit
parameter.
var.var2 = var.var0 bitand var.var1
For example:
if var.var0 = 1000 and var.var1 = -1
var.var0 = 0000000000000000000001111101000b
var.var1 = 1111111111111111111111111111111b
var.var2 = 0000000000000000000001111101000b
Bit Or
This operator may be used when it is desireable to OR each individual bit of a 32-bit
parameter.
var.var2 = var.var0 bitor var.var1
For example:
if var.var0 = 1000 and var.var1 = -10000
var.var0 = 0000000000000000000001111101000b
var.var1 = 1111111111111111101100011110000b
var.var2 = 1111111111111111101101111111000b
Label:
The Label: instruction is used in conjunction with the GoTo instruction to cause program flow
to transfer to a specified location within a program. The destination label is allowed to be
above or below the GoTo instruction within the same program. It is not possible to GoTo a
label outside of the program containing the GoTo instruction, nor is it possible to use a GoTo/
Label: to exit out of a For Count/Next loop. In either of these conditions, a RedDot error will
be generated.
The Label to which program flow transfers is a string of up to 50 characters in length and can
be made up of any alphanumeric character. The label name must not start with a number, and
must end with a colon character “:”. When using the Label: instruction, a “:” will be
automatically inserted for the user.
Labels are not case sensitive.
Example:
Start:
Index.1.Initiate
Wait For Index.AnyCommandComplete
If (DriveInput.2 = ON) Then
GoTo Start: ‘Go to Start label if Input2 on
EndIf
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Programming
DriveOutput.1 = ON
End
See GoTo instruction for additional examples.
GoTo
The GoTo instruction is used in conjunction with the Label: instruction to cause program flow
to transfer to a specified location within a program. The destination label is allowed to be
above or below the GoTo instruction within the same program. It is not possible to GoTo a
label outside of the program containing the GoTo instruction, nor is it possible to use a GoTo/
Label: to exit out of a For Count/Next loop. In either of these conditions, a RedDot error will
be generated.
The Label to which program flow transfers is a character string up to 50 characters in length
and can be made up of any alphanumeric character. The label name must not start with a
number, and must end with a colon character “:”.
Labels are not case sensitive.
Example:
Do While (TRUE)
If (DriveInput.1 = ON) Then
GoTo RunIndex1:
‘Go to RunIndex1 label
Else
GoTo RunIndex2:
‘Go to RunIndex2 label
EndIf
RunIndex1:‘
If Input.1 is on, resume here
Index.1.Initiate
GoTo EndLoop:
‘GoTo EndLoop label
RunIndex2:‘ If Input.1 is off, resume here
Index.2.Initiate
EndLoop:
Wait For Index.AnyCommandComplete
Loop
See the Label: instruction for additional examples.
Motion Instructions
Dwell For Time
This motion instruction is used to pause program execution for a very precise amount of time.
It operates as a motion instruction – similar to an index, home or jog. Like all other motion
instructions it will not start until the preceding motion instruction has completed. A “Wait for
Index.AnyCommandComplete” is not required. Likewise, any subsequent motion commands
will wait and start after the dwell has completed. The total time required to complete a sequence
of indexes and “Dwell For Time” instructions is extremely repeatable.
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The “Dwell For Time” instruction is in units of seconds with a resolution of milliseconds (0.000
seconds).
If you want to pause the program while an index is executing you should use a “Wait for Time”
instruction described below.
A comment is automatically inserted after the “Dwell For Time” instruction which notes that
the dwell time is in units of seconds. The comment starts with the ‘ character.
Examples:
Do While (TRUE)
Index.0.Initiate
Dwell For Time 1.000
Loop
‘Incremetal,Dist=25.000in,Vel=25in/s
‘Seconds
Do While (TRUE)
Index.0.Initiate
Dwell For Time 1.000
Index.1.Initiate
Dwell For Time 0.500
Loop
‘Incremetal,Dist=25.000in,Vel=25in/s
‘Seconds
‘Incremental,Dist=15.000in,Vel=25in/s
‘Seconds
Dwell for Master Dist
This motion instruction is used to pause program execution for a precise change in distance
on the master encoder signal. This is typically used in synchronized motion applications. This
dwell does not begin until all other motion has completed. When the dwell begins, program
flow will wait until the specified master distance has passed. The units for the dwell value are
specified in the Master Units View.
Example:
Do While (TRUE)
Index.0.Initiate
Inches/MstrInch
Dwell For MasterDist 12.00
Loop
‘Synch,Incr,Dist=5.0 Inches,Vel=1
‘MstrInch
Index.Initiate
This program instruction is used to initiate a single index. The index is preset to include an
acceleration up to speed, a run at speed and a deceleration to a stop.
A comment is automatically inserted after the index instruction which shows key data about
the particular index. The comment starts with the apostrophe ‘character.
A “Wait For Index.AnyCommandComplete” instruction is also automatically inserted after
each index. This insures that the index has completed before the program continues on to the
next line of code. It is also possible make the program wait until the index is complete and
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Programming
the following error is less than a specified amount. This is accomplished by changing the
“Wait For Index.AnyCommandComplete” to “Wait For InPosn”. The In Position Window is
configured in the Position view.
Examples:
Index.0.Initiate
‘Incremental,Dist=5.000in,Vel=2.0in/s
Wait For Index.AnyCommandComplete
Index.37.Initiate
Wait For InPosn
‘Absolute,Posn=120.60mm,Vel=50.2mm/s
Index.CompoundInitiate
This program instruction is used to initiate an index which has no deceleration ramp. The
index accelerates or decelerates towards the next index velocity using the next index
acceleration ramp. The index will finish at velocity. The program then moves on to the next
index. It smoothly transitions into the second index without stopping. The second index then
ramps to its pre-configured velocity. Multiple indexes can be “compounded” to create a
complex velocity profile. The last index in a complex profile must have a deceleration ramp.
This is accomplished using a standard Index.Initiate rather than a Index.CompoundInitiate.
The final index will honor the deceleration ramp. If the last index is not long enough to
perform a decel ramp at the programmed rate, the motor will backup at the end of the last
index.
Each index can be used in multiple places as both a standard index with a deceleration ramp,
and a compound index without a deceleration ramp. The program instruction
(Index.0.Initiate or Index.0.CompoundInitiate), not the index itself, determines whether or
not the index will execute a deceleration ramp. For example, Index.0 can be used multiple
times in multiple programs. It can be initiated at different times using the Index.0.Initiate
instruction and the Index.0.CompoundInitiate instruction.
A comment is automatically inserted after the index instruction which shows key data about
the particular index. The comment starts with the apostrophe ‘ character.
Examples:
Velocity
Complex Velocity Profile
Index 0
Index 1
Index 2
Time
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Figure 66:
Index Velocity Profile
Index.0.CompoundInitiate
‘Incremental,Dist=5.000in,Vel=50in/s
Index.1.CompoundInitiate
‘Incremental,Dist=20.000in,Vel=75in/s
Index.2.Initiate
‘Incremental,Dist=10.000in,Vel=30in/s
Wait For Index.AnyCommandComplete
Complex Velocity Profile
Velocity
Drive Output 3 ON
OFF
Drive Output 2 ON
OFF
Drive Output 1 ON
OFF
Index 0
Index 1
Index 2
Time
Figure 67:
Index Velocity Profile with Drive Outputs
Index.0.CompoundInitiate ‘Incremetal,Dist=5.000in,Vel=50in/s
DriveOutput.1=ON
‘Turns ON immediately after Index.0 is started
Index.1.CompoundInitiate ‘Incremental,Dist=20.000in,Vel=75in/s
DriveOutput.2=ON
‘Turns ON immediately after Index.1 is started
Index.2.Initiate
‘Incremental,Dist=10.000in,Vel=30in/s
DriveOutput.3=ON
‘Turns ON immediately after Index.2 is started
Wait For Index.AnyCommandComplete
DriveOutput.1=OFF
‘Turns OFF after Index.2’s command is completed
DriveOutput.2=OFF
‘Turns OFF after Index.2’s command is completed
DriveOutput.3=OFF
‘Turns OFF after Index.2’s command is completed
Home.Initiate
This program instruction is used to initiate the home.
A comment is automatically inserted after the Home.Initiate instruction which shows key data
about the particular home. The comment starts with the apostrophe ‘ character.
A “Wait For Home.AnyCommandComplete” instruction is not required because the home is
actually a program which already has a “Wait For” instruction.
Example:
Home.0.Initiate
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‘Sensor,Offset=2.000in,Vel=-10.0in/s
Programming
Jog.Stop
This program instruction is used to halt jogging using the deceleration ramp setup for the
currently operating jog.
Examples:
Wait For ModuleInput.2=ON
Jog.0.MinusInitiate
Wait For ModuleInput.2=OFF
Jog.Stop
‘Wait for “Jog –“ input to turn on
‘Vel=27.2in/s
‘Wait for “Jog –“ input to turn off
‘Decelerate to a stop
Do While(TRUE)
If (ModuleInput.2=ON) Then
‘Repeat until the program is halted
‘Jog+ when ModuleInput.2=ON
Jog.0.PlusInitiate‘Vel=20in/s
Wait For ModuleInput.2=OFF‘Stop when the
input goes OFF
Jog.Stop‘Decelerate to a stop
Endif
If (ModuleInput.3=ON) Then
‘Jog- when ModuleInput.3=ON
Jog.0.MinusInitiate‘Vel=20in/s
Wait For ModuleInput.3=OFF‘Stop when the
input goes OFF
Jog.Stop‘Decelerate to a stop
Endif
Loop
Jog.PlusInitiate
This program instruction is used to initiate jogging in the positive direction. The Jog.Stop
instruction is used to stop jogging motion.
A comment is automatically inserted after the Jog.PlusInitiate instruction which shows key
data about the particular jog. The comment starts with the apostrophe ‘ character.
Examples:
Jog.0.PlusInitiate
Jog.1.PlusInitiate
‘Vel=27.2in/s
‘Sync,Vel=1.000in/in
Jog.MinusInitiate
This program instruction is used to initiate jogging in the negative direction. The Jog.Stop
instruction is used to stop jogging motion.
A comment is automatically inserted after the Jog.MinusInitiate instruction which shows key
data about the particular jog. The comment starts with the apostrophe ‘ character.
Examples:
Jog.0.MinusInitiate
‘Vel=27.2in/s
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Jog.1.MinusInitiate
‘Sync,Vel=1.000in/in
Gear Stop
Gear Stop will stop gearing motion that has been initiated from a program.
Example:
Gear.Initiate
Wait for DriveInput.2=ON
Gear.Stop
Gear.Initiate
Gear Initiate will initiate gearing from a program. Gearing will remain active until the
Gear.Stop command is used.
Example:
Gear.Initiate
Wait for DriveInput.2=ON
Gear.Stop
Motion Modifiers
Using Last
When the Using Last instruction is inserted after a motion initiate instruction, the time (or
master position in synch motion) of the last command complete is used as the starting point
of the motion profile. Whenever a motion profile is complete, the time/position is
automatically captured behind the scenes. The Using Last instruction simply references this
“automatically” captured time or position.
The FM-3 module performs motion based on a concept called the timeline. The timeline
allows for accurate and repeatable motion with respect to a single point in time. The timeline
guarantees that all motion profiles occur at the right time with respect to each other.
If Index0 takes 3 seconds to complete, and Index1 takes 5 seconds to complete, by initiating
Index0 and then Index 1 in a program, the user would expect these profiles to take a total of
8 seconds to complete. It is possible though, that because of processor timing, Index.1 does
not start at exactly the same time Index0 is complete. Therefore, the two profiles could take
slightly more than 8 seconds to complete. Although the amount of time lost is extremely
small (less than 5 milliseconds), over a long period of time, this lost time can accumulate.
Keeping the timeline intact is most important in applications using synchronized motion.
This is because in synchronized motion, time is replaced by master encoder motion. If time
is lost in a synchronized motion application, then master distance is lost, and the follower
position is off with respect to the master.
Prior to A7 firmware in the FM-3 module the user had no control over the timeline. If a
motion initiate command was seen within 5 milliseconds from the last time a motion profile
was completed, the processor assumed that the user wanted to initiate the motion from the
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Programming
exact ending point of the last profile. Because of this, the processor would adjust the current
motion profile to compensate for the lost time, therefore keeping the timeline intact. The user
may or may not have been aware that this was happening. If no motion initiate was
commanded within 5 milliseconds of the last motion complete point, then the timeline was
broken and started over again on the next motion profile.
Example:
Index.0.Initiate
Dwell For Time 1.000 Using Last
Index.1.Initiate Using Last
‘Index0,Incrmntl,Dist=1.5revs
‘Index1,Incrmntl,Dist=3.5revs
Adding and Deleting Programs
Programs can be added or removed from the user configuration in three ways. Programs may
only be added or deleted while offline.
Toolbar Icon Method
Add Program Button
The Add Program button (shown below) will add a new program to the user configuration.
Programs are added in sequential order. Clicking on the button will add a program and bring
you to the program-editing screen allowing you to enter program instructions.
Delete Program Button
The Delete Program button (shown below) will delete a program from the user configuration.
The highest numbered program will automatically be deleted unless a different program is
selected on the Programs heading screen. To delete a specific program, click on the Programs
branch in the hierarchy. From this view, select the specific program you wish to delete, and
then click on the Delete Program icon.
PowerTools Menu Bar Method
Adding a Program
From the PowerTools Pro menu bar, select Edit/New/Program. A program will be added in
sequential order and you will be brought to the program-editing screen allowing you to enter
program instructions.
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Deleting a Program
Navigate to the Programs view on the hierarchy, and select the program you wish to delete.
From the PowerTools Pro menu bar, select Edit/Delete/Program. The selected Program will
be deleted from the configuration.
Right Click Method
Adding a Program
Navigate to the Programs view in the hierarchy. Position your mouse pointer on the right side
of the view and right-click on your mouse. A selection menu will appear allowing you to add
a New Program or Delete a Program. Click on New Program and a program will be added in
sequential order and you will be brought to the program-editing screen allowing you to enter
program instructions.
Deleting a Program
Navigate to the Programs view in the hierarchy. Select the program you wish to delete and
then right-click on your mouse. A selection menu will appear allowing you to add a New
Program or Delete a Program. Click on Delete Program and the selected program will be
deleted from the configuration.
Run Anytime Programs
The FM-3 programming environment has been designed to automatically stop all programs
when a fault occurs (regardless of what type of fault). Some applications require the ability
to run a program as soon as a fault occurs of continue running a program even through a fault
condition. In order to do this, a program must be classified as "Run Anytime". To define a
program to be able to run during a fault or while the drive is disabled, the "Run Anytime"
checkbox must be enabled in the Program view. Figure below shows an example of the "Run
Anytime" checkbox after it has been enabled.
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Programming
Figure 68:
Program View with "Run Anytime" Checkbox Enabled
When a fault occurs, the drive will still be disabled, and no motion will be possible. For this
reason, it may be necessary to reset the fault in the "Run Anytime" program prior to running
motion again. If a motion instruction is processed while the drive is disabled, the program will
stall on that particular line of the program, but the program will not stop.
Certain conditions will still cause a program designated as "Run Anytime" to stop. These
conditions are listed below:
•
Stop Function is activated
•
"Run Anytime" program has a program fault
Multiple programs may be configured as "Run Anytime" programs and can be called from a
program the same as any other program. If a "Run Anytime" program calls another program
which is not configured to run anytime while the drive is faulted or disabled, the task will be
stopped.
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Resetting Faults in "Run Anytime" Programs
To reset a fault from a "Run Anytime" program, use Fault.Reset = ON command in the user
program. The Fault.Reset command does not clear all types of faults. Some faults require
power to be cycled in order to clear the fault. For more information on the method used to
clear individual faults, see the Faults section.
After using the Fault.Reset command in a user program, use a Wait For Time 0.100’seconds
command to give the drive time to clear the fault and re-enable the drive before initiating
motion. If this is not done, the motion will be initiated before the drive is disabled. and the
instruction will be ignored.
Example Programs
Out and Return - Simple
Description: Move out to an absolute position and return
Index.2.Initiate
‘Absolute,Posn=10.000in,Vel=5.0in/s
Index.1.Initiate
‘Absolute,Posn=0.000in,Vel=10.0in/s
Wait For Index.AnyCommandComplete
Out and Return – More Complex
Description: Home, Wait For an input, Move out to an absolute position, set an output, dwell
for 1 second, clear the output, return to home position, repeat the out and return sequence until
the stop input halts the program.
134
Home.0.Initiate
ModuleOutput.1=ON
‘Sensor,Offset=0.000in,Vel=-10.0in/s
‘Set the “At Position 1” output
Do While (TRUE)
Wait For ModuleInput.2=ON
ModuleOutput.1=OFF
Index.2.Initiate
Wait For InPosn
ModuleOutput.2=ON
Wait For Time 1.000
ModuleOutput.2=OFF
Index.1.Initiate
Wait For InPosn
ModuleOutput.1=ON
Loop
‘Repeat until the program is halted
‘Wait for the “Go” Input
‘Clear the “At Position 1” output
‘Absolute,Dist=10.000in,Vel=5.0in/s
‘Set the “At Position 2” output
‘Seconds
‘Clear the “At Position 2” output
‘Absolute,Dist=0.000in,Vel=10.0in/s
‘Set the “At Position 1” output
Programming
Punch a Hole in a Web a Specified Distance Beyond a Registration Mark
Description: Index a web to a position 2 inches beyond a registration mark. Then fire a solenoid
to punch a hole in the web. Wait for a sensor to indicate that the punch is in the down position.
Retract the solenoid. Wait until it is sensed in the up position.
Do While (TRUE)
‘Repeat until the program is halted
Index.0.Initiate
‘Registration,Offet=2.0in,Dist=20in,Vel=20in/s
Wait For InPosn
ModuleOutput.1=ON
‘Fire the punch solenoid
Wait For ModuleInput.2=ON
‘Wait for the “down” indicator
ModuleOutput.1=OFF
‘Retract the punch solenoid
Wait For ModuleInput.3=ON
‘Wait for the “up” indicator
Loop
Registration Index to Place a Product on a Conveyor After Each Lug
Registration Index (synchronized) to find the front edge of product, wait for input from a lug
sensor and repeat.
Do While (TRUE)
Index.0.Initiate
‘Repeat until the program is halted
‘Sync,Registration,Offset=0.500,
‘Dist=50.000,Vel=1.000in/in
‘Registration move to product sensor.
‘Go to head of next product.
Wait For Index.AnyCommandComplete
Wait For ModuleInput.2=ON
‘Wait for lug sensor on master conveyor.
Loop
Elevator (Accumulator) with 100 Stop Positions
Home, when an input goes on move down to the next position. When the bottom position is
reached, move back to home when the input goes on.
Home.0.Initiate
‘Sensor,Offset=0.00mm,Vel=100mm/s
Do While (TRUE)
For Count = 2 To 100
‘Repeat until the program is halted
‘Step to positions 2 - 100
Wait For ModuleInput.2=ON‘Wait for “Go”
input
Index.2.Initiate‘Incremetal,Dist=2.00mm,Vel=100mm/s
Wait For InPosn
Next
Wait For ModuleInput.2=ON
Index.1.Initiate
Wait For InPosn
Loop
‘Wait for “Go” input
‘Absolute,Posn=0.00mm,Vel=1000mm/s
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Simple Jogging within a Program
Jog+ when DriveInput.2 goes ON and stop when it goes off. Jog- when DriveInput.3 goes ON
and stop when it goes off. This could also be accomplished using the Jog input functions
when there is no program running.
Do While (TRUE)
‘Repeat until the program is halted
If(DriveInput.2=ON) Then
‘Jog+ when DriveInput.2=ON
Jog.0.PlusInitiate
‘Vel=20in/s
Wait For DriveInput.2=OFF
‘Stop jogging when DriveIput.2 goes OFF
Jog.Stop
‘Decelerate to a stop
Endif
If (DriveInput.3=ON) Then
‘Jog- when DriveInput.3=ON
Jog.0.MinusInitiate
‘Vel=20in/s
Wait For DriveInput.3=OFF
‘Stop jogging when DriveInput.3 goes OFF
Jog.Stop
‘Decelerate to a stop
Endif
Loop
Rotary Table with “Calibrated” Stop Positions
Home the axis, wait for an input and then index to 3 different stop positions (absolute positions),
wait for an input between indexes. The InPosn output function could be assigned to an output
to indicate when the axis has completed the index and the following error is less than a specified
amount. Since the indexes are to absolute positions they can be adjusted to “calibrate” the stop
positions to account for mechanical non-linearity in the particular rotary table. A rollover
position of 360.00 degrees would be entered into the setup screen so that the system would take
the shortest path (across the rollover) during the last move.
Home.0.Initiate
‘Sensor,Offset=0.0deg/s,Vel=-1000deg/s
Do While (TRUE)
Wait For ModuleInput.1=ON
Index.2.Initiate
Wait For InPosn
Wait For ModuleInput.1=ON
Index.3.Initiate
Wait For InPosn
Wait For ModuleInput.1=ON
Index.1.Initiate
Wait For InPosn
Loop
‘Repeat until the program is halted
‘ModuleInput.1 is the “Go” input
‘Absolute,Posn=120.07deg,Vel=1000deg/s
‘Absolute,Posn=239.95deg,Vel=1000deg/s
‘Absolute,Posn=0.03deg,Vel=1000deg/s
Flying Cutoff/Shear
Flying cutoff or flying shear application to perform synchronized out and return indexes which
repeat every 100 inches of master travel.
Part Length = 100 inches
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Programming
Knife Travel Distance = 20 inches
PLS.0 is used to initiate Index.0 every 100 inches. PLS.0 has an “ON” point at 0.000 inches
and an “OFF” point at 90.000 inches. PLS.0 has a rollover position of 100.000 inches. The
rollover position is used to set the part length. The source for PLS.0 is the master axis. The PLS
is configured in the PLS setup screen. The PLS output does not necessarily need to be
connected to an output line on the drive or module because it is used within the program to
initiate an index.
An Index PLS is used to fire the cutoff knife. The Index PLS is connected to Output #1 on the
drive. The Index PLS is configured in the index setup screen. The Index PLS for Index.1 has
an “ON” point 2.000 inches into the index and an “OFF” point 18 inches into the index.
Home.0.Initiate
‘Sensor,Offset=1.000in,Vel=-5.0 in/s
MasterAxis.DefineHome=ON
PLS.0.Enable=ON
‘Set the master position to 0.0
‘Turn on PLS.0
Do While (TRUE)
Wait For DriveInput.1=ON
If PLS.0.Status = ON Then
late.
‘Repeat until the program is halted
‘Input 1 is used as a “hold” input.
‘If the PLS is already on you are too
ModuleOutput.4=ON‘Set a “Too Late” out-
put
End‘Drop out of the program
Endif
Wait For PLS.0.Status=ON
Index.1.Initiate
‘Start the Index when PLS.0 goes on
‘(every 100 inches).
‘Incremental,Sync,Dist=20.0in,Vel=1.0in/
in
Index.0.Initiate
‘Absolute,Sync,Posn=0.0in,Vel=2.0in/in
Wait For Index.AnyCommandComplete
Loop
Synchronized Jog with Manual Phase Adjustment
The motor controls a lugged conveyor belt which is synchronized to another lugged conveyor
belt. Jog.0 is configured as a “Synchronized” jog using the setup software. The program first
homes the follower and then waits for an input from a sensor on the master axis lugs. When
the input comes on the follower starts the synchronized jog. If the home is setup correctly the
follower will be in perfect phase when it gets up to speed. If the follower gets out of phase
with the master the operator can manually bring the it back into phase using “Advance” and
“Retard” inputs. The program adjusts the phase of the follower axis by adjusting the jog
velocity (Jog.0.Vel) when the operator hits one of the phasing inputs.
Home.0.Initiate
Jog.0.Vel=1.000
‘Sensor,Offset=2.25in,Vel=10in/s
‘follower inches/master inch
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Wait For ModuleInput.1=ON
Jog.0.PlusInitiate
‘Start when a master lug is detected
‘Sync,Vel=1.000in/in
Do While (TRUE)
If (ModuleInput.2=ON) Then
Jog.0.Vel=1.100
Wait For ModuleInput.2=OFF
Jog.0.Vel=1.000
Endif
‘Repeat until the program is halted
‘Phase Advance when ModuleInput.2=ON
‘follower inches/master inch
If (ModuleInput.3=ON) Then
Jog.0.Vel=0.900
Wait For ModuleInput.3=OFF
Jog.0.Vel=1.000
Endif
‘follower inches/master inch
‘Phase Retard when ModuleIput.3=ON
‘follower inches/master inch
‘follower inches/master inch
Loop
Auger Filler with Inputs to Adjust the Fill Amount
Incremental indexes are used to squirt a specified amount of food product into a box. Inputs are
used to adjust the index distance. It would be much simpler to adjust the index distance with an
OIT-3165 operator interface panel, but inputs could be used as described below.
ModuleOutput.3=OFF
ModuleOutput.4=OFF
Do While (TRUE)
If (ModuleInput.2=ON) Then
‘Repeat until the program is halted
‘Fill a box if the “Go” input is on.
Index.1.Initiate‘Incremen-
tal,Dist=16.00oz,Vel=16.0oz/s
Wait For Index.AnyCommandComplete
Endif
‘Increase the fill amount once every time ModuleInput.3 is pressed
If((ModuleInput.3=ON) AND (ModuleOutput.3=OFF)) Then
Index.1.Dist = Index.1.Dist + 0.10‘ounces
ModuleOutput.3=ON
‘ModuleOutput.3 is used to make sure that the distance is
‘incremented only once each time ModuleInput.3 is pressed.
If (Index.1.Dist > 20) Then
ModuleOutput.1=ON
‘Long index output
Else
ModuleOutput.1=OFF
Endif
Endif
If((ModuleInput.3=OFF) AND (ModuleOutput.3=ON)) Then
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Programming
ModuleOutput.3=OFF
Endif
‘Decrease the fill amount once every time ModuleInput.4 is pressed.
If ((ModuleInput.4=ON) AND (ModuleOutput.4=OFF)) Then
Index.1.Dist = Index.1.Dist - 0.10 ‘ounces
ModuleOutput.4=ON
‘ModuleOutput.4 is used to make sure that the distance is
‘incremented only once each time ModuleInput.4 is pressed.
If (Index.1.Dist < 12) Then
ModuleOutput.2=ON
‘Short index output
Else
ModuleOutput.2=OFF
Endif
Endif
If((ModuleInput.4=OFF) AND (ModuleOutput.4=ON)) Then
ModuleOutput.4=OFF
Endif
Loop
Sequence Learn and Playback
This example consists of three programs. The first program is used to learn 3 positions using
“Jog+”, “Jog-“, “Jog Fast” and “Learn” inputs. The second program is called several times
by the first program. The third program steps through the learned positions
Learn Program (Program 0)
Home.0.Initiate
‘Sensor,Offset=0.000in,Vel=-10in/s
Index.1.Initiate
‘Move to position 1
Wait For Index.AnyCommandComplete
Call Program.1
If (ModuleInput.1=ON) Then
Index.1.Dist = PosnCommand
Endif
Wait For ModuleInput.1=OFF
Wait For ModuleInput.2=OFF
‘Program 1 allows the axis to be jogged
‘into position
‘Learn the new position if the “Learn”
‘input is on
‘Read the Position Command into Index.1’s
‘absolute position.
‘Wait until the “Learn” input goes off
‘Wait until the “Skip” input goes off
Index.2.Initiate
‘Move to position 2
Wait For Index.AnyCommandComplete
Call Program.1
‘Program 1 allows the axis to be jogged
‘into position
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If (ModuleInput.1=ON) Then
Index.2.Dist = PosnCommand
Endif
Wait For ModuleInput.1=OFF
Wait For ModuleInput.2=OFF
‘Learn the new position if the “Learn”
‘input is on
‘Read the Position Command into Index.2’s
‘absolute position.
‘Wait until the “Learn” input goes off
‘Wait until the “Skip” input goes off
Index.3.Initiate
‘Move to position 3
Wait For Index.AnyCommandComplete
Call Program.1
If (ModuleInput.1=ON) Then
Index.3.Dist = PosnCommand
Endif
Wait For ModuleInput.1=OFF
Wait For ModuleInput.2=OFF
‘Program 1 allows the axis to be jogged
‘into position
‘Learn the new position if the “Learn”
‘input is on
‘Read the Position Command into Index.3’s
‘absolute position.
‘Wait until the “Learn” input goes off
‘Wait until the “Skip” input goes off
Subroutine for Jogging the Axis into the Desired Position (Program 1)
‘Allow jogging until either the “Learn” input (ModuleInput.1)
‘or the “Skip” input (ModuleInput.2) goes ON.
Do While ((ModuleInput.1=OFF) AND (ModuleInput.2=OFF))
If (ModuleInput.3=ON) Then
‘Jog+ if the Jog+ input is on
Jog.0.PlusInitiate
‘Vel=0.1in/s
Do While (ModuleInput.3=ON)
If (ModuleInput.5=ON) Then
Jog.0.Vel = 1.0
Else
Jog.0.Vel = 0.1
Endif
Loop
Jog.Stop
Endif
‘in/s
‘Stop jogging when the Jog+ input goes off.
If (ModuleInput.4=ON) Then
Jog.0.MinusInitiate
Do While (ModuleInput.4=ON)
If (ModuleInput.5=ON) Then
Jog.0.Vel = 1.0
Else
Jog.0.Vel = 0.1
140
‘ModuleInput.5 = “Jog Fast”
‘in/s
‘Jog- if the Jog- input is on
‘Vel=0.1in/s
‘ModuleInput.5 = “Jog Fast”
‘in/s
‘in/s
Programming
Endif
Loop
Jog.Stop
Endif
‘Stop jogging when the Jog+ input goes off.
Loop
Playback Program (Program 2)
Home.0.Initiate
‘Sensor,Offset=0.000in,Vel=-10in/s
Do While (TRUE)
Index.1.Initiate
Wait For InPosn
ModuleOutput.1=ON
Wait For Time 1.000
ModuleOutput.1=OFF
‘Repeat until the program is halted
‘Absolute,Posn=1.000in,Vel=5in/s
Index.2.Initiate
Wait For InPosn
ModuleOutput.1=ON
Wait For Time 1.000
ModuleOutput.1=OFF
Index.3.Initiate
Wait For InPosn
ModuleOutput.1=ON
Wait For Time 1.000
ModuleOutput.1=OFF
Loop
‘Turn on ModuleOutput.1 for 1 second
‘seconds
‘Absolute,Posn=20.000in,Vel=7in/s
‘Turn on ModuleOutput.1 for 1 second
‘seconds
‘Absolute,Posn=5.250in,Vel=10in/s
‘Turn on ModuleOutput.1 for 1 second
‘seconds
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Parameter Descriptions
This section lists all programmable and feedback parameters available. The parameters are listed
alphabetically by variable name (shown in italics below the on screen name) and give a
description. Range is dynamic and depends on User Unit scaling. The units of the parameters are
dynamic and depend on selected User Units.
Absolute Position Valid
AbsolutePositionValid
This source is activated when either the DefineHome destination is activated, or any home is
successfully completed (sensor or marker found). This source is deactivated if the drive is
rebooted, an encoder fault occurs, the drive is powered down, or a home is re-initiated.
Accelerating
Accelerating
This source is active when the FM-3 module is executing an acceleration ramp. A normal
index consists of 3 segments: Accelerating, At Velocity, and Decelerating. The Accelerating
source will be set (active) during this acceleration segment regardless of whether the motor
is speeding up or slowing down. Therefore, this source can sometimes be active when the
motor is decelerating. This could be true when compounding indexes together.
Acceleration Type
AccelType
This parameter is used to select the accel/decel type for all motion (homes, jogs and indexes).
The “S-Curve” ramps offer the smoothest motion, but lead to higher peak accel/decel rates.
“Linear” ramps have the lowest peak accel/decel rates but they are the least smooth ramp
type. “5/8 S-Curve” ramps and “1/4 S-Curve” ramps use smoothing at the beginning and end
of the ramp but have constant (linear) accel rates in the middle of their profiles. The “5/8 SCurve” is less smooth than the “S-Curve” but smoother than the “1/4 S-Curve”. S-Curve
accelerations are very useful on machines where product slip is a problem. They are also
useful when smooth machine operation is critical. Linear ramps are useful in applications
where low peak torque is critical. Below is a comparison of the 4 ramp types:
•
S-Curve: Peak Accel = 2 x Average Accel
•
5/8 S-Curve: Peak Accel = 1.4545 x Average Accel
•
1/4 S-Curve: Peak Accel = 1.142857 x Average Accel
•
Linear: Peak Accel = Average Accel
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Acceleration Decimal Places
AccelUnits.Decimal
This parameter is the decimal point location for all real-time accel./decel. ramps.
Acceleration Time Scale
AccelUnits.TimeScale
This parameter is the time units for accel./decel. ramps. Possible selections are milliseconds
or seconds.
At Velocity
AtVel
This source is active when the FM-3 module is executing a constant velocity motion segment.
One example would be during an index. The source would activate after the motor has
finished accelerating up to speed and before the motor begins to decelerate to a stop. A normal
index consists of 3 segments: Accelerating, At Velocity, and Decelerating. This source is
active during the At Velocity segment, and is activated based on the commanded velocity, not
the feedback velocity. During synchronized motion, AtVel can be active without actual motor
movement.
Bit Number Value
Bit.B#
This read/write bit may be used in a program as an intermediary variable bit controlled by the
user. Bit.B# is one of 32 bits that make up the BitRegister parameter. Assigned to
communication networks such as DeviceNet, Profibus and Modbus, Bit.B# may be used to
transfer events that have occurred in a PLC to the FM-3/4 program.
Note
When the value of Bit.B# is changed, the value of BitRegister.#.Value is changed as well.
Bit Register Number Value
BitRegister.#.Value
This parameter is made up of the combination of the 32 Bit.B#. The BitRegister.#.Value. The
BitRegister.#.Value register may be accessed bitwise by using Bit.B#, or double word-wise
by using BitRegister.#.Value.
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Parameter Descriptions
Bit Register Number Value Mask
BitRegister.#.ValueMask
This parameter is the Mask for the BitRegister.#.Value. Each bit location is set to either
transfer the current data in the corresponding bit location of BitRegister.#.Value (by setting
the bit location to 1) or to clear the current data in BitRegister.#.Value (by setting the bit
location to 0).
Brake Activate
Brake.Activate
This destination, when activated, engages the brake. This is simply used to manually engage
the brake outside of the normal brake operation. This is level sensitive.
Brake Disengaged
Brake.Disengaged
This source is used to control the motor holding brake. When it is "off" the brake is
mechanically engaged. When the brake is engaged, the diagnostic display on the front of the
drive will display a "b". The drive and module outputs are limited to 150 mA capacity,
therefore, a suppressed relay is required to control the brake coil. Model BRM-1 may be used.
Brake Release
Brake.Release
This destination will release the brake under all conditions, even when Brake.Activate is
engaged. When this input function is active, the Brake.Disengaged output function (source)
will be activated. This is used as a manual brake override.This is level sensitive.
Clear Following Error
ClearFollowingError
Clear Following Error is a destination found in the Position group on the Assignments view.
When this destination is activated, any following error that has accumulated will be erased.
Following Error is cleared by setting the commanded position to the feedback position,
automatically resulting in a zero following error. The FM module will deactivate the Clear
Following Error destination as soon as Following Error is zero.
Commanding Motion
CommandingMotion
This source activates when VelCommand is non-zero.
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FM-3 Programming Module Reference Manual
Decelerating
Decelerating
This source is active when the FM-3 module is decelerating. A normal index consists of 3
segments: Accelerating, At Velocity, and Decelerating. Decelerating follows the accelerating
segment and the At Velocity segment. When indexes are compounded to create a complex
motion profile, only the last index may contain a decelerating segment.
Define Home
DefineHome
This destination is used to set the Commanded Position to the value specified in the
DefineHomePosn variable. On the rising edge of this input function the absolute position is
set equal to the DefineHomePosn and the AbsolutePosnValid output function (source) is
activated.
Define Home Position
DefineHomePosn
The DefineHome parameter is used to set the motors absolute position to the value stored in
the DefineHomePosn variable. On the rising edge of the DefineHome function the
Commanded Position is set equal to the DefineHomePosn and the AbsolutePosnValid source
is activated.
Characteristic Distance
DistUnits.CharacteristicDist
This parameter is the distance the load travels (in user units) when the motor travels the
characteristic length (in motor revolutions). This parameter is used along with the
DistUnits.CharacteristicLength to establish the relationship between user distance and actual
motor travel distance. See the section on the User Units View in the Setting Up Parameters
chapter.
Characteristic Length
DistUnits.CharacteristicLength
This parameter is the distance the motor travels (in whole number of revolutions) to achieve
one characteristic distance of load travel. This parameter is used along with the
DistUnits.CharacteristicDist to establish the relationship between user distance and motor
travel distance. See the section on the User Units View in the Setting Up Parameters chapter.
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Parameter Descriptions
Distance Decimal Places
DistUnits.Decimal
This parameter is used to select the number of decimal places used in the
DistUnits.CharacteristicDist. Using a high number of decimal places will improve
positioning resolution, but will also limit the maximum travel distance. The number of
decimal places set in this parameter determines the number of decimal places used in all
distance parameters throughout the software. You can select from zero to six decimal places
of accuracy.
Distance Units Name
DistUnits.Name
This is a text variable which is used as the label for the distance/position user units. It can be
up to 12 characters in length.
Drive Ambient Temperature
DriveAmbientTemp
This parameter should be set to reflect the ambient air temperature near the drive heatsink
during normal operation. This will determine the amount of regenerative power that can be
dissipated by the EN drive's internal shunt resistor. When that calculated value is exceeded
by the Shunt Power RMS parameter a shunt fault will occur. Valid only for EN-208 and EN214 drives.
Drive Analog Output Feedback
DriveAnalogOutput.#.Feedback
Displays the Output voltage from one of the two analog outputs found on the 3-pin connector
on the front of the drive or on the drive command connector.
Drive Enable Status
DriveEnableStatus
This source is active when the drive is enabled.
Drive Input Debounced
DriveInput.#.Debounced
This displays the state of the input after the debounce is taken into account.
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Drive Input Debounce Time
DriveInput.#.DebounceTime
The Drive Input Debounce Time parameter is the minimum time a digital input must be
steady in order to be recognized by the FM-3. This feature helps prevent false triggering in
applications in electrically noisy environments.
Drive Input Force
DriveInput.#.Force
Input can be forced either On or Off. This parameter is the state to which the input will be
forced when the ForceEnable bit is activated.
Drive Input Force Enable
DriveInput.#.ForceEnable
If DriveInput.#.ForceEnable parameter is activated, then the state of the DriveInput.#.Force
bit will override the current input state.
Drive Input Name
DriveInput.#.Name
This is a text string up to 12 characters that can be assigned to a given input. It allows the user
to use application specific terminology in naming digital inputs.
Drive Input Raw
DriveInput.#.Raw
This displays the raw state of the digital input without debounce or forcing to override the raw
status.
Drive Input Status
DriveInput.#.Status
This source is the state of the input after debounce and forcing are taken into account.
Drive Output Force
DriveOutput.#.Force
A drive output can be forced either On or Off with this parameter. If the ForceEnable bit is
activated, the DriveOutput.#.State will be set to this value.
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Parameter Descriptions
Drive Output Force Enable
DriveOutput.#.ForceEnable
If DriveOutput.#.ForceEnable parameter is activated, then the state of the
DriveOutput.#.Force bit will override the current output state.
Drive Output Name
DriveOutput.#.Name
This is a text string up to 12 characters that can be assigned to a given output. It allows the
user to use application specific terminology in naming digital outputs.
Drive Output State
DriveOutput.#State
This destination sets the current state of an output line.
Drive Output Encoder Scaling
DriveOutputEncoder.Scaling
This parameter allows scaling of the drive encoder output resolution in increments of one line
per revolution. Allowable range is from one line per revolution up to the actual density of the
encoder in the motor. If the Encoder output scaling is set greater than the motor encoder
density the output scaling will be equal to the motor encoder density.
Drive Output Encoder Scaling Enable
DriveOutputEncoder.ScalingEnable
When on, this parameter enables the use of the drive encoder output scaling feature.
Drive Serial Number
DriveSerialNumber
This displays the serial number of the Drive to which the FM-3 module is attached.
Drive Faults Bitmap
Fault.DriveFaultsBitmap
This parameter is a 32-bit register which holds all of the drive fault status bits. Following is
a list of all drive faults and their associated bit numbers:
0 = Encoder state fault
1 = Encoder hardware fault
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FM-3 Programming Module Reference Manual
3 = Drive power module fault
4 = Low DC bus fault
5 = High DC bus fault
8 = Drive internal fault 1
9 = Drive trajectory fault
10 = Drive internal fault 2
16 = Drive watchdog timer fault
19 = Drive over speed fault
21 = Drive power up self test fault
20 = Drive invalid configuration fault
24 = Drive RMS shunt power fault
25 = Motor overtemperature fault
All other bits are not used. A "1" in these bit locations indicates the specific fault is active,
and a "0" is inactive.
Drive OK
Fault.DriveOK
Active when there are no faults. Inactivated when any fault except travel limits occur. Drive
enable has no effect on this event.
Faulted
Fault.Faulted
Any fault will activate this event.
Module Faults Bitmap
Fault.ModuleFaultsBitmap
This parameter is a 32-bit register which holds all of the module fault status bits. Following
is a list of all module faults and their associated bit numbers:
0 = Module watchdog timer fault
1 = Module invalid configuration fault
2 = Module NVM invalid fault
3 = Module power up self test fault
4 = Module following error fault
150
Parameter Descriptions
5 = Module travel limit plus
6 = Module travel limit minus
7 = Module program fault
All other bits are not used. A "1" in these bit locations indicates the specific fault is active,
and a "0" is inactive.
Reset Faults
Fault.Reset
Resets faults that do not require a power down. This event is "or"ed with the reset button on
the drive.
Active Fault
Fault.#.Active
The specified fault is active. See the help index for more information on faults and recovery
from them.
Fault Counts
Fault.#.Counts
The module stores the total number of times the specific fault has occurred since it was
manufactured.
Enable Feedforwards
FeedforwardsEnable
This parameter may be setup on the Tuning view or through a program, and enables
feedforward compensation. When feedforwards are enabled, the accuracy of the Inertia and
Friction settings are very important. If the Inertia setting is larger than the actual inertia, the
result could be a significant overshoot during ramping. If the Inertia setting is smaller than
the actual inertia, following error during ramping will be reduced but not eliminated. If the
Friction is greater than the actual friction, it may result in velocity error or instability. If the
Friction setting is less than the actual friction, velocity error will be reduced, but not
eliminated.
Feedhold
Feedhold
When this destination is activated the motor will decelerate to a stop in the time specified by
the FeedholdDecelTime parameter. When it is deactivated the motor will accelerate back up
to the programmed speed in the same amount of time. It is used to hold motion without
cancelling the move in progress. If a feedhold is activated during an index the motor will
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FM-3 Programming Module Reference Manual
come to a halt, but the index's velocity command remains at the velocity it was at before the
feedhold was activated. When the feedhold is deactivated time will ramp back up and the
index will continue on to its programmed distance or position. Feedhold affects indexes,
homes, and programs. A jog is not affected by the feedhold unless it is initiated from a
program. This is level sensitive.
Feedhold Deceleration Time
FeedholdDecelTime
When Feedhold destination is activated the motor will decelerate to a stop in the time
specified by the FeedholdDecelTime parameter. While the feedhold destination is active, the
motion profile is stopped.
FeedRate Deactivate
FeedRateDeactivate
This destination allows the user to deactivate the FeedRate Override feature. When FeedRate
Deactivate is enabled, FeedRate Override will be disabled and all index or home motion will
operate at its programmed velocity. When FeedRate Deactivate is disabled, FeedRate
Override will be enabled, and index and home motion is subject to scaling by the FeedRate
Override parameter. The default value for FeedRate Override is 100%, so even when
FeedRate Override is enabled, default motion will run at programmed velocity.
FeedRate Override
FeedRateOverride
This parameter is used to scale all motion. It can be described as “scaling in real time.” The
default setting of 100% will allow all motion to occur in real time. A setting of 50% will scale
time so that all motion runs half as fast as it runs in real time. A setting of 200% will scale
time so that all motion runs twice as fast as it would in real time. FeedRate Override is always
active, and this parameter may be modified via Modbus or in a program. When changed, the
new value takes effect immediately.
Foldback Active
FoldbackActive
This source (output function) is active when the drive is limiting motor current. If the
Foldback RMS exceeds 100 percent of the continuous rating, the current foldback circuit will
limit the current delivered to the motor to 80 percent of the continuous rating.
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Parameter Descriptions
Foldback RMS
FoldbackRMS
This read-only parameter accurately models the thermal heating and cooling of the drive.
When this parameter reaches 100 percent, current foldback will be activated.
Following Error
FollowingError
Following Error displays the difference between the Position Command and the Position
Feedback.
Enable Following Error
FollowingErrorEnable
This parameter can be setup from the Position view or from a program. When enabled, a
following error fault will be generated if the absolute value of the Following Error exceeds
the Following Error Limit.
Following Error Limit
FollowingErrorLimit
This parameter is used when the FollowingErrorEnable bit is set. This limit is compared to
the absolute value of the FollowingError. If the FollowingError is greater than the
FollowingErrorLimit, a following error fault will be generated.
Friction
Friction
This parameter is characterized in terms of the rate of friction increase per 100 motor RPM.
If estimated, always use a conservative (less than or equal to actual) estimate. If the friction
is completely unknown, a value of zero should be used. A typical value used here is less than
one percent.
Gear Accel
Gear.Accel
This parameter sets the acceleration of the realtime gearing ramp. Gear.Accel units are in
Follower Units/Velocity Time Base/Acceleration Time Base. The Gear.Accel functions only
when the follower is ramping its speed up to meet the Masters at the specified Gear.Ratio.
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Gear Accel Enable
Gear.AccelEnable
Gear.AccelEnable is a Destination that when it is "on" allows a gear to run a specified accel
ramp after the gearing command is turned on.
Gear Accelerating
Gear.Accelerating
If Gear.AccelEnable is activated, this source is activated during the time between Gear.Initate
= On and Gear.AtVel = On.
Gear Activate
Gear.Activate
The Gear.Activate destination is used to start gearing from an assignment. It is a levelsensitive function, which means that as long as Gear.Activate is active, gearing will be in
progress. When deactivated, gearing motion will come to a stop without deceleration. This
function is only available through the assignments screen. When gearing from a program, the
Gear.Initiate instruction is used.
Gear at Velocity
Gear.AtVel
The Gear.AtVel source indicates that the motor is running at the programmed gear ratio. In
early releases of Gearing, acceleration and deceleration will not be used with gearing, so this
source will always be active when gearing is active.
Gear Command Complete
Gear.CommandComplete
This source will activate when gearing has been stopped, and will remain active until the gear
is initiated again. Gearing does not use a deceleration ramp, so this source will activate
immediately after a Gear.Activate destination is deactivated.
Gear Command In Progress
Gear.CommandInProgrees
This source will activate when Gearing is initiated either from a program or through an
assignment. The source will remain active as long as gearing is in operation. This source can
be active even if the motor is not in motion as long as gearing is active.
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Parameter Descriptions
Gear Decel
Gear.Decel
This parameter sets the deceleration of the realtime gearing ramp. Gear.Decel units are in
Follower Units/Velocity Time Base/Acceleration Time Base. The Gear.Decel functions only
when the follower is ramping its speed down after the gearing function has turned off.
Gear Decel Enable
Gear.DecelEnable
Gear.DecelEnable is a Destination that when it is "on" allows a gear to run a specified decel
ramp after the gearing command is turned off.
Gear Decelerating
Gear.Decelerating
If Gear.DecelEnable is activated, this source is activated during the time between Gear.Initate
= Off and Gear.CommandComplete = On.
Gear Recovery Distance
Gear.RecoveryDist
This variable measures the distance the follower loses from the master. This distance lost is
measured between a Gear Initiate and the Gear At Velocity.
Any Command Complete
Home.AnyCommandComplete
This source is active when any home motion command is completed, if a stop is activated
before the home has completed the function will not be activated. Inactivated when a home
command is executed.
Acceleration
Home.#.Accel
This parameter sets the average Acceleration rate used during the home, units are specified
on the User Units page.
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Accelerating
Home.#.Accelerating
Active during any acceleration while the specified home is in progress. Accelerating may turn
off and on again based on the type of Home selected. Accelerating will activate during the
Home back off sensor motion.
At Velocity
Home.#.AtVel
This source is activated when the home velocity is reached when a the specified home is in
progress. It will activate and deactivate base on the home. Home At Velocity will not be
activated during back off sensor portion of the home.
Calculated Offset
Home.#.CalculatedOffset
The Calculated offset is the distance travelled during the deceleration ramp from the home
velocity to a stop. Calculated by PowerTools.
Command Complete
Home.#.CommandComplete
This source is active when the specified home command is completed, if a stop is activated
before the home has completed the function or if the Home Limit Distance has been exceeded
it will not be activated. Inactive when a home command is executed.
Command In Progress
Home.#.CommandInProgress
This source is activated when the Home is initiated and remains active until all motion related
to the Home has completed.
Deceleration
Home.#.Decel
The Deceleration ramp parameter is used during all the home moves specified in user units.
156
Parameter Descriptions
Decelerating
Home.#.Decelerating
This source is active during any deceleration while the specified home is in progress.
Decelerating will turn off and on based on the type of Home selected. Decelerating will
activate during the Home back off sensor motion.
End of Home Position
Home.#.EndPosn
This parameter defines the drive position at the completion of a home. Typically used to
define the machine coordinate home position.
Initiate
Home.#.Initiate
When activated, this destination will initiate the specified home. Home will not initiate if an
index, jog, program, or stop is currently active.
Limit Distance
Home.#.LimitDist
This parameter places an upper limit on the incremental distance traveled during a home. If
no home reference is found the motor will decelerate to a stop at the limit distance and activate
the Home.#.LimitDistHit event.
Enable Limit Distance
Home.#.LimitDistEnable
This parameter enables the specified Home.#.LimitDist. If not enabled, the home will run
indefinitely until the home reference is found.
Limit Distance Hit
Home.#.LimitDistHit
This source is activated when the home sensor is not found before the Home Limit Distance
is traveled.
Name
Home.#.Name
User name for the specified home.
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Home Offset Type
Home.#.OffsetType
Selects calculated or specified home offset. Calculated offset is the distance traveled during
the deceleration ramp from the home velocity. The specified offset allows the user to choose
an exact offset from the Home Reference.
If On Sensor
Home.#.OnSensorAction
If the home sensor input is active when the home is initiated, this parameter determines the
direction of motion. Two selections are possible. If "Back off before homing" is selected, the
motor will turn in the opposite direction of the home until the home sensor is clear and then
begin the home. If "Go forward to next sensor" is selected, the motor will turn in the
commanded direction until the next rising edge of the sensor is seen. If using Modbus to view
or modify this parameter, 1= Back off before homing, 0 = Go forward to next sensor.
Home Reference
Home.#.Reference
This parameter determines how the reference position is determined. The parameter can have
one of three different values: 'Sensor', 'Marker', 'Sensor then Marker'. When the home
reference is 'Sensor' the rising edge of the 'Home Sensor' input function is used to establish
the reference position. When the home reference is 'Marker' the rising edge of the motor
encoder's marker channel is used to establish the reference position. When the home reference
is 'Sensor then Marker' the reference position is established using the first marker rising edge
after the Home Sensor input function goes active.
Sensor Trigger
Home.#.SensorTrigger
This destination is usually a sensor input used as a reference for the home. This event is only
used if the home is defined by sensor or by sensor and marker.
Specified Offset
Home.#.SpecifiedOffset
The specified offset parameter allows the user to specify an exact offset relative to the Home
Reference. The commanded motion will stop at exactly the offset distance away from the
sensor or the marker as specified.
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Parameter Descriptions
Time Base
Home.#.TimeBase
The time base selects either realtime, which allows velocities, acceleration and deceleration
to be based on real time, or synchronized, which allows for an external synchronization
signal.
Velocity
Home.#.Vel
This parameter sets the target velocity for all of moves in the home. The sign determines the
home direction. Positive numbers cause motion in the positive direction and negative
numbers cause motion in the negative direction in search of the home sensor.
Any Command Complete
Index.AnyCommandComplete
This source is active when any index motion command is completed. If a stop is activated
before the index has completed, this destination will not activate. Deactivated when any index
command is initiated.
Index Profile Limited
Index.ProfileLimited
For timed indexes, if the values for Max. Velocity, Max. Acceleration and Max. Deceleration
are such that the distance cannot be covered in the specified time, the Index.ProfileLimited
flag will activate when the index is initiated. The Index.ProfileLimited flag will remain active
until cleared using the Index.ResetProfileLimited assignment or program instruction. In this
situation, the index will still operate, but the time will be extended. In other words, the profile
will be performed using the maximum values and still cover the specified distance, but not in
the specified time.
Index Reset Profile Limited
Index.ResetProfileLimited
If a timed index was not completed in the specified time, the Index.ProfileLimited source will
activate. Index.ResetProfileLimited is used to clear the ProfileLimited flag and acknowledge
that the index was not completed in the specified time. This can be activated through an
assignment, or through a user program. This function is edge-sensitive, so holding Reset
Profile Limited active will not prevent ProfileLimited from activating.
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Acceleration
Index.#.Accel
This parameter is the average Acceleration rate used during the index. Units are specified on
the User Units view in the PowerTools Pro software.
Accelerating
Index.#.Accelerating
This source is active while an index is accelerating to its target velocity. Once the index
reaches the target velocity, or begins to decelerate, the Index.#.Accelerating source will
deactivate.
Analog
Index.#.AnalogLimitType
Select the analog parameter (i.e. Torque Command) to compare to the AnalogLimitValue.
Satisfying the comparison triggers the index registration event.
Limit Value
Index.#.AnalogLimitValue
This preset value is compared to the selected AnalogLimitType to determine the registration
point.
At Velocity
Index.#.AtVel
This source activates when the target index velocity is reached. If Feedrate override is
changed or FeedHold is activated AtVelocity shall remain active. Index.#.AtVel will
deactivate at the start of any deceleration or acceleration. During a synchronized index, this
source could be active even without any motor motion if the master axis stops.
Command Complete
Index.#.CommandComplete
The Index.#.CommandComplete source will activate when the specific index completes its
deceleration ramp. It will remain active until the specific index is initiated again. If the Stop
destination is used during an Index, then the Index.#.CommandComplete will not activate.
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Parameter Descriptions
Command In Progress
Index.#.CommandInProgress
The Index.#.CommandInProgress source is active throughout an entire index profile. The
source activates at the beginning of the index acceleration ramp, and deactivates at the end of
the index deceleration ramp.
Compound Initiate
Index.#.CompoundInitiate
When activated will initiate the specified Index to compound into the next index in the
program. Only allowed in a program.
Deceleration
Index.#.Decel
This parameter is the Average Deceleration rate used during the index. Units are specified on
the User Units page.
Decelerating
Index.#.Decelerating
This source is active while an index is decelerating from its target velocity. Once the index
reaches zero velocity, or its next target velocity, the Index.#.Decelerating source will
deactivate.
Distance
Index.#.Dist
This parameter is the Incremental distance that the index will travel or the absolute position
for the specified index in user units. If an index type of Registration is selected, then this is
a limit distance, or the maximum distance the index will travel if a registration sensor is not
seen.
Index Time
Index#.IndexTime
This parameter is used in conjunction with the Index.TimeIndexEnable parameter. If
TimeIndexEnable is activated, then this is the time in which an index should complete its
programmed distance. The units for this parameter depend on the current setting of the
TimeBase parameter for the specific index. If TimeBase is set to "Realtime" (default), then
the units are Seconds. The user can program the index time with resolution on 0.001 Seconds
(or milliseconds). If TimeBase is set to "Synchronized", the units defined by the Master
Distance Units found on the Master Setup screen.
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Initiate
Index.#.Initiate
The Index.#.Initiate destination is used to initiate the specific index. The Index is initiated on
the rising edge of this function. An Index cannot be initiated if there is an Home, Jog, or
Program in progress, or if the Stop destination or if a travel limit is active. It can be activated
from an assignment or from a program.
Limit Distance Hit
Index.#.LimitDistHit
This source is activated when the registration sensor is not found before the Limit Distance is
traveled. If the Registration Window is enabled the sensor must be activated inside the
window to be recognized.
Name
Index.#.Name
The user can specify an Index name of up to 12 characters.
Enable PLS
Index.#.PLSEnable
When Activated, this parameter enables the PLS (programmable limit switch) function for the
specified index. It can be controlled from index view check box or from a program.
PLS Off Point
Index.#.PLSOffDist
This an incremental distance from the start of the index to the Index PLS off point. This is an
unsigned value and is relative only to starting position of this index. Index direction does not
affect this parameter. Index.#.PLSStatus will be active if the distance traveled from the start
of the index is greater than the Index.#.PLSOnDist and less than the Index.#.PLSOffDist.
PLS On Point
Index.#.PLSOnDist
This an incremental distance from the start of the index to the Index PLS On Point. This is an
unsigned value and is relative only to starting position of this index. Index direction does not
affect this parameter. Index.#.PLSStatus will be active if the distance traveled from the start
of the index is greater than the Index.#.PLSOnDist and less than the Index.#.PLSOffDist.
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Parameter Descriptions
PLS Status
Index.#.PLSStatus
Controlled by the PLSOn and PLSOff Points, this is relative to the distance commanded since
the start of the index. Index.#.PLSStatus will be active if the distance traveled from the start
of the index is greater than the Index.#.PLSOnDist and less than the Index.#.PLSOffDist.
Registration Offset
Index.#.RegistrationOffset
This parameter is the Distance the motor will travel after a valid registration sensor or analog
limit value has been detected.
Registration Type
Index.#.RegistrationType
This selects either sensor or analog as the registration mark for a registration index.
Enable Registration Window
Index.#.RegistrationWindowEnable
This check box enables (if checked) the Registration Sensor valid Window. When active,
only registration marks that occur inside the registration window are seen as valid.
Window End
Index.#.RegistrationWindowEnd
This parameter defines the end of the Registration Sensor Valid Window relative to start
position of this index. This is an unsigned value and is relative only to starting position of this
index. Index direction does not affect this parameter. The Registration Window start position
is greater than or equal to the Registration point and less than the Registration Window End
position. If a registration sensor is seen outside of this window (not between the WindowStart
and WindowEnd positions) then it will be ignored.
Window Start
Index.#.RegistrationWindowStart
This parameter defines the start of the Registration Sensor Valid Window relative to start
position of this index. This is an unsigned value and is relative only to starting position of this
index. Index direction does not affect this parameter. The Registration Window start position
is greater than or equal to the Registration point and less than the Registration Window End
position. If a registration sensor is seen outside of this window (not between the WindowStart
and WindowEnd positions) then it will be ignored.
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Registration Sensor
Index.#.SensorTrigger
If registration to Sensor is selected, when this destination activates, motor position is captured
and is used as the registration point for registration type indexes.
Time Base
Index.#.TimeBase
The time base selects either realtime, which allows velocities, acceleration and deceleration
to be based on real time, or synchronized, which allows for an external synchronization
signal.
Index Timed Index Enable
Index.#.TimedIndexEnable
This parameter is used in conjunction with the Index.#.IndexTime parameter. If
Index.#.TimedIndexEnable is active, then the programmed Velocity, Acceleration, and
Deceleration will be used as maximum values, and the Index Time parameter will determine
how long it takes to perform an index.
Velocity
Index.#.Vel
This parameter sets the target velocity of the specific index. The units for this parameter are
specified in the User Units Setup view. When an index is initiated, it will ramp up to this
velocity at the specified acceleration rate and run at speed until it decelerates to a stop
(assuming the index is not compounded).
Inertia Ratio
InertiaRatio
This specifies the load to motor inertia ratio. For example, a value of 25.0 specifies that the
load inertia is 25 times the inertia of the motor.
Initially Active
InitiallyActive
This source, when assigned to a destination, will activate the destination on power-up or upon
FM-3 reset. InitiallyActive can be assigned to any destination that does not create motion (i.e.
indexes, jogs, homes, programs).
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Parameter Descriptions
In Position
InPosn
This source activates when commanded velocity is zero and the absolute value of the
following error is less than the InPosnWindow for at least the amount of time specified in the
InPosnTime parameter.
In Position Time
InPosnTime
This parameter is the minimum amount of time that commanded motion must be complete
and the absolute value of the following error is less than the InPosnWindow parameter for the
InPosn source to activate.
In Position Window
InPosnWindow
The absolute value of the following error must be less than this value at the completion of a
move for the InPosnTime before InPosn will activate.
Any Command Complete
Jog.AnyCommandComplete
The Jog.AnyCommandComplete bit will activate when either Jog 0 or Jog 1 completes its
deceleration ramp and reaches zero commanded speed. It deactivates when another jog is
initiated.
Minus Activate
Jog.MinusActivate
This destination is used to initiate jogging motion in the negative direction using the jog
parameters of the jog selected by the Jog select input function. Jogging will continue as long
as the destination is active. The motor will decelerate to a stop when the destination is
deactivated. This is level sensitive.
Plus Activate
Jog.PlusActivate
This destination is used to initiate jogging motion in the positive direction using the jog
parameters of the jog selected by the Jog select input function. Jogging will continue as long
as the destination is active. The motor will decelerate to a stop when the destination is
deactivated. This is level sensitive.
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Select
Jog.Select0
This destination is used to select between the jogs. It is used along with the Jog.PlusActivate
and Jog.MinusActivate destinations. If the Jog.Select0 destination is not active then the Jog.0
setup parameters will be used for jogging. If the Jog.Select0 input function is active, the Jog.1
setup parameters will be used for jogging. If the Jog.Select destination is changed during
jogging motion the axis will ramp smoothly from the previously selected jog velocity to the
new jog velocity using the specified jog acceleration. This is level sensitive.
Stop
Jog.Stop
This is used only in programs to halt jogging motion. Jogging motion is initiated in programs
using the Jog.#.MinusActivate or Jog.#.PlusActivate instructions, and using the Jog.Stop will
cause the motor to decelerate to a stop at the Jog.#.Decel rate for the jog that is active.
Acceleration
Jog.#.Accel
This parameter is the average acceleration ramp for the specific jog.
Accelerating
Jog.#.Accelerating
This source is active while a jog is accelerating to its target velocity. Once the jog reaches the
target velocity, the Jog.#.Accererating bit will turn off.
At Velocity
Jog.#.AtVel
This source activates when the particular jog has reached its target velocity. It deactivates
when accelerating or decelerating to another target jog velocity.
Command Complete
Jog.#.CommandComplete
The Jog.#.CommandComplete source activates when the specific Jog completes its
deceleration ramp and reaches zero commanded speed. It deactivates when the specific Jog is
initiated again.
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Parameter Descriptions
Command In Progress
Jog.#.CommandInProgress
The Jog.#.CommandInProgress source is high throughout an entire jog profile. The bit goes
high at the start of a jog acceleration ramp, and turns off at the end of a jog deceleration ramp.
Deceleration
Jog.#.Decel
This parameter is the average deceleration ramp for the specific jog.
Decelerating
Jog.#.Decelerating
This source turns on at the beginning of a jog deceleration ramp and turns off at the
completion of the ramp.
Initiate Minus
Jog.#.MinusInitiate
This is used inside a program to initiate a specific jog. When this bit is active, jogging motion
will be initiated in the negative direction at the specified jog velocity.
Initiate Plus
Jog.#.PlusInitiate
This is used inside a program to initiate a specific jog. When this bit is active, jogging motion
will be initiated in the positive direction at the specified jog velocity.
Time Base
Jog.#.TimeBase
The time base selects either realtime, which allows velocities, acceleration and deceleration
to be based on real time, or synchronized, which allows for an external synchronization
signal.
Velocity
Jog.#.Vel
This parameter specifies the velocity used for jogging with the Jog.PlusActivate and
Jog.MinusActivate destinations or the Jog.#.PlusInitiate and Jog.#.MinusInitiate inside a
program. The units for this parameter are specified in the User Units view.
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Line Voltage (EN ONLY)
LineVoltage
This parameter is used to calculate critical internal gains. There are two possible value: 115
or 230 VAC. A value of 115 VAC should not be used if the actual line voltage is 230,
otherwise damage to the EN drive may result. The default value is 230 VAC.
BaudRate
Modbus.BaudRate
Modbus baudrate for this FM module and drive.
Modbus Id
Modbus.ModbusId
Modbus ID # for this FM module and drive.
Debounced
ModuleInput.#.Debounced
This is the state of the input after the debounce is taken into account.
Module Input Debounce Time
ModuleInput.#.DebounceTime
The Module Input Debounce Time parameter is the minimum time a digital input must be on
in order to be recognized by the FM-3. This feature helps prevent false triggering in
applications in electrically noisy environments.
Module Input Force
ModuleInput.#.Force
Input can be forced either On or Off. This bit is the state to which the input will be forced
when the ForceEnable bit is activated.
Module Input Enable Force
ModuleInput.#.ForceEnable
If ModuleInput.#.ForceEnable is True (or On), then the state of the ModuleInput.#.Force bit
will override the current input state.
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Parameter Descriptions
Module Input Name
ModuleInput.#.Name
This is a text string up to ten characters that can be assigned to a given input. It allows the user
to use application specific terminology in naming digital inputs.
Module Input Raw
ModuleInput.#.Raw
This is the raw state of the digital input without debounce or forcing to override the raw status.
Module Input Status
ModuleInput.#.Status
This source is the state of the input after debounce and forcing are taken into account.
Module Output Force
ModuleOutput.#.Force
A module output can be forced either On or Off. If the ForceEnable bit is activated, the
ModuleOutput.#.State will be set to this value.
Module Output Enable Force
ModuleOutput.#.ForceEnable
If ModuleOutput.#.ForceEnable is activated, then the state of the ModuleOutput.#.Force bit
will override the current output state.
Module Output Name
ModuleOutput.#.Name
User assigned name to the hardware output.
Module Output State
ModuleOutput.#State
This destination sets the current state of an output line.
Module Serial Number
ModuleSerialNumber
This is the FM-3 module serial number.
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Motion Stop
MotionStop
This destination is used to stop all motion operating without stopping programs. MotionStop
can be activated through an assignment, or in a user program. This function is level sensitive,
meaning that as long as MotionStop is active, all motion will be prevented. If a program has
a motion statement, the program will wait on that line of code until the MotionStop function
has been deactivated. If motion is in progress when MotionStop is activated, the profile will
decelerate to zero velocity at the deceleration rate specified in the Stop.Decel parameter. All
motion will stop using a realtime deceleration, regardless of the motions original timebase.
Motor Type
MotorType
This parameter is used to select the motor type.
Name
Name
User name for this FM-3 axis can have a length up to 12 characters. This can be used to help
differentiate setup files.
PLS Direction
PLS.#.Direction
This parameter specifies the direction of motion that a particular PLS output will function. If
set to Both, the PLS will activate regardless of whether the axis is moving in the positive or
negative direction. If set to Plus, the PLS will activate only when the axis is moving in the
positive direction. If set to Minus, the PLS will activate only when the axis is moving in the
negative direction. A flying cutoff or flying shear application may use this feature to activate
the PLS to fire the knife only when the axis is moving in the positive direction.
PLS Off Point
PLS.#.OffPosn
PLS.#.Status will be active when the selected source position is between the PLS.#.OnPosn
and the PLS.#.OffPosn. The terms On and Off assume you are traveling in a positive
direction. Assume that the PLS.#.Direction is set to "Both". When traveling in the positive
direction and the position feedback reaches the OnPosn, the PLS.#.Status will activate. As the
motor continues in the same direction, the PLS.#.Status will deactivate when feedback
position reaches or exceeds the OffPosn. If motor travel changes to the negative direction,
the PLS.#.Status will activate when position feedback reaches the OffPosn, and will
deactivate when it continues past the OnPosn. The important thing to remember is that the
PLS.#.Status will be active if between the PLS On and Off points.
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Parameter Descriptions
If using negative values for the OnPosn and OffPosn, the most negative value should go in
the OnPosn parameter, and the least negative value should go in the OffPosn.
If the PLS has a rollover point, and the OnPosn is greater than the OffPosn, the PLS will be
active whenever the axis is not between the On and Off positions, and inactive whenever the
axis is between the two positions. However, the PLS.#.Status will not turn on until it reaches
the OnPosn the first time.
PLS On Point
PLS.#.OnPosn
PLS.#.Status will be active when the selected source position is between the PLS.#.OnPosn
and the PLS.#.OffPosn. The terms On and Off assume the motor is traveling in a positive
direction. Assume that the PLS.#.Direction is set to "Both". When traveling in the positive
direction and the position feedback reaches the OnPosn, the PLS.#.Status will activate. As the
motor continues in the same direction, the PLS.#.Status will deactivate when feedback
position reaches or exceeds the OffPosn. If motor travel changes to the negative direction,
the PLS.#.Status will activate when position feedback reaches the OffPosn, and will
deactivate when it continues past the OnPosn. The important thing to remember is that the
PLS.#.Status will be active if between the PLS On and Off points.
If using negative values for your OnPosn and OffPosn, the most negative value should go in
the OnPosn parameter, and the least negative value should go in the OffPosn.
If the PLS has a rollover point, and the OnPosn is greater than the OffPosn, the PLS will be
active whenever the axis is not between the On and Off positions, and inactive whenever the
axis is between the two positions. However, the PLS.#.Status will not turn on until it reaches
the OnPosn the first time.
PLS Enable
PLS.#.PLSEnable
This destination is used to enable an individual PLS. A PLS can be enabled though the
Assignments view in PowerTools FM3 or from a program. If enabled, the PLS will begin to
function as soon as the drive has been homed or a DefineHome destination has been activated.
Master Posn Valid must be active (Master Define Home is activated) if using a master signal
for PLS source.
PLS Rollover Enable
PLS.#.RotaryRolloverEnable
This parameter is used to enable the RotaryRolloverPosn for the individual PLS.
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PLS Rollover Position
PLS.#.RotaryRolloverPosn
This parameter is the absolute position of the first repeat position for this PLS. When enabled
it causes the PLS to repeat every time this distance is passed. The repeating range begins at
an absolute position of zero and ends at the RotaryRolloverPosn. For example in a rotary
application a PLS could be setup with an OnPosn of 90 degrees and an OffPosn of 100
degrees. If the RotaryRolloverPosition is set to 360 degrees the PLS would come on at 90, go
off at 100, go on at 450 (360+90), go off at 460 (360+100), go on at 810 (2*360+90), go off
at 820 (2*360+100), and continue repeating every 360 degrees forever.
PLS Source
PLS.#.Source
PLSs can be assigned to three different sources: MotorPosnFeedback, MotorPosnCommand,
or MasterPosnFeedback. This parameter determines which position signal the PLS uses to
reference its OnPosn and OffPosn in order to determine its PLS.#.Status parameter.
PLS Status
PLS.#.Status
This source is active when the position of the PLS source (motor or master) is greater than or
equal to the OnPosn and less than the OffPosn.
Positive Direction
PositiveDirection
This bit is used to select which direction of motor rotation is considered motion in the positive
direction. Select from CW or CCW.
Position Command
PosnCommand
Position command sent to the EN drive by the FM-3. This parameter does not take following
error into account. See also PosnFeedback and FollowingError. Units are in user units.
Position Error Integral Enable
PosnErrorIntegralEnable
This parameter is used to enable the position error integral compensation. See also Position
Error Integral Time Constant.
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Parameter Descriptions
Position Error Integral Time Constant
PosnErrorIntegralTimeConstant
Position Error Integral parameter is a control term, which can be used in Pulse mode to
compensate for the continuous torque required to hold a vertical load against gravity or to
minimize following error.
The user configures this control term using the “Position Error Integral Time Constant”
parameter. This parameter determines how quickly the drive will correct for in-position
following error. The time constant is in milliseconds and defines how long it will take to
decrease the following error to 37 percent of the original value. In certain circumstances the
value actually used by the drive will be greater than the value specified here.
Min Time Constant = 1000/Response
For example, with “Response” set to 50, the minimum time constant value is 1000/50 = 20
msec.
Position Feedback
PosnFeedback
Feedback position is the actual motor position in user units. PosnCommand minus the
PosnFeedback is the FollowingError
Position Feedback In Counts
PosnFeedbackInCounts
Motor encoder position in encoder counts since power up. This position reflects the feedback
position of the motor and is not scaled into user units. It can be used to confirm the exact
position of the motor in applications where precise positioning is required.
Power Stage Enabled
PowerStageEnabled
This source (output function) is active when the drive's power stage is enabled.
PowerUpCount
PowerUpCount
Number of times the drive has been powered up since it was manufactured.
PowerUpTime
PowerUpTime
Time elapsed since last drive power-up. Units is minutes.
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PowerUpTimeTotal
PowerUpTimeTotal
Total power up time since the drive was manufactured. Units is hours.
Any Complete
Program.AnyComplete
This source is activated when any program ends normally. If a program ends due to a fault
or the stop destination, this source does not activate. Deactivates when any program is
initiated.
Initiate
Program.#.Initiate
When activated, this destination initiates the specified program unless a program, index,
home, or jog is already executing or a stop is active.
Name
Program.#.Name
This is a character string which the user can assign to an individual program. It allows the
user to give a descriptive name to programs for ease of use.
Program Complete
Program.#.ProgramComplete
This source is activated when a specific program ends normally. If the program ends due to
a fault or the stop destination, this source does not activate. Deactivates when the specific
program is initiated again.
Response
Response
The Response parameter adjusts the velocity loop bandwidth with a range of 1 to 500 Hz. In
general, it affects how quickly the drive will respond to commands, load disturbances and
velocity corrections. A good value to start with (the default) is 50 Hz.
Rotary Rollover Enable
RotaryRolloverEnable
This parameter is used in applications with a predefined repeat length. One example would
be a rotary table with a rotary rollover position of 360 degrees. The position will rollover to
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Parameter Descriptions
zero when the axis position gets to 360 degrees. (358, 359, 359.999, 0.0000, 1, 2, and so on.)
The rollover point is defined to be exactly the same position as 0.
Selector Input Destinations
Selector.SelectLinesUsed
The selector is a binary to decimal decoder. This parameter selects the number of destinations
(input lines) to be used by the selector. The number of lines used determines the number of
sources (selections) that can be made by the selector; that is 2 input lines can select 4
destinations (selections), 5 input lines can select 32 destinations. Range is 1 to 8.
Select
Selector.#.Select
This source selects Binary inputs to the selector, usually assigned to input lines. This is level
sensitive.
Selection
Selector.#.Selection
This source selects Decimal outputs from the selector, assigned to indexes, homes or
programs.
Initiate
Selector.SelectorInitiate
When this destination is activated, the selector checks the status of all Selector.Select
destinations to determine which Selector.Selection to activate.
ShuntActive
ShuntActive
This source is active when the drive's internal shunt is active (conducting current).
ShuntPowerRMS
ShuntPowerRMS
This parameter models the thermal heating and cooling of the drive internal shunt. This
parameter indicates the percent of shunt capacity utilization and is based on the Heat Sink
RMS value. When this value reaches 100 percent the drive will generate an RMS Shunt
Power Fault. This is only applicable to the EN-208 and EN-214.
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Enable Software Travel Limits
SoftwareTravelLimitEnable
Software travel limits can be used to limit machine travel. They are often setup inside the
hardware travel limits to add a level of protection from exceeding the machines travel limits.
The SoftwareTravelLimitMinusActive source (output function) is active when the
SoftwareTravelLimitMinusPosn is reached or exceeded. Motion is halted using the
TravelLimitDecel whenever a hardware or software travel limit is hit or exceeded. Software
travel limits are not active unless Absolute Position Valid is active.
Software Travel Limit Minus Activate
SoftwareTravelLimitMinusActive
The SoftwareTravelLimitMinusActive source is active when the
SoftwareTravelLimitMinusPosn is reached or exceeded. Motion will come to a stop using the
TravelLimitDecel ramp. Software travel limits are not active unless enabled and Absolute
Position Valid is active.
Software Travel Limit Plus Activate
SoftwareTravelLimitMinusPosn
The SoftwareTravelLimitMinusActive source will activate when the
SoftwareTravelLimitMinusPosn is reached or exceeded. Motion will come to a stop using the
TravelLimitDecel. Software travel limits are not active unless enabled and Absolute Position
Valid is active.
Software Travel Limit Plus Active
SoftwareTravelLimitPlusActive
The SoftwareTravelLimitPlusActive source is active when the SoftwareTravelLimitPlusPosn
is reached or exceeded. Motion will come to a stop using the TravelLimitDecel ramp.
Software travel limits are not active unless enabled and Absolute Position Valid is active.
Software Travel Limit Plus Position
SoftwareTravelLimitPlusPosn
The SoftwareTravelLimitPlusActive source is active when the SoftwareTravelLimitPlusPosn
is reached or exceeded. Motion is halted using the TravelLimitDecel whenever a hardware or
software travel limit is hit or exceeded. Software travel limits are not active unless enabled
and Absolute Position Valid is active.
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Parameter Descriptions
Start Up
StartUp
This source can be used to trigger an event to occur on startup (when the FM-3 module powers
up or is rebooted). This source is typically used to initiate a program or to initiate a home so
that a machine will automatically home on power up or reboot. StartUp will activate when
the FM-3 module has powered up and no faults are active. Startup may take as long as five
seconds to activate. Depending on what the Startup source is assigned to, the drive may need
to be enabled to perform the function. If the drive is not enabled, the startup source cannot
initiate programs or motion. The source will remain active until the FM-3 module is powered
down.
Stop
Stop
Activate this destination to stop all motion and programs. If Stop is activated when a Jog,
Index, Home or Program is in progress, they will decelerate to zero speed at the Stop Decel
ramp. When Stop is active, all Jog, Home, Index and Program initiate destinations will be
ignored. When it is deactivated, all level sensitive and active input functions
(Jog.0.PlusActivate, Jog.0.MinusActivate, etc.) will become operational. For example, if the
Jog.PlusActivate input function is active when the Stop input function is deactivated, the
Jog.Plus motion will initiate using the acceleration found in the Jog.0.Accel parameter. This
is level sensitive.
Stop Deceleration
StopDecel
Deceleration rate used when the Stop destination is activated.
Torque Command
TorqueCommand
This parameter is the torque command value before it is limited. The torque command may
be limited by either the Torque Limit (if the Torque Limit Enable destination is active) or
current foldback.
Limited Torque Command
TorqueCommandLimited
This is the actual torque commanded to the motor. This value is the result after the
TorqueCommand is limited by the current foldback or the TorqueLimit value (if enabled).
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Torque Level
TorqueLevel
This parameter is compared to the TorqueCommand. If the absolute value of the
TorqueCommand is greater than or equal to the TorqueLevel the TorqueLevelActive source
is activated. This parameter is specified in Torque User Units.
Torque Level Active
TorqueLevelActive
This source is used to indicate that the absolute value of the TorqueCommand is greater than
or equal to the TorqueLevel setting.
Torque Limit
TorqueLimit
This is the level to which the TorqueCommand will be limited when the TorqueLimitEnable
input function is active.
Torque Limit Active
TorqueLimitActive
Active when the TorqueCommand is greater than the TorqueLimit and the
TorqueLimitEnable input function is active.
Travel Limit Deceleration
TravelLimitDecel
This parameter defines the ramp used to decelerate the motor to a stop when any travel limit
is activated
Travel Limit Disable
TravelLimitDisable
TravelLimitDisable can be used from the Assignments screen, or through a user program. It
can be used to temporarily disable the travel limit fault capability of the FM-3 module. When
TravelLimitDisable is activated, the FM-3 travel limits (hardware or software) are no longer
valid. If disabled using a program, the travel limits will automatically be re-enabled when
the program ends, if they haven’t already been enabled. This feature is typically used when
a machine must use one of its limit switches as a home switch. The user disables the travel
limits, then homes to the limit switch, and then re-enables the travel limit.
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Parameter Descriptions
Torque Limit
TorqueLimitEnable
This destination is used to enable the TorqueLimit. This is level sensitive.
Travel Limit Minus Activate
TravelLimitMinusActivate
This destination is used to activate the travel limit minus fault. It should be assigned to the
travel limit minus sensor. When it is activated the drive will decelerate to a stop using the
deceleration rate defined in the TravelLimitDecel parameter. This is level sensitive.
Travel Limit Minus Active
TravelLimitMinusActive
This source is active when the TravelLimitMinusActivate is active. When this source is active
motion is allowd in the positive direction only.
Travel Limit Plus Activate
TravelLimitPlusActivate
This destination is used to activate the travel limit plus fault. It should be assigned to the travel
limit plus sensor. When it is activated the drive will decelerate to a stop using the deceleration
rate defined in the TravelLimitDecel parameter. This is level sensitive.
Travel Limit Plus Active
TravelLimitPlusActive
This source is active when the TravelLimitPlusActivate is active. When this source is active
motion is allowd in the negative direction only.
Decimal Places
TorqueUnits.Decimal
This parameter is the decimal point location for user torque units.
Units Name
TorqueUnits.Name
The User can specify a torque unit name of up to 12 characters. Default is % Cont.
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Percent Continuous
TorqueUnits.PercentContinuousCurrent
This parameter is the denominator of torque scaling factor. This is an amount of continuous
current in percent that is equal to the TorqueUnits.Torque parameter.
Torque
TorqueUnits.Torque
This parameter is the numerator of the torque scaling factor. This is an amount of torque in
Torque User Units that is equivalent to one unit of PercentContinuousCurrent (denominator
of scaling factor). This scaling factor is used to relate actual current or torque to user units.
Variable Decimal
Var.Var#.Decimal
This parameter specifies the number of decimal placed of resolution that this particular user
variable will use. Minimum value is 0 (default), and the maximum number of decimal places
in 6 (0.000000). When assigning the value of a User Variable to different parameters, make
sure that the parameter and the User Variable have the same number of decimal places.
Variable Value
Var.Var#.Value
This parameter specifies the current value of a user variable. In a program, the ".Value"
portion of the parameter name can be left off. For example:
Var.Var0.Value = 12345 is the same as Var.Var0 = 12345
When assigning the value of a User Variable to different parameters, make sure that the
parameter and the User Variable have the same number of decimal places.
Velocity Command
VelCommand
The Velocity Command is the velocity that the FM-3 module is commanding the motor to run
at. This command is generated by the drive velocity control loop. It is displayed in user units.
Velocity Feedback
VelFeedback
This is the feedback (or actual) velocity. It will always return the actual motor velocity, even
in synchronized applications in which the master axis is halted during a move.
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Parameter Descriptions
Decimal Places
VelocityUnits.Decimal
This parameter is used to select the number of decimal places used in velocity units scaling.
Using a high number of decimal places will improve velocity resolution, but will also limit
the maximum velocity. This parameter is selectable between 0 and 6 decimal places. The
number of decimal places set in this parameter determines the number of decimal places used
in all velocity parameters throughout the PowerTools Pro software.
Scaling
VelocityUnits.DistVelScale
Velocity units can be scaled to different from distance units, i.e. user distance units are inches
and velocity units are feet per minute, instead of inches per minute. To do this, simply enter
12 to set 1 foot equal to 12 inches (1 velocity unit = 12 distance units). Range is 1 to 1000,
integers only.
Units Name
VelocityUnits.Name
If the user wants the velocity units to have a different distance scaling than the distance units
a name can be entered here up to 12 characters, e.g. user distance units are inches and velocity
units are feet per minute.
Scaling
VelocityUnits.ScalingFlag
This parameter enables separate velocity and distance user units, name and scaling.
Time Scale
VelocityUnits.TimeScale
Velocity time scale can be set to user units per second or user units per minute, used for all
real-time velocities throughout the PowerTools Pro software.
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Installation
Basic Installation Notes
You are required to follow all safety precautions during start-up such as providing proper
equipment grounding, correctly fused power and an effective Emergency Stop circuit which
can immediately remove power in the case of a malfunction. See the “Safety Considerations”
section for more information.
Mechanical Installation
The FM-3 module detects and verifies the drive serial number when its attached to an drive.
If a FM-3 module is moved from one drive to another, it will detect the difference in serial
numbers and generate an Invalid Configuration fault.
Two aligning tabs, a locking latch and a 100-pin connector are used to attach the FM-3
module to an EN drive. All electrical connections between the FM-3 module and the EN drive
are accomplished with the single connector located on the rear of the FM-3 module.
Figure 69:
Attaching the FM-3 to an EN Drive
Do not attach or detach the FM-3 module when power is applied to the drive. It could
cause drive instability.
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Press down on the
latch located on
the top of the FM.
2
Gently pull the FM away from
the drive. A slight rocking
motion may be used to loosen
the FM's connector.
3
Grip the FM 1
on each side
of the LCD.
4
Continue pulling the top
of the FM away from the
drive until the connector
clears the drive. Lift the
FM out of the aligning
tab slot and away from
the drive.
Figure 70:
Detaching the FM-3 from the Drive Connections
Do not attach or detach the FM-3 module when power is applied to the drive It could
cause drive instability and may cause property damage.
Modbus Communications
The drive’s serial communication protocol is Modbus RTU slave with a 32 bit data extension.
The Modbus protocol is available on most operator interface panels and PLC’s.
Serial Communications Specifications
Max baud rate
19.2k (default)
Start bit
1
Stop bit
2
Parity
none
Data
8
Control Techniques’ Motion Interface panels are supplied with a Modbus master
communications driver.
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Installation
Software Installation
PowerTools Pro software was designed for users who need access to all setup options and
diagnostic information for the drive. The software provides access to all commonly used drive
parameters.
PC System Configuration
Required:
•
Microsoft® Windows® 98, Microsoft® Windows NT® 4.0 (service pack 3), Microsoft®
Windows XP (Home and Pro) and Microsoft® Windows 2000
•
Serial port
•
Mouse
•
CD-ROM drive
•
Microsoft® Internet Explorer v 4.0 or greater
Recommended:
•
16 MB or more RAM for Windows 98, 32 MB or more for Windows NT and Windows
2000 and 64MB or more for Windows XP.
•
Up to 45 MB of hard disk space required for a full installation; 15 MB for minimum
installation.
Optional:
•
Windows-compatible printer
•
Modem and Internet access
Preparing for PowerTools Pro Installation
•
Close all programs and turn off virus protection software to prevent installation conflicts.
•
If you have another version of PowerTools on your computer and do not want to overwrite
that version, change the default installation folder for PowerTools during installation
setup.
•
To avoid overwriting programs you have customized or created, place them into a
separate folder before you install.
Installing PowerTools Pro
You must be running Microsoft Windows 98, Microsoft Windows NT 4.0, Microsoft
Windows 2000 or Microsoft Windows XP to install this software.
1.
Insert the Power CD into the CD-ROM drive. The Power CD should auto start, navigate
to the software page where the PowerTools Pro installation link will be found. If the
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PowerCD doesn’t auto start use Windows Explorer to navigate to the CDROM drive and
open the HELP.TXT file for additional information.
2.
When prompted, install the software on to your hard drive following the instructions on
your screen.
Installation will take a few minutes. The install program automatically:
•
Creates the directory on your hard drive named:
C:\...\Control Techniques\PowerTools Pro - (version#)
•
Creates a new Windows group called "Control Techniques."
•
Loads PowerTools into the Control Techniques\PowerTools PRO directory.
Note
To complete the installation for Windows 98, NT and XP, you may be required to restart
Windows.
Refer to the readme.htm file which appears at the end of the installation for more information.
If You Need Help with Installation
If you encounter problems while installing PowerTools Pro software, call Technical Support
at (952)995-8033 (24 hour assistance).
Starting and Exiting PowerTools
Starting the Software
1. Click the Start button on the taskbar at the bottom left of the screen.
2. Click the Programs selection. The Programs menu appears.
3. Click the “Control Techniques” folder icon.
4. Click the “PowerTools Pro” folder icon.
5. Click the PowerTools Pro program icon.
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Installation
Opening a New File
To start a new file or configuration, select file from the menubar, and then select New. You
may also click on the File New icon on the toolbar. The New dialog box will appear
prompting the user to select FM-3 Drive Setup or FM-3DN Drive Setup (see figure 71).
Figure 71:
New Configuration Dialog Box
If the module is intended solely for Modbus communications (FM-3 printed on front panel),
then select FM-3 Setup. If the module is DeviceNet compatible (FM-3DN printed on front
panel), then select FM-3DN Setup. If the module is intended Profiibus communications (FM3PB printed on front panel), then select FM-3PB Setup. If the module is intended for Ethernet
communications (FM-3E printed on front panel), then select FM-3E Setup.
This will create a new file in which you will construct the entire FM-3 setup.
Exiting the Software
Choose File from the menu, then click Exit. If you are using the keyboard, press the shortcut
key combination Alt+F, X.
If you made changes, PowerTools displays an Alert dialog box asking whether you want to
save your current work. Click the Yes button or press Enter to save your work, or click the No
button to quit without saving.
Accessing Help
All PowerTools tabs and dialog boxes provide a Help button. This retrieves help for that
particular subject and provides details to assist you in the use of each tab or dialog box. Also,
provided is a index-based help system. There is the ability to search the online help using a
keyword. Lastly, PowerTools has context sensitive help capability.
Online Help displays detailed procedural and reference information. It contains some
information that does not appear in this manual.
To display Help in PowerTools, do one of the following:
•
Press F1.
•
Choose a command from the Help menu.
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188
•
Click the Help button on a dialog box or tab.
•
Click the Help icon on the toolbar.
•
Click the Context Sensitive Help button on the toolbar and then the field on the tab.
FM-3 Programming Module Reference Manual
Quick Start
The quick start guide provides information on the basic operation and functions of the FM-3.
The quick start steps cover only the most basic steps required to setup a FM-3 module for use
with a drive.
Basic Setup Steps
Step 1: Opening a New Configuration Window
To open a new configuration window, click either on the New File icon at the left end of the
PowerTools Pro toolbar, or click on File-New from the menubar as shown in 72.
Figure 72:
Opening a new Configuration
This opens a new offline configuration window allowing you to setup all FM-3 parameters.
The communication status remains “offline” until the configuring is complete and you
download the application to the FM-3.
Step 2: Enter All Setup Data
General Setup View
The FM-3 software view is broken up into two areas. The left side view contains the
configuration hierarchy window, which acts as a navigation frame. Some elements in the
hierarchy can be expanded to show more detailed setup views. Elements with a “+” icon to
the left of them may be expanded for added detail.
To expand the element, place your mouse pointer over the “+” symbol and click on it using
the left mouse button. The group then expands to show the setup views underneath it. To
collapse the expanded group, click on the “-“ symbol located to the left of the group heading.
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To select one of the individual setup views, click on the element in the hierarchy view. The
element will then be highlighted, and the right side of the view will show all setup parameters
for that subject. Figure 73 shows the Setup view selected.
Figure 73:
General Setup View
On this view, you must enter the following parameters before entering other setup views:
Drive Type – Select, from the list box, the type of drive to which the FM-3 module is
attached.
Motor Type – Select, from the list box, the type of motor being used in this application.
EN
EN Only
Line Voltage – Select, from the list box, the line voltage applied (115VAC or 230VAC).
Target Drive Address – Enter the Modbus address for this drive/FM-3 module system.
PowerTools Pro will download the configuration to that specific drive only.
Please take the time to check that these parameters are correct.
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Quick Start
User Units View
Determine which types of units the drive should use to measure motion and enter them on this
view. Figure 74 shows the Setup group in the hierarchy expanded with the User Units element
selected.
Figure 74:
User Units View
Now setup the parameters in the Distance group on the User Units view. The Tab key is used
to easily jump through the available parameters. After entering data in a field, press the Tab
key to move to the next parameter. The parameters you must fill out are as follows:
Units Name – Enter the character string you wish to use for your distance units.
Decimal Places – Enter the number of digits after the decimal place you wish to use in all
distance parameters throughout the software (i.e. index distances/positions, PLS On/Off
points). Use the spinner window Up/down buttons to increase or decrease the number of
digits.
Distance Units Scaling – Enter the number of User Units the motor/load travels for each
revolution of the motor. You must enter the numerator and the denominator for this scaling
factor.
Note
User Units may affect end motor speed and could cause trajectory faults.
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Because of internal math in the FM-3/4, some user unit combinations may cause module or
drive trajectory faults. The maximum motor velocity allowed by the drive is detailed under
the distance section of the User Units View and is labeled “User Unit Limited Speed”. When
the user unit setup is altered in such a way that the maximum motor speed allowed by the
drive is less than the maximum speed allowed by the chosen motor, the readout of maximum
motor speed allowed by the drive changes to have a red background. If a configuration is
downloaded to the FM-3/4 with a red background on the “User Unit Limited Speed”, the drive
will obtain a trajectory fault at speeds near this velocity. To alleviate this issue, simply remove
decimal places from your user units, and/or change the characteristic distance (numerator) of
your scaling parameters to be a smaller number than it was. The red background indicating
module trajectory faults will go away when the user unit setup is scaled for a realistic
accuracy based on the encoder counts per revolution.
Master Units View
Use this view if you wish to set parameters for synchronized motion.
Position View
The Settings group on this view sets the Define Home Position.
Figure 75:
Position View
To setup following error limit and software travel limits, fill out the following parameters in
the Limits Group:
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Quick Start
Enable Following Error – This checkbox enables (when checked) and disables the
following error fault capability. If checked, a following error fault is generated whenever
following error exceeds the value entered in the parameter box. If unchecked, a following
error fault will never be generated.
Following Error Limit – If Following Error meets or exceeds this value, a Following Error
Fault will be generated.
Enable Software Travel Limits - This checkbox enables (when checked) and disables the
software travel limits. If enabled, the software travel limits are not active unless the Absolute
Position Valid Source is active. (For more information please see Software Travel Limits
information in the Setting Up Parameters section of the Reference Manual.)
Software Travel Limit + and - - If the position feedback ever exceeds these values when
traveling in a positive or negative direction, the motor will come to a stop at the Travel Limit
Decel rate defined on the Ramps view.
Velocity View
This view sets up the feedrate override velocity. If your application does not call for an overall
scaling factor, leave this at the default of 100%.
Ramps View
You must setup the deceleration rate to be used on the Ramps view if a travel limit is
encountered.
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Figure 76:
Ramps View
Travel Limit Decel – The deceleration ramp is used if either a Software or Hardware Travel
Limit is encountered. The deceleration units of the ramp are defined in the User Units setup
view under the Acceleration group.
Torque View
If your application calls for specific torque levels and limits, use the parameters on this view.
Tuning View
Control Techniques’ Drives are designed to handle a 10:1 inertia mismatch without a tuning
requirement. If you have calculated and know the inertia mismatch, the value can be entered
on the Tuning view for ideal drive response and velocity regulation.
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Quick Start
Figure 77:
Tuning View
Inertia Ratio - This parameter is the ratio between the reflected inertia of the load and the
inertia of the motor rotor. For assistance in calculating the Inertia ratio, see the Determining
Tuning Parameter Values section of this manual.
PLS View
Use this view to setup Programmable Limit Switches (PLS), if your application requires
them. They are assigned in the same way as the Assignments views in Step 3 of this guide.
Step 3: Making Assignments
The Assignments view is found by expanding the I/O Setup group in the hierarchy. The
Assignments define how the system operates. Sources, located on the left side of the view,
are functions or events that activate based on drive/motor activity. Destinations, located on
the right side of the view, are functions that need to be triggered or activated (i.e. Index
Initiate, Program Initiate, etc.).
The example application requires initiating three indexes using three separate hardware
inputs. Therefore, the Input sources need to be assigned to the Index Initiate destinations.
To make an assignment, position your mouse pointer over the source you wish to assign to a
destination, click and hold the left mouse button. While still holding the button, drag your
pointer over the destination where you wish to assign this source, and release the button. The
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“Assigned To” and the “Set From” columns should then reflect the assignment that has been
made. Figure 78 shows how these assignments are made.
Figure 78:
Making Assignments
Notice that a Name can be associated to each input line. Each input line can also have a
debounce time.
Name – This 12-character string allows a descriptive name assigned to an input line. This
makes the configuration easier to follow.
Debounce – This is the minimum time a specific input must be on, for recognition by the
drive/FM-3. This helps prevent false triggering for applications in electrically noisy
environments. The units for this parameter are seconds, with resolution of 0.001 seconds.
The Output Lines view shows assignments that have been made to the Outputs group of
Destinations in the assignment view. Assignments to this view are made in the same way as
assignments to the Input Lines view. After all assignments have been made, the Output Lines
view may look like Figure 79.
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Quick Start
Figure 79:
Output Lines View
A name can also be given to each hardware output line. Double click the Output line name
field to enter a name for that individual output line.
Name – This 12-character string allows a descriptive name assignment to an output line. This
makes the configuration easier to follow.
Step 4: Setting Up Motion Parameters
Now that all of the assignments have been made, you next setup the jog, home, and index
definitions. To do this, it is necessary to expand the Motion group in the hierarchy window.
Jog Setup
The Jog views allow you to setup any jogs required by your application. Select either the Jog0
or Jog1 to enter the specific Jog parameters. Figure 80 shows Jog1 setup view (renamed Jog
Fast). Once in the individual jog views, the up and down arrows next to the Jog Number
parameter can be used to scroll between the jog views (see Figure 80). The following jog
parameters have been defined on this view:
Jog Name - Jog0 has been named Jog Slow and Jog1 named Jog Fast. This is a 12-character
string that allows you to give a descriptive name to a jog profile.
Jog Velocity – Is the target velocity for the Jog profile. If the Jog.Select0 destination is
inactive, the Jog0 velocity is the target velocity, if Jog.Select0 is active, then Jog1 velocity is
used.
Jog Acceleration – Is the average acceleration rate used when accelerating to the target
velocity.
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Figure 80:
Jog Setup View
Jog Deceleration - Is the average deceleration rate used when decelerating to zero speed or
to the new target velocity.
Home Setup
Next, select the Home view from the hierarchy window. Figure 81 shows the Home view and
its associated home parameters.
Home Reference – Determines what signal is used as the home reference. The available
options are an external sensor, the encoder marker pulse, or both. If sensor is selected, the
home profile will travel at its target velocity until the Home.0.SensorTrigger is activated.
Velocity – Is the target velocity for the home move. The home move travels at this velocity,
until the home reference is seen and then stops. If the motor overshoots the sensor, a reverse
move is initiated. Other functions may cause additional motion.
Acceleration – Is the average acceleration rate used to accelerate to the target velocity.
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Quick Start
Figure 81:
Home Setup View
Deceleration - Is the average deceleration rate used to decelerate from the target velocity to
zero velocity at the completion of the home.
Home Offset – By selecting a specified offset, the home will travel at a set velocity until the
home reference signal is detected, then travel an additional set distance, before coming to a
stop. The deceleration ramp begins at the proper time, to ensure the home completes precisely
at the specified offset distance after the home reference was detected. In order to decelerate
to a stop immediately upon detecting the home reference, select the “Calculated Offset” radio
box.
Limit Distance – Is the maximum incremental distance the home move will travel without
seeing a home reference signal. If the home move does travel this distance without seeing a
home reference, it will come to a stop exactly at this point, and the Home.0.LimitDistHit
source will activate. If the box is left unchecked, the home move will continue without limit,
until a home reference is seen.
Index Setup
Next, setup any indexes required by your application. Select one of the indexes from the
hierarchy window. Figure 82 shows Index0.
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Figure 82:
Index Setup View (Absolute Type)
Indexes use the following parameters:
Index Name - Is a 12-character string that gives a descriptive name to an index.
Index Type – Selects the desired type of index from the list box. An Absolute index means
the load will travel to an exact position with respect to the home reference point. This index
will cause motion in either a positive or negative direction depending on current position of
the load with respect to the home reference point. An Incremental index means that the load
travels an exact distance from the start of the index.
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Quick Start
Position/Distance – If using an absolute index, this is the desired final position after the index
is complete. If using an incremental index, then this is the distance you want the load to move
from the start of the index. This is a signed value.
Velocity – This is the target velocity of the index profile. The velocity parameter is unsigned
and is always greater than zero. Direction of the index is not determined by the velocity, but
by the Distance/Position parameter.
Acceleration – Is the average acceleration rate used when accelerating to the target index
velocity.
Deceleration - Is the average deceleration rate used when decelerating to zero speed, or to the
new target velocity.
Figure 83:
Index Setup View (Incremental Type)
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Now that all of the motion parameters are setup, the jogs and indexes can be initiated through
assignments to hardware inputs that were made on the assignment view.
Step 5: Creating a Program
Now that the drive setup is complete, assignments are made, and motion profiles are defined,
you are ready to create the program. To do this, expand the Program group in the hierarchy
window, and select Program 0. Figure 84 shows the programming window and the available
instructions.
Figure 84:
Program View
The window in the middle of the view allows selection from a list of Program Flow and
Motion instructions. To insert an instruction into the programming window, you can use the
“drag-and-drop” method also used in making assignments. Simply position your mouse
pointer over the instruction you wish to use, click the left mouse button and hold it down.
While holding the button down, move your pointer into the programming window, and
release the mouse button.
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Quick Start
To expand the usable area of the programming view, use the Hide/Show Hierarchy button on
the PowerTools Pro toolbar. Figure 85 shows this utility. By clicking on the button once, the
hierarchy window will be hidden, allowing for a larger programming window. To show the
hierarchy again, simply click on the button a second time. Clicking on the button alternates
between showing and hiding the hierarchy view.
The Hide/Show Hierarchy button can be used on any view in the PowerTools Pro software,
but will primarily be of use in the Programs view and the Assignments view.
Figure 85:
Program View (Expanded)
A comment is automatically inserted after the index instruction, which shows key data about
the specific index. Notice comments start with the ‘ apostrophe character.
A “Wait For Index.AnyCommandComplete” instruction is automatically inserted after each
Index.Initiate. This ensures that the index has completed before the program continues on to
the next line of code.
Once all of the program instructions have been inserted, your program window may look like
Figure 84.
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Now the program is complete, and is ready to be run. In order to run the program, the drive
must be enabled and the setup parameters must be downloaded. Once the download is
complete, verify the drive is enabled and initiate your program.
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Quick Start
Example Application Start Up
Software Travel Limits
0
20
Home Prox
Figure 86:
Example System
In order to make the setup easier to understand in this guide, the guide will use an example
setup. The example application used in the quick start guide is a ball screw application (see
the drawing above).
The example uses these functions:
3 Indexes (Initiated through Assignments or through a Program)
2 Jogs
1 Home (to Sensor)
1 Program
Software Travel Limits
Following Error Limit
Several Setup Views do not require any setup for this example application, and therefore have
been skipped. After opening a new Configuration Window and inputting information on the
Setup view, move to the User Units view.
User Units View
This example requires use of distance units “Inches” versus the default units “revs”. The
example has a linear device that moves 1.00 Inch per 1 motor Revolution. Figure 73 shows
the Setup group in the hierarchy expanded with the User Units element selected.
The parameters you must fill out are as follows:
Units Name – Enter the character string you wish to use for your distance units, such as
“Inches” for this example.
Decimal Places – Enter the number of digits after the decimal place you wish to use in all
distance parameters throughout the software (i.e. index distances/positions). The example
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selects three digits allowing resolution of 0.001 Inches on all distance variables. Use the
spinner window Up/down buttons.
Distance Units Scaling – Enter the number of User Units the motor/load travels for each
revolution of the motor. You must enter the numerator and the denominator for this scaling
factor, but for this example, the denominator (bottom portion of the ratio) is at 1.
Position View
The example wishes to limit the Following Error to 0.25 Inches or one motor revolution, and
the Software Travel Limits of +20 and 0 Inches.
To setup following error limit and software travel limits, fill out the following parameters in
the Limits Group:
Enable Following Error – Enable this checkbox.
Following Error Limit – The example uses a limit of 0.25 Inches.
Enable Software Travel Limits – Enable this checkbox.
Software Travel Limit + and - - If the position feedback ever exceeds these values when
traveling in a positive or negative direction, the motor will come to a stop at the Travel Limit
Decel rate defined on the Ramps view
Tuning View
This example application has an inertia mismatch of 3.5:1 and has been entered as seen in
Figure 87.
Figure 87:
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Tuning View
Quick Start
Making Assignments
Using this process, three individual assignments are made. The example application wants to
turn on an output when each index completes. Therefore, Index Complete sources will be
assigned to the hardware Output destinations. Figure 88 shows this process.
Figure 88:
Assignments View
The Input Lines view shows all of the assignments that have been made to the Inputs group
of Sources. After all assignments for the example application have been made, the Input Lines
view should look like Figure 89.
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FM-3 Programming Module Reference Manual
Figure 89:
Input Lines View
Notice that a Name can be associated to each input line. Each input line can also have a
debounce time. Figure 89 demonstrates how to enter a debounce time for an input line. The
following parameters have been filled in for each input line:
The Output Lines view shows assignments that have been made to the Outputs group of
Destinations in the assignment view. Assignments to this view are made in the same way as
assignments to the Input Lines view. After all assignments have been made for the example
application, the Output Lines view will look like Figure 90.
Figure 90:
208
Output Lines View
Quick Start
Home Setup
The example application calls for setup of the following parameters:
Home Reference –The example calls for a Home to Sensor; therefore, “Sensor” is selected
as the home reference. Because of this selection, the home profile will travel at its target
velocity until the Home.0.SensorTrigger is activated. Figure 88, shows the Home.0.Sensor
Trigger has been assigned to ModuleInput.2.
Velocity – The home move travels at this velocity, until the home reference is seen and then
stops. If the motor overshoots the sensor, a reverse move is initiated. Other functions may
cause additional motion. The example application uses a Home Velocity of 20 inches/min.
Acceleration – Is the average acceleration rate used to accelerate to the target velocity. The
example uses an acceleration rate of 100 inches/min/sec.
Index Setup
The example application calls for two Absolute Indexes, and one Incremental Index. Select
one of the indexes from the hierarchy window. Figure 91 shows Index0.
Absolute Index
Figure 91:
Index Setup View (Absolute Type)
Indexes 0 and 1 are both Absolute type indexes and use the following parameters:
Index Name - Is a 12-character string that gives a descriptive name to an index.
Index Type – Select the desired type of index from the list box. Index0 has been defined as
an Absolute type of index. This means the load will travel to an exact position with respect
to the home reference point. This index will cause motion in either a positive or negative
direction depending on current position of the load with respect to the home reference point.
Position – Is a signed value that specifies the absolute position for the load at the completion
of the index. For absolute indexes, direction of travel is determined by the starting position
of the index. Index 0 has a Position of 10 Inches, and Index 1 has a Position of 0 Inches.
Velocity – Is the target velocity of the index profile. The velocity parameter is unsigned and
is always greater than zero. Direction of the index is not determined by the velocity, but by
the Distance/Position parameter. Velocity of the indexes in the example are 100 inches/min.
Acceleration – Is the average acceleration rate used when accelerating to the target index
velocity.
Deceleration - Is the average deceleration rate used when decelerating to zero speed, or to the
new target velocity.
Incremental Index
The following parameters were setup for Index2:
Index Name - Is a 12-character string that gives a descriptive name to an index.
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FM-3 Programming Module Reference Manual
Index Type – Select the desired type of index from the list box. Index2 has been defined as
an Incremental type of index. This means that the load travels an exact distance from the start
of the index.
Distance – The distance is a signed value that specifies the distance the load will travel from
the start position. The sign of this parameter determines direction of travel for the load. The
distance of Position C has been set to 2.5 inches.
Velocity – Is the target velocity of the index profile. The velocity parameter is unsigned and
is always greater than zero. Direction of the index is determined not by the velocity, but by
the Distance/Position parameter.
Acceleration – Is the average acceleration rate used when accelerating to the target index
velocity.
Deceleration - Is the average deceleration rate used when decelerating to zero speed, or to the
new target velocity.
210
Quick Start
Figure 92:
Index Setup View (Incremental Type)
Now that all of the motion parameters are setup, the jogs and indexes can be initiated through
assignments to hardware inputs that were made on the assignment view. See Figure 89 to
determine which input is used to activate which functions.
This example specifies that the indexes must be initiated from assignments, as well as from a
program. So a program must be created using the guidelines below.
Upon initiating the program, it will wait until DriveInput.1 is activated, then run all three
indexes with a 1 second dwell in between each, and then loop back to the top of the program.
The program will run continuously, or until the Stop destination is activated.
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FM-3 Programming Module Reference Manual
The example program uses the following instructions:
Do While / Loop – This program instruction is used to repeat a sequence of code as long as
a test expression is true. The test expression is validated before the loop is entered. If the test
expression is evaluated as False (0), then the code inside the loop will be skipped over. If the
expression is evaluated as True (1), then the code inside the loop will be performed. Upon
reaching the Loop instruction, the program flow returns to the Do While instruction, and the
expression is evaluated again. The example program uses an expression of TRUE, which is
always evaluated as True (1). Therefore the program will run continuously.
Wait For – This program instruction halts program execution until the expression becomes
True. Once True, the program continues with the next line of code. The example program
uses a Wait For DriveInput.1 so that the program will wait until DriveInput.1 is activated,
then continue on.
Index.Initiate – This program instruction is used to initiate a single index. When using this
instruction, an Index Selection Box will appear allowing you to select the index you wish to
initiate. This selection box is shown in Figure 93.
Figure 93:
Index Selection Box
The program is initiated using DriveInput.4 (see Figure 89).
The setup is now complete, and the example is ready to be downloaded.
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FM-3 Programming Module Reference Manual
Tuning Procedures
The drive uses closed loop controllers to control the position and velocity Travel Limit of the
attached motor. These position and velocity controllers and the associated tuning parameters
are in effect when the drive is in velocity or pulse mode and have no effect when the drive is
in Torque mode.
Many closed loop controllers require tuning using individual user-specified proportional,
integral and derivative (PID) gains which require skilled “tweaking” to optimize. The
combination of these gains along with the drive gain, motor gain, and motor inertia, define
the system bandwidth. The overall system bandwidth is usually unknown at the end of the
tweaking process. The drive closes the control loops for the user using a state-space pole
placement technique. Using this method, the drive’s position control can be simply and
accurately tuned. The overall system’s bandwidth can be defined by a single user-specified
value (Response).
The drive’s default settings are designed to work in applications with up to a 10:1 load to
motor inertia mismatch. Most applications can operate with this default setting.
Some applications may have performance requirements which are not attainable with the
factory settings. For these applications a set of measurable parameters can be specified which
will set up the internal control functions to optimize the drive performance. The parameters
include Inertia Ratio, Friction, Response and Line Voltage. All the values needed for
optimization are “real world” values that can be determined by calculation or some method
of dynamic measurement.
PID vs. State-Space
The power of the state-space control algorithm is that there is no guessing and no “fine
tuning” as needed with user-specified PID methods. PID methods work well in controlled
situations but tend to be difficult to setup in applications where all the effects of the system
are not compensated for in the PID loop. The results are that the system response is
compromised to avoid instability.
The drive state-space control algorithm uses a number of internally calculated gains that
represent the wide variety of effects present in a servo system. This method gives a more
accurate representation of the system and maximizes the performance by minimizing the
compromises.
You need only to setup the system and enter three parameters to describe the load and the
application needs. Once the entries are made the tuning is complete - no guessing and no
“tweaking”. The drive uses these entries plus motor and amplifier information to setup the
internal digital gain values. These values are used in the control loops to accurately set up a
stable, repeatable and highly responsive system.
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FM-3 Programming Module Reference Manual
Tuning Procedure
Once the initial setup has been completed, you can run the system to determine if the level of
tuning is adequate for the application. There are basically four levels of tuning for a drive.
•
No Tuning
•
Basic Level
•
Intermediate Level
•
Fully Optimized Level
Each level is slightly more involved than the previous one requiring you to enter more
information. If your system needs optimization, we recommend that you start with the Basic
Level, then determine if further tuning is needed based on axis performance.
The setup procedures explained here assume that you are using PowerTools FM-3 software
or an FM-P.
Initial settings
Set the drive tuning parameters as follows:
•
Inertia Ratio = 0
•
Friction = 0
•
Response = 50
•
High Performance Gains = Enabled
•
Feedforwards = Disabled
Tuning steps
If your Inertia Ratio is greater than 10 times the motor inertia go directly to the Intermediate
Level tuning.
No Tuning
No tuning will be required in most applications where the load inertia is 10 times the motor
inertia or less.
Basic Level
Adjust Response to obtain the best performance.
Intermediate Level
214
1.
Calculate or estimate the load inertia. It is always better to estimate low.
2.
Disable the drive.
Tuning Procedures
3.
Enter the inertia value calculated into the Inertia Ratio parameter.
4.
Set the Line Voltage to the applied voltage (default is 230 VAC).
5.
Leave all other tuning parameters at the initial values.
6.
Enable the drive and run the system.
7.
Adjust Response to obtain the best performance.
Fully Optimized Level
1.
Determine the actual system parameters.
2.
Disable the drive.
3.
Enter the parameters.
4.
Line Voltage set to the applied voltage (default is 230 VAC).
5.
Enable the drive and run the system.
6.
Adjust Response to obtain the best performance.
General Tuning Hints
The Response is normally the final adjustment when tuning. For best performance the
Response should be lower with a higher inertia mismatch (>10:1) and higher with a lower
inertia mismatch.
If your system has some torsional compliance, such as with a jaw type coupling with a rubber
spider, or if there is a long drive shaft, the Response should be decreased. The highest
recommended Response with High Performance Gains enabled is 100 Hz.
Also, enabling the Low Pass Filter helps diminish the resonant frequency of torsionally
compliant loads. In such cases, using the Low Pass Filter usually allows for higher Response
values. The optimum Low Pass Filter frequency is at the frequency of the resonance.
Feedforwards can be enabled if the performance requirements are very demanding. However
when using them, make sure the Inertia Ratio and Friction values are an accurate
representation of the load. Otherwise, the system performance will actually be degraded or
stability will suffer. Enabling the Feedforward makes the system less tolerant of inertia or
friction variations during operation.
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FM-3 Programming Module Reference Manual
Tuning Parameters
Inertia Ratio
Inertia Ratio specifies the load to motor inertia ratio and has a range of 0.0 to 50.0. A value
of 1.0 specifies that load inertia equals the motor inertia (1:1 load to motor inertia). The drives
can control up to a 10:1 inertia mismatch with the default Inertia Ratio value of 0.0. Inertial
mismatches of over 50:1 are possible if response is reduced.
The Inertia Ratio value is used to set the internal gains in the velocity and position loops,
including feedforward compensation if enabled.
To calculate the Inertia Ratio value, divide the load inertia reflected to the motor by the motor
inertia of the motor. Include the motor brake as a load where applicable. The resulting value
should be entered as the Inertia Ratio parameter.
IR =
RLI
MRI
Where:
IR = Inertia Ratio
RLI = Reflected Load Inertia (lb-in-sec2)
MI = Motor Inertia (lb-in- sec2)
If the exact inertia is unknown, a conservative approximate value should be used. If you enter
an inertia value higher than the actual inertia, the resultant motor response will tend to be
more oscillatory.
If you enter an inertia value lower than the actual inertia, but is between 10 and 90 percent of
the actual, the drive will tend to be more sluggish than optimum but will usually operate
satisfactorily. If the value you enter is less than 10 percent of the actual inertia, the drive will
have a low frequency oscillation at speed.
Friction
In the drive, this is a viscous friction parameter, characterized in terms of the rate of friction
increase per 100 motor RPM. The range is 0.00 to 100.00 in units of percent continuous
torque of the specified motor/drive combination. The Friction value can either be estimated
or measured.
If estimated, always use a conservative (less than or equal to actual) estimate. If the friction
is completely unknown, a value of zero should be used. A typical value used here would be
less than one percent.
If the value entered is higher than the actual, system oscillation is likely. If the value entered
is lower than the actual a more sluggish response is likely but generally results in good
operation.
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Tuning Procedures
Response
The Response adjusts the velocity and position loop bandwidths with a range of 1 to 500 Hz.
In general, it affects how quickly the drive will respond to commands, load disturbances and
velocity corrections. The effect of Response is greatly influenced by the status of the High
Performance Gains.
With High Performance Gains disabled, the actual command bandwidth of the drive system
will be equal to the Response value. In this case the load disturbance correction bandwidth is
very low (approximately 0.1 Hz). Increasing the Response value will reduce the drive’s
response time to velocity command changes but will not affect the response to load or speed
disturbances.
When High Performance Gains are enabled, the Response bandwidth is set to the Response
value. In this case, it reflects both the velocity command and the load disturbance correction
bandwidth. Increasing the Response when the High Performance Gains are enabled will
increase loop stiffness. With High Performance gains enabled, the maximum Response level
recommended is approximately 100 Hz.
If the Inertia Ratio and Friction values are exactly correct and the High Performance Gains
are enabled, changing the Response will not affect the damping (percent of overshoot and
number of ringout cycles) to velocity command changes or load disturbance corrections but
will affect their cycle frequency. The response level generally should be decreased as the load
to motor inertia ratio increases or if High Performance Gains are enabled.
Feedforwards
Feedforward gains are essentially open loop gains that generate torque commands based on
the commanded velocity, accel/decel and the known load parameters (Inertia Ratio and
Friction). Using the feedforwards reduces velocity error during steady state and reduces
overshoot during ramping. This is because the Feedforwards do not wait for error to build up
to generate current commands.
Feedforwards should be disabled unless the absolute maximum performance is required from
the system. Using them reduces the forgiveness of the servo loop and can create instability if
the actual inertia and/or friction of the machine varies greatly during operation or if the Inertia
Ratio or Friction parameters are not correct.
The internal feedforward velocity and acceleration gains are calculated by using the Inertia
Ratio and Friction parameters. The feedforward acceleration gain is calculated from the
Inertia Ratio parameter and the feedforward velocity gain is calculated from the Friction
parameter.
When Feedforwards are enabled, the accuracy of the Inertia Ratio and Friction parameters is
very important. If the Inertia Ratio parameter is larger than the actual inertia, the result would
be a significant velocity overshoot during ramping. If the Inertia parameter is smaller than the
actual inertia, velocity error during ramping will be reduced but not eliminated. If the Friction
parameter is greater than the actual friction, it may result in velocity error or instability. If the
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FM-3 Programming Module Reference Manual
Friction parameter is less than the actual friction, velocity error will be reduced but not
eliminated.
Feedforwards can be enabled in any operating mode, however, there are certain modes in
which they do not function. These modes are described in the table below.
Operating Mode
Feedforward Parameters Active
Accel FF
Vel FF
Analog Velocity
No
Yes
Preset Velocity
Yes
Yes
Pulse/Position
No
No
Summation
No
Yes
Low Pass Filter Group
The Low Pass Filter will reduce machine resonance due to mechanical coupling and other
flexible drive/load components by filtering the command generated by the velocity loop. A
check box on the Tuning tab enables a low pass filter applied to the output of the velocity
command before the torque compensator. The low pass filter frequency parameter defines
the low pass filter cut-off frequency. Signals exceeding this frequency will be filtered at a
rate of 40 dB per decade. The default value is 600Hz.
Line Voltage (EN Only)
Line Voltage specifies the applied power and adjusts the internal gains to compensate for it.
This parameter has two choices 115 VAC and 230 VAC. If the Line Voltage is set to 230
VAC when the actual applied voltage is 115 VAC, the motor will be slightly less responsive
to commands and load disturbances.
The Line Voltage must never be set to 115 VAC if the applied voltage is actually 230
VAC. This can cause drive instability and failure, resulting in property damage.
Determining Tuning Parameter Values
For optimum performance you will need to enter the actual system parameters into the drive.
This section discusses the methods which will most accurately determine those parameters.
Note
If you have an application which exerts a constant unidirectional loading throughout the
travel such as in a vertical axis, the inertia tests must be performed in both directions to
cancel out the unidirectional loading effect.
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Tuning Procedures
Initial Test Settings
When running the tests outlined in this section, the motor and drive must be operational so
you will need to enter starting values.
If your application has less than a 10:1 inertia mismatch, the default parameter settings will
be acceptable. If the inertial mismatch is greater than 10:1, use the following table for initial
parameter settings.
Parameter
Setting
Friction
0.00
Inertia Ratio
1/3 to 1/2 Actual
Response
500/Inertia Ratio
High Performance Gains
Disabled
Feedforwards
Enabled
Line voltage
Actual Applied
Determining Friction
This parameter represents friction that increases proportionally as motor velocity increases.
The viscous friction of your system can be determined by reading the percent of continuous
torque required to operate the loaded motor at two different speeds.
Consider the following before determining the Friction:
•
The most consistent readings can usually be obtained at motor speeds higher than 500
RPM but lower test speeds can be used if necessary.
•
If your application has travel limits, it may be helpful to use an external position controller
to prevent the axis from exceeding the machine limits. Set up a trapezoidal profile as
shown.
•
In the procedure below, the Torque Command and Velocity Feedback parameters can be
measured using the drive’s analog outputs, PowerTools software or an FM-P.
•
With vertical loads the test readings must be taken while traveling in the same direction.
•
An oscilloscope may be needed for systems with limited travel moves to measure the
rapidly changing torque and velocity signals.
•
If your system’s friction changes with operating temperature, perform this procedure at
normal operating temperature.
Procedure for Determining Friction:
1.
Run the motor at the low test speed (at least 500 RPM).
2.
While at speed, note the Torque Command Actual value (TCL).
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FM-3 Programming Module Reference Manual
Note
If the friction loading of your system varies when operating at constant speed, due to a
load or spring load that changes as the motor rotates, use the lowest value measured.
3.
Repeat Step 1 using a velocity at least two times the low speed.
4.
While at speed, note the Torque Command Actual value (TCH).
5.
Use the following formula to calculate the friction:
FV = (100)
(TCH - TCL)
RPMH - RPML
Where:
TCH = Torque Command Limited value at higher speed
TCL = Torque Command Limited at lower speed
RPMH = Higher RPM (velocity)
RPML = Lower RPM (velocity)
FV = Friction value
The figure below shows the relationship of Torque Command to the Velocity Feedback.
There is increased torque during the Accel ramp (Ta), constant torque (Tc) during the
constant velocity portion of the ramp and decreased torque (Td) during the decel ramp.
Figure 94:
Trapezoidal Velocity Waveform with Torque Waveform
Determining Inertia Ratio
Actual system Inertia Ratio is determined by accelerating and decelerating the load with a
known ramp while measuring the torque required.
220
Tuning Procedures
Consider the following before determining the inertia:
•
If your application allows a great deal of motor motion without interference, it is
recommended that you use a Preset Velocity to produce accurate acceleration ramps.
•
If your application has a very limited range of motion, it is recommended that you use a
position controller to produce the acceleration ramps and to prevent exceeding the axis
range of motion.
•
The accel and decel ramp should be aggressive enough to require at least 20 percent of
continuous motor torque. The higher the torque used during the ramp, the more accurate
the final result will be.
•
With ramps that take less than 1/2 second to accelerate, read the Diagnostic Analog
Outputs with an oscilloscope to measure the Torque Feedback.
•
With ramps that take 1/2 second or longer to accelerate, read the Torque Command
parameter on the Motor tab of PowerTools or with the Watch Window.
•
To best determine the inertia, use both acceleration and deceleration torque values. The
difference allows you to drop the constant friction out of the final calculation.
•
If your application exerts a constant “unidirectional loading” throughout the travel such
as in a vertical axis, the inertia test profiles must be performed in both directions to cancel
out the unidirectional loading effect.
•
The Torque Command Limited and Velocity Feedback parameters can be measured using
the drive’s Analog Outputs, PowerTools software or an FM-P.
An oscilloscope will be needed for systems with limited travel moves and rapidly changing
signals of torque and velocity.
Inertia Measurement Procedure:
Note
The test profile will need to be run a number of times in order to get a good sample of data.
1.
Enable the drives and run the test profiles.
2.
Note the Torque Command Limited value during acceleration and deceleration.
3.
Use the appropriate formula below to calculate the inertia.
For horizontal loads or counterbalanced vertical loads use the following formula:
IR =
(R • Vm (Ta + Td))
−1
2000
Where:
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FM-3 Programming Module Reference Manual
IR = Inertia Ratio
R = ramp in ms/kRPM
Ta = (unsigned) percent continuous torque required during acceleration ramping (0
- 300)
Td = (unsigned) percent continuous torque required during deceleration ramping
(0 - 300)
Vm = motor constant value from Table 18 below
For un-counter balanced vertical loads use the following formula:
IR =
(R • Vm (Tau + Tud + Tad + Tdd))
−1
4000
Where:
IR = Inertia Ratio
R = ramp in ms/kRPM
Vm = motor constant value from the table below
Tau = (unsigned) percent continuous torque required during acceleration ramping
while moving up (against the constant force)
Tdu = (unsigned) percent continuous torque required during deceleration ramping
while moving up (against the constant force)
Tad = (unsigned) percent continuous torque required during acceleration ramping
while moving down (aided by the constant force)
Tdd = (unsigned) percent continuous torque required during deceleration ramping
while moving down (aided by the constant force)
Ramp Units Conversion
If you are using an external position controller to generate motion you may need to connect
the ramp units as desired below.
Many position controllers define acceleration in units per sec2. The formulas above use ms/
kRPM. Make sure you make this conversion when entering the information into the formula.
Conversion Formula:
6
10
MPK =
(RPSS • 60)
Where:
MPK = accel ramp in ms/kRPM
RPSS = accel ramp in revolutions per second2
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Tuning Procedures
Motor
Drive
Vm
Percent Continuous/volt
Scaled Torque Command
Output (default))
RPM /volt Scaled Velocity
Command Output (default))
NT-320
4.30
30
600
MG-205
4.77
30
600
MG-208
5.11
30
600
MG-316
3.17
30
600
NT-320
5.16
30
600
NT-330
6.87
30
600
6.72
30
600
5.97
30
600
MG-316
3.17
30
600
MG-340
3.14
30
600
MG-455
2.44
30
600
NT-345
6.72
30
600
NT-355
5.97
30
600
2.44
30
600
EN-204
NT-345
NT-355
MG-455
EN-208
EN-214
MG-490
1.85
30
600
MG-4120
1.69
30
600
NT-207
7.27
30
600
NT-212
5.37
30
600
MG-205
4.77
30
600
MG-208
3.63
30
600
NT-207
7.27
30
600
NT-212
7.22
30
600
Eb-202
MG-205
4.77
30
600
MG-208
4.63
30
600
MG-316
2.67
30
600
NT-320
4.77
30
600
5.50
30
600
5.10
30
600
NT-330
NT-345
Eb-203
Eb-205
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FM-3 Programming Module Reference Manual
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FM-3 Programming Module Reference Manual
Diagnostics and Troubleshooting
Diagnostic Display
The diagnostic segment display on the front of the drive shows drive status, FM-3 module
status, and fault codes. When a fault condition occurs, the drive will display the fault code,
overriding the status code. The alphanumeric display on the FM-3 module provides additional
fault information.
The decimal point is “On” when the drive is enabled, and the stop input is not active. This
indicates that the drive is ready to run and any motion command will cause motion. Motion
commands will not cause motion unless you are Ready (R) and the decimal point is “On”.
Display Indication
Status
Description
FM-3 Keypad Display
The FM-3 and drive system is functioning
normally and is ready to execute a motion
command.
Drive Type
Motor Type
Menu Groups
Address
Ready
Drive Type
Motor Type
Menu Groups
Address
Brake Engaged (Output "Off")
Motor brake is mechanically engaged. This
character will only appear if the Brake output
function is assigned to an output line. See
Brake Operation section for detailed
description of Brake Output function.
Power Stage is disabled.
Drive Type
Motor Type
Menu Groups
Address
Disabled
Motor torque is limited to 80 percent.
Drive Type
Motor Type
Menu Groups
Address
RMS Foldback
Drive output current is limited to 80 percent of
drive stall current.
Drive Type
Motor Type
Menu Groups
Address
Stall Foldback
Drive enabled. No stop input.
Drive Type
Motor Type
Menu Groups
Address
Ready to Run
Home is executing.
Drive Type
Motor Type
Menu Groups
Address
Homing
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FM-3 Programming Module Reference Manual
Display Indication
Status
Description
FM-3 Keypad Display
Index is executing.
Drive Type
Motor Type
Menu Groups
Address
Indexing
Deceleration ramp after the Stop function is
activated. The ramp is displayed while
decelerating, and the display will go back to
normal after completing the decel ramp.
Drive Type
Motor Type
Menu Groups
Address
Decelerating from Stop
Jog is executing.
Drive Type
Motor Type
Menu Groups
Address
Jogging
Program is executing.
Drive Type
Motor Type
Menu Groups
Address
Program
Fault Codes
A number of diagnostic and fault detection circuits are incorporated to protect the drive. Some
faults, such as high DC bus and amplifier or motor over temperature can be reset with the
Reset button on the front of the drive or the Reset input function. Other faults, such as encoder
faults, can only be reset by cycling power “Off” (wait until the diagnostics display turns
“Off”), then power “On”.
The drive accurately tracks motor position during fault conditions. For example, if there is a
"Low DC Bus" fault where the power stage is disabled, the drive will continue to track the
motor’s position provided the logic power is not interrupted.
The +/- Limit faults are automatically cleared when the fault condition is removed. The table
below lists all the fault codes in priority order from highest to lowest. This means that if two
faults are active, only the higher priority fault will be displayed.
Segment Display
226
Fault
Action to Reset
Bridge Disabled
Flash Invalid
Reprogram the FM’s
Flash
Yes
Watchdog Timer
Reset Button or Input
Line
Yes
FM-3 Display
Watch Dog
Diagnostics and Troubleshooting
Segment Display
Fault
Action to Reset
Bridge Disabled
FM-3 Display
Cycle Power
Yes
Power Up Tst
NVM Invalid
Reset Button or Input
Line
Yes
NVM Invalid
Invalid Configuration
Reset Button or Input
Line
Yes
Invalid Conf
Power Module
Reset Button or Input
Line
Yes
Power Module
High DC Bus
Reset Button or Input
Line
Yes
High DC Bus
Low DC Bus
Reset Button or Input
Line
Yes
Low DCBus
Encoder State
Cycle Power
Yes
Encoder State
Encoder Hardware
Cycle Power
Yes
Encoder HW
Motor Overtemp
Reset Button or Input
Line
Yes
MotorOvrTemp
RMS Shunt Power
Reset Button or Input
Line
Yes
RMS ShuntPowr
Overspeed
Reset Button or Input
Line
Yes
Over Speed
Power Up Test
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Segment Display
Fault
Max Following Error
Travel Limit +/-
All "On"
FM-3
Action to Reset
Bridge Disabled
FM-3 Display
Reset Button or Input
Line
Yes
Following Err
Auto
No
TravLmtMinus
TravLmtPlus
Normally on for one
second during power up
Yes
** Fault **
***** Depend on Fault
Fault Descriptions
Flash Invalid
This fault indicates that the firmware checksum has failed. Use the Tools Program Flash
menu item from PowerTools to reprogram/upgrade the firmware stored in flash memory. If
this problem persists, call Control Techniques. A common cause would be an interrupted F/
W Flash upgrade (cable disconnected during an upgrade process).
Watchdog Timer
The watchdog timer ensures that the firmware is operating normally. If the firmware fails to
reset this timer every 10 ms, the drive hardware will be reset, all inputs and outputs will be
cleared (“Off”), and a Watchdog Timer fault is generated.
Power Up Test
This fault indicates that the power-up self-test has failed. This fault cannot be reset with the
reset command or reset button.
NVM Invalid
At power-up the drive tests the integrity of the non-volatile memory. This fault is generated
if the contents of the non-volatile memory are invalid.
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Diagnostics and Troubleshooting
FM-3 Fault
A 3 will be displayed in the segment display on the drive when the FM-3 module experiences
a fault. See the table above for more information about the various faults.
Invalid Configuration
The FM was not on this drive during its previous power-up and it is not known if the setup
data in the FM matches the drive and motor to which the FM is now attached.
This can also happen when a FM is removed from a drive and the drive is powered-up.
To reset the fault, create or open a configuration file with the correct drive and motor
selections and download the configuration to the FM or drive. If you are certain that the setup
data in the FM or drive matches the system configuration, press and hold the drive’s Reset
button for 10 seconds (until the fault is cleared).
Drive instability and resultant property damage may occur to the drive, motor or both if
the fault is cleared using the Reset button when the setup data in the FM does not match
the current drive and motor.
Power Module
This fault is generated when a power stage over-temperature, over-current or loss of power
stage logic supply occurs. This can be the result of a motor short to ground, a short in the
motor windings, a motor cable short or the failure of a switching transistor.
It can also occur if the drive enable input is cycled "Off" and "On" rapidly (>10 Hz).
High DC Bus
This fault will occur whenever the voltage on the DC bus exceeds 440 VDC. The most likely
cause of this fault would be an open shunt fuse, a high AC line condition or an application
that requires an external shunt (that is, a large load with rapid deceleration).
Low DC Bus
This fault will occur whenever the voltage on the DC bus drops below 96 volts. The most
likely cause of this fault is a reduction (or loss) of AC power. A 50 ms debounce time is used
with this fault to avoid faults caused by intermittent power disruption.
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Encoder State
Certain encoder states and state transitions are invalid and will cause the drive to report an
encoder state fault. This is usually the result of noisy encoder feedback caused by poor
shielding.
Encoder Hardware
If any pair of complementary encoder lines are in the same state, an encoder line fault is
generated. The most likely cause is a missing or bad encoder connection.
Motor Overtemp
This fault is generated when the motor thermal switch is open due to motor over-temperature
or incorrect wiring.
RMS Shunt Power
This fault is generated when RMS shunt power dissipation is greater than the design rating of
the internal shunt.
Overspeed
This fault occurs when the actual motor speed exceeds the Overspeed Velocity Limit
parameter. This parameter can be accessed with PowerTools Pro software.
Max Following Error
This fault is generated when the following error exceeds the following error limit (default
following error limit is .2 revs). With PowerTools Pro you can change the Following Error
Limit value on disable in the Position view.
Travel Limit +/This fault is caused when either the + or - Travel Limit input function is active.
All "On"
This is a normal condition during power up of the drive. It will last for less than 1 second. If
this display persists, call Control Techniques for service advice.
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Diagnostics and Troubleshooting
FM-3 Specific Fault Descriptions
Figure 95:
FM-3 display is used to display drive and FM-3 faults
Enc St
Certain encoder states and state transitions are invalid and will cause the drive to report an
encoder state fault. This is usually the result of noisy encoder feedback caused by poor
shielding or a faulty cable.
Enc HW
If any pair of encoder lines are in the same state, an encoder line fault is generated. The most
likely cause is a missing or bad encoder connection.
Pwr Mod
This fault is generated when a power stage over-temperature, over-current or loss of power
stage logic supply occurs. This can be the result of a motor short to ground, a short in the
motor windings, a motor cable short or the failure of a switching transistor.
Low Bus
This fault will occur whenever the voltage on the DC bus drops below 96 volts. The most
likely cause of this fault is a reduction (or loss) of AC power. A 50 ms debounce time is used
with this fault to avoid faults caused by intermittent power disruption.
Hi Bus
This fault will occur whenever the voltage on the DC bus exceeds 440 VDC. The most likely
cause of this fault would be an open shunt fuse, a high AC line condition or an application
that requires an external shunt (that is, a large load with rapid deceleration).
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Isr Ovr
This fault is generated when a module flash memory problem occurs. If problem is persistent,
replace the FM-4 module.
Traj Flt
This fault occurs when the drive has received trajectory data from the FM-3 module that
indicates a problem. Check the user units, velocities, accels and decels for correct values.
Drv Syn
This fault occurs when the drive loses timing with the attached FM-3. This issue is generally
caused by either a trajectory update rate that is too low (800 or 1200usec), or a processor
heavy program causes the program functions to
Watchdg
The watchdog timer ensures that the firmware is operating normally. If the firmware fails to
reset this timer every 10 ms, the drive hardware will be reset, all inputs and outputs will be
cleared ("Off"), and a Watchdog Timer fault is generated.
Overspd
This fault occurs when the actual motor speed exceeds the Overspeed Velocity Limit
parameter. This parameter can be accessed with PowerTools Pro software.
Inv Cfg
The FM module was not on this drive during its previous power-up and it is not known if the
setup data in the FM module matches the drive and motor combination to which the FM
module is now attached.
This can also happen when a FM module is removed from a drive and the drive is poweredup.
To reset the fault, create or open a configuration file with the correct drive and motor
selections and download the configuration to the FM or drive. If you are certain that the setup
data in the FM or drive matches the system configuration, press and hold the drive's Reset
button for 10 seconds (until the fault is cleared).
Shnt Pw
This fault is generated when RMS shunt power dissipation is greater than the design rating of
the internal shunt.
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Diagnostics and Troubleshooting
Mtr Tmp
This fault is generated when the motor thermal switch is open due to motor over-temperature
or incorrect wiring.
DvOvrTmp
This fault is generated when the drive thermal switch is open due to drive over-temperature.
Check temperature in the enclosure and drive sizing.
Inv Parm
Inv NVM
At power-up the drive tests the integrity of the non-volatile memory. This fault is generated
if the contents of the non-volatile memory are invalid.
Pwr On
FlwErr
This fault is generated when the following error exceeds the following error limit (default
following error limit is .2 revs). With PowerTools Pro you can change the Following Error
Limit value on disable in the Position view.
Trav(+)
This fault is caused when the + Travel Limit input function is active.
Trav(-)
This fault is caused when the - Travel Limit input function is active.
Prog Flt
This fault indicates a FM-3 user program fault. For example the program is attempting to
divide by zero, or overflows and math errors caused by numbers that are too large, or nonexisting parameters.
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No Prog
This fault will be displayed on initial power-up indicating that no configuration has been
downloaded to the FM-3 module. To clear the fault, download a valid configuration to the
FM-3 module.
Cn Tmout
A connection time-out occurs when a FM-3DN or any other device on the network does not
receive a packet of information that it was expecting. Connection time-out faults are selfresetting unless ten are received in a row causing a buss-off condition.
BusOff
This fault occurs when the FM-3DN experiences ten connection time-outs in a row. This
situation forces a buss-off fault that is resetable only by cycling logic power on the FM-3DN.
Buss-offs are generally caused by either DeviceNet wiring issues, or devices with different
baud rate settings residing on the same network.
DupMacID
This fault occurs when the FM-3DN's MacID is the same as another MacID on the network.
Logic power must be cycled or an appended program downloaded via PowerTools Pro to the
FM-3DN.
Analog Outputs
The drive has two 10 bit Analog Outputs which may be used for diagnostics, monitoring or
control purposes. These outputs are referred to as Channel 1 and Channel 2. They can be
accessed from the command connector on the drive or from the diagnostics output pins
located on the front of the drive.
Default Analog Output Source:
•
Channel 1 = Velocity Feedback
•
Channel 2 = Torque Command
Output
Source
Offset
Scale
1
Velocity Feedback
0
600 RPM/volt
2
Torque Command
0
30% /volt
Analog Output Offset units:
•
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Velocity Feedback = RPM
Diagnostics and Troubleshooting
•
Torque Command = Percent of continuous torque
Analog Output Scale units:
•
Velocity Feedback = RPM/volt
•
Torque Command = Percent of continuous torque/volt
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Diagnostic Analog Output Test Points
The DGNE cable was designed to be use with either an oscilloscope or a meter. The wires are
different lengths to avoid shorting to each other. However, if signals do get shorted to GND,
the drive will not be damaged because the circuitry is protected.
Channel #2
Analog GND
RESET
SE RIAL
J4
C OMMAND
J6
10-3 0
VD C
+ -
INP UT
1
2
3
J5
OUTPUT
4
1
2
3
RESET
EN Drive
SERIAL
COMMAND
MDS Drive Module
Figure 96:
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Diagnostic Output Test Points
Diagnostics and Troubleshooting
Figure 97:
Diagnostic Cable (DGNE) Diagram
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Drive Faults
The Active Drive Faults dialog box is automatically displayed whenever a fault occurs. There
are two options in this dialog box: Reset Faults and Ignore Faults.
Figure 98:
Active Drive Faults Dialog Box
Resetting Faults
Some drive faults are automatically reset when the fault condition is cleared. Others require
drive power to be cycled or the drive to be “rebooted” to be cleared. If you wish to continue
working in the PowerTools software without resetting the fault, click the Ignore Fault button.
To reset faults that can be reset with the Reset Faults button, simply click the Reset Faults
button in the Drive Faults Detected dialog box or push the Reset button on the front of the
drive where the fault occurred.
Viewing Active Drive Faults
To view all active drive faults, select the View Faults command from the Device menu. The
dialog box displayed is the same as Active Drive Faults dialog box described above.
Rebooting the Drive
To reboot the drive, cycle power or select the Reboot Drive command from the Device menu.
This command reboots the drive attached to the active Configuration Window.
Error Messages
PowerTools will pop-up an error message box to alert you to any errors it encounters. These
message boxes will describe the error and offer a possible solution.
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Diagnostics and Troubleshooting
The terms below appear in the list the of common problems you might encounter when
working with PowerTools software along with the error message displayed, the most likely
cause and solution.
Assign means to set a value using an equation. For example, x = 2, you are assigning the
value of 2 to x.
A Boolean value is a value that represents two states such as On or Off. In the FM3 there are
three variable types that have Boolean values. They are Boolean Variables, Input Event
Variables and Output Event Variables. They all have a Boolean Value and can be used in
equations to assign their Boolean value to another variable or in a conditional test.
In an equation, conditional tests such as (vel > 3.1) become Boolean values.
In FM3 Programming, unquoted text names are used to represent Boolean constants. Several
different names are available. They all represent the two Boolean states and therefore are
interchangeable.
An Expression is a collection of mathematical operands (variables, constants and numbers)
and operators( +, -, *, <, >, etc.) that form a value. The right hand side of an equation (to the
right of the =) is an expression.
The Parser is an internal component of PowerTools software that reads your program text
file and generates executable code used by the FM3 Module firmware. The parser detects
errors that are reported to you as Red Dot Error Messages.
Your program errors are displayed in the program view in Red Dot Error Messages. They
are indicated with red dots. To get further information on the cause of the error you use the
programming tool bar’s red dotted question mark. This is an on/off setting that enables error
message displays and application help messages.
Non-Programming Error Messages
These messages occur while you are working in a view other than the Program View. The
Program View has error messages specific to it, and they are described in a Programming
Error Messages section. The Popup messages are listed below.
Can Not Add Index, until current is valid.,
Can Not Add Jog, until current is valid.,
Can Not Add Program, until current is valid.
The current View must be valid before you can create a new instance of Index, Jog or Home.
Error: The maximum limit of Instances is reached.
The number of Index instances, Jog Instances and Home Instances is limited. If you attempt
to add an instance and the number of existing instances is at the maximum, you will get this
message.
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Programming Error Messages
These Red Dot Error messages occur while you are working in the Program View.
When creating a program, the parser is executed when you left mouse click, when you arrow
off the current Line, when you enter the carriage return, when you paste or when you drop a
drag source. The parser detects errors and marks the line with a “Red Dot”. To get further
information on the cause of the error you use the programming tool bar’s red dotted question
mark. This is an on/off setting that enables error message displays and application help
messages.
Error: Your Application is not valid to download ...
This message lets the user know that there are errors such as "Red Dot" errors in one or more
programs that prevent the program from being downloaded to the module. The message will
provide more information such as which program is invalid to help the user correct the
problem.
FYI: Your Application has ...
This message lets the user know that there are errors such as "Red Dot" errors in one or more
programs. The operation (i.e. file save) was completed, however other operations such as
download would fail for this application. The message will provide more information such
as which program is invalid to help the user correct the problem.
Error: A FM3 number’s decimal Point resolution can not be greater than ten
The FM3 does not use standard floating point. It uses Integer arithmetic to prevent round off
errors. Decimals are used, but decimal point position is handled separately from the integer
value. Zero puts the decimal point to the far right. Ten puts the decimal point at the far left.
The mantissa must be between -2147483648 and 214748364. The decimal point position
must be between zero and ten.
Error: A FM3 number’s mantissa must be between -2147483647 and
2147483647.
The mantissa must be between -2147483648 and 214748364. The decimal point position
must be between zero and ten.
Error: A numeric variable can only be assigned a numeric value
The Variable is a numeric. It only accepts types consisting of numeric values.
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Diagnostics and Troubleshooting
Error: A string variable can only be assigned a quoted text string
The Variable is string. It only accepts types consisting of text strings.
Error: Can only compare(>,<,etc) numeric results
This message occurs in conditional Expressions (i.e. If then). Variables are type identified,
so equation and assignments (x = 9) can be verified. In an expression only numerical values
can be compared for greater than and less than conditions.
Error: Couldn't find named Variable
Could not find the variable.
Error: Couldn't find named Variable from Text
Could not find the variable defined by program text.
Error: Destination Event variables can only be assigned an Event or Boolean
The Variable is an Input event. It only accepts types consisting of Boolean, and events.
Error: Program Instance does not Exist
You attempted the “Call Program.#”, but the program does not exist.
Error: Single value expressions can only be Boolean constants, Events or
Boolean variables
This message occurs in conditional Expressions (i.e. If then). Variables are type identified,
so equation and assignments .(x = 9) can be verified. In an expression you can use single
variables without a comparison, but , then they must be a Boolean constants, Events or
Boolean variable.
Error: String does not represent a predefined name..
The string needs to match one of the defined strings on record in the FM3 Registry data base.
Error: String is not a selection.
The string matches one of the defined strings, but that string is not a selection.
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Error: Syntax error encountered
Parser Error Message. The Parser can not understand your text sequence.
Error: Text Strings are limited to 12 characters...
To change a Name you assign a quoted text string to that name. In FM3, text strings are fixed
at 12 characters. If you use fewer than 12 characters, blanks are automatically inserted. An
error occurs if you attempt to use more than 12 characters.
Error: The Boolean variables can only be assigned an Event or Boolean value.
The Variable only accepts types consisting of Boolean, and events.
Error: The destination variable does not accept Data
The Variable’s internal data type attribute was not found.
Error: The destination variable does not accept negative numbers
You attempted to assign a negative number to an unassigned variable .
Error: The destination variable is Read Only
This message occurs when trying to assign a value to a read only variable.
Error: The destination variable only accepts a numeric value
Error: The destination variable only accepts a Boolean or Event value
Error: The destination variable only accepts quoted "text"
Error: The destination variable only accepts selection text
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Diagnostics and Troubleshooting
Error: The destination variable's resolution is less than the resolution of the
number
You attempted to assign a number with a greater resolution of decimal points than the variable
will accept (i.e. index.0.vel = 2.34567). The User Units setup will allow you to define the
desired decimal point resolution.
Error: The number is outside the range of the destination variable
You attempted to assign a number that is outside the variable’s range. To determine the range
comment out this instruction and use the red dot help on the variable.
Error: The mix of variable or expressions types can not be added or
subtracted
This message occurs in equations. Variables are type identified, so equation and assignments
(x = 9) can be verified. In an equation only numerical values can be multiplied or divided.
Booleans, Selections, text and events can not be added.
Error: The mix of variable or expressions types can not be compared(=)
This message occurs in conditional Expressions (i.e. If then). Variables are type identified,
so equation and assignments (x = 9) can be verified. In an expression numerical, Boolean and
event values can be compared for equality conditions. Selections and text can not be used.
Error: The mix of variable or expression types can not be multiplied or divided
This message occurs in equations. Variables are type identified, so equation and assignments
(x = 9) can be verified. In an equation only numerical values can be multiplied or divided.
Booleans, Selections, text and events can not be compared.
Error: The Source Event- <variable name> can only be assigned <max
number> times
The limits to Source Event assignments are the number of destinations assigned to a single
Output event is limited. Generally this is three. For Selections it is one. The Waitfor
Instruction temporarily assigns its Output Event Operands. This is subject to the assignment
limitations. To use an Output Event in a waitfor instruction, there must be at least one free
assignment.
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Error: The Selection variable can only be assigned a Selection value.
The destination variable only accepts selection values. Selection values are fixed unquoted
text. The selection text must exactly match the available selections of the Destination
variable.
Error: This instance does not exist.
This variable is referencing an instance that has not been created in your application. For
example “Index.9.vel” the instance 9 of index has not been defined.
Error: This is not a fully qualified variable.
To use a variable it must be fully defined. Some variables are global variables and only the
name is defined. Other Variables require a name.name convention. Other variables require
an instance number (index.1.vel). All the components identifying the variable must be
available to qualify the variable.
Error: This variable cannot be assigned a selection value
The variable that you are attempting to define with a selection does not accept selection
values.
Error: This variable type cannot be assigned a value
The Variable is of a type that does not accept any assignments. A Source Event variable is
an example. You can not assign a value to an output event.
Error: The selection is not valid for this variable
The variable that you are attempting to define with a selection does accept selection values.
However the selection you are attempting to use is not accepted by this variable.
Error: Trying to assign a selection variable with bad selection data
When checking to see if the selection goes with the destination variable, the source is not a
defined selection for the destination variable.
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Diagnostics and Troubleshooting
Online Status Indicators
Watch Window
PowerTools Pro contains a diagnostic utility called the Watch Window. The Watch Window
can be used while PowerTools Pro is running and the PC is online with the FM-3 module. The
Watch Window allows the user to monitor the status of all their desired system parameters in
one location. An example of the watch window is found in Figure 99 below.
To setup the Watch Window, select Tools\Watch Window from the PowerTools Pro menu
bar. If not online with the module, Watch Window will be a greyed-out choice on the menu.
Upon selecting Watch Window, the following window will appear.
Figure 99:
Watch Window
The Select Drive Parameters window as seen in Figure 100 allows the user to specify which
parameters are to be seen in the Watch Window. To select a parameter for the Watch
Window, simple click once on the parameter and it will be added to the Watch Window. The
parameters already in the Watch Window will be highlighted in the Select Drive Parameters
window.
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Figure 100:
Select Drive Parameters Dialog Box
Once a parameter is added to the Watch Window, its current value or state is constantly
monitored. If a parameter in the window changes value or state, it will change to a red color.
It will remain red until it hasn’t changed for a period of 4 seconds. After 4 seconds, the
parameter will turn back to black in color. This allows the user to see what has changed
recently without looking directly at every parameter.
The following are descriptions of the buttons and controls on the Select Drive Parameters
window:
Clear All – By clicking on the Clear All button, all of the parameters in the Watch Window
will be erased.
Save Selections – By clicking on Save Selections, the user can save the specific parameters
that have been added to the Watch Window. Once the selections have been saved, the Restore
Selections button can be used to monitor all the same parameters the next time the user opens
the Watch Window. Therefore, if there is a list of helpful diagnostic parameters the user
wishes to see when online, those specific parameters can be saved and recalled in the Watch
Window at any time. The settings are saved in a file named “fm3watch.wch”.
Restore Selections – By clicking on the Restore Selections button, the Watch Window will
be filled with the list of parameters that were last saved using the Save Selections button.
Select Defaults – The Select Defaults button adds the most commonly used parameters to the
Watch Window.
Select I/O – The Select I/O button will add the Drive and Module digital inputs and outputs
to the Watch Window.
Close – The Close button will close the Select Drive Parameters window, while the Watch
Window will remain open.
Help – The help button will give associated help on the Watch Window setup.
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Diagnostics and Troubleshooting
User Level - The User Level setting is a filter for the parameters that are seen in the Select
Drive Parameters list. If set to Easy, the parameters used in most basic applications will be
seen while the more advanced parameters are hidden. If set to Detailed, the parameters used
in more advanced applications will be added to the list. If set to Too Much, then all
parameters available in the system will be seen in the list. This allows the user to select the
User Level they are most comfortable with to avoid confusion. If a parameter has been
selected and the User Level is changed, then the selected parameter will remain selected.
Group - The Group setting allows the user to filter the parameters that are displayed in the
Select Drive Parameters window by group. The Group defaults to “ALL” so that parameters
from all groups are seen. If the user wishes to only see those parameters from a specific
group, the click on the Group list box and select the group of parameters they wish to see.
Global Where Am I Button
The Program View, when online and executing a program or sequence of programs, can
display current program status. Pressing the Where Am I button on the PowerTools Pro
toolbar creates a blue triangle that appears on the line of the program currently being
executed.
The Global Where Am I can be used for diagnostics. When the user needs to know where in
a complicated program the drive is or when the user wishes to follow the logical flow of the
program.
Motion Status
While the drive is online, the name of the program currently running or the motion type
currently running will appear in the status bar at the bottom left corner of the PowerTools Pro
screen.
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Specifications
Power consumption: 3W from drive power supply.
I/O Supply Voltage: 10-30 VDC.
Function
Electrical Characteristics
ON State Voltage
10-30 VDC
ON State Current
2mA-6.5mA
OFF State Voltage
0-3VDC
Inputs
Outputs
OFF State Current
0-400µA
Max. ON State Voltage
I/O Supply Voltage -1.5V
Max. ON State Current
150mA
Max. OFF State Current
100µA
Dimensions and Clearances
2.5
(63.5)
7.187
(182.5)
1.25
(31.75)
Programming Module
1
2
3
Inputs
4
5
6
Exp. I/O
485 +
7
485 -
8
SHLD
1
Outputs
Sync.
Input
2
3
4
10-30
VDC
Sync.
Output
+
-
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AX4-CEN
CDRO
250
Specifications
Cable Diagrams
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SNCE-XXX Cable
SNCDD-001.5 Cable
252
Specifications
SNCO-003 Cable
SNCI-003 Cable
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SNCLI-003 Cable
254
Specifications
CMDX-XXX Cable
Note
Some CMDX cables may have White/Yellow and Yellow/White wires in place of the White/Orange
and Orange/White shown in the figure above (pins 6 and 21).
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CMDO-XXX Cable
Note
Some CMDO cables may have White/Yellow and Yellow/White wires in place of the White/Orange
and Orange/White shown in the figure above (pins 6 and 21).
256
Specifications
CDRO-XXX Cable
9
8
24
23
38
37
11
12
34
16
14
15
29
4
19
26
40
18
17
31
33
43
44
41
27
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TIA-XXX Cable
DDS-XXX Cable
258
Specifications
TERM-H (Head) Terminator
TERM-T (Tail) Terminator
Note
See the "Multi-drop Communications" section for resistor values.
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CMDS-XXX Cable
CMMS-XXX Cable
260
Specifications
CFCS-XXX Cable
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CFCO-XXX Cable
262
Specifications
CFOS-XXX Cable
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Glossary
µs
Microsecond, which is 0.000001 seconds.
A
Amps.
Amplifier
Servo Drive.
ARMS
Amps Root Mean Squared (RMS).
Axis
The full system to control in a single motor shaft. A single FM-3 module with EN Drive can
denote an axis.
AWG
American Wire Gauge.
Baud Rate
The number of binary bits transmitted per second on a serial communications link such as RS232. (1 character is usually 10 bits.)
Check Box
In a dialog box, a check box is a small box that the user can turn “On” or “Off” with the
mouse. When “On” it displays an X in a square; when “Off” the square is blank. Unlike option
(radio) buttons, check boxes do not affect each other; any check box can be “On” or “Off”
independently of all the others.
Complex Motion
A string of multiple motion commands and logical instructions that form a repeatable
operation. For the FM-3, the configuration file defines complex motion by setups, functional
assignments and programs.
Compound Motion
The combination of indexes in a row in which the deceleration ramp of the first index goes to
the velocity of the secondary index. The first index must be initiated within a program
(Index.#.CompoundInitiate).
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Configuration
The user-created application. It can be saved as a disk file or downloaded to configure the
FM-3. It includes all the user-defined setup, assignments and programs.
CRC
Cyclical Redundancy Check, the data transfer error checking mechanism.
Destination
A function (i.e., Stop, Preset) that may be assigned to an input line. In FM-3, the input
function is connected to the action through click and drag operations in PowerTools Software
on the Assignment View.
Dialog Box
A dialog box is a window that appears in order to collect information from the user. When the
user has filled in the necessary information, the dialog box disappears.
DIN Rail
Deutsche Industrie Norm Rail
DLL
In Microsoft® Windows®, a Dynamic Link Library contains a library of machine-language
procedures that can be linked to programs as needed at run time.
Downloading
The transfer of a complete set of parameters from an FM to a drive.
Drive
Servo drive or amplifier.
EEPROM
An EEPROM chip is an Electrically Erasable Programmable Read-Only Memory; that is, its
contents can be both recorded and erased by electrical signals, but they do not go blank when
power is removed.
EMC
Electromagnetic Compatibility. The relative immunity of a drive to the effects of
electromagnetic fields.
EMI - Electro-Magnetic Interference
EMI is noise which, when coupled into sensitive electronic circuits, may cause problems.
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Glossary
Firmware
The term firmware refers to software (i.e., computer programs) that are stored in some fixed
form, such as read-only memory (ROM).
Flash
Another type of EEPROM.
Flash File
In the FM-3, this file loads the firmware into the drive and function module. Flash files can
field upgrade the firmware.
FM
Function Module - device which is attached to the front of the drive to provide additional
functionality.
Global Where Am I
PowerTools feature that indicates which line of which user program is executing.
Home Routine
The home provides motion in applications in which the axis must precisely align with some
part of a machine.
Hysteresis
For a system with an analog input, the output tends to maintain its current value until the input
level changes past the point that set the current output value. The difference in response of a
system to an increasing input signal versus a decreasing input signal.
I/O
Input/Output. The reception and transmission of information between control devices. In
modern control systems, I/O has two distinct forms: switches, relays, etc., which are in either
an on or off state, or analog signals that are continuous in nature generally depicting values
for speed, temperature, flow, etc.
Index
An index is a complete motion sequence (defined motion profile) that moves the motor a
specific incremental distance or to an absolute position.
Inertia
The property of an object to resist changes in rotary velocity unless acted upon by an outside
force. Higher inertia objects require larger torque to accelerate and decelerate. Inertia is
dependent upon the mass and shape of the object.
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Input Function
See destination. A function (i.e., Stop, Preset) that may be assigned to an input line. In FM3, the input function is connected to the action through click and drag operations in
PowerTools Software on the Assignment View.
Input Line
The terminals of a device or circuit to which energy is applied.
Jog
A jog produces rotation of the motor at controlled velocities in a positive or negative
direction.
Least Significant Bit
The bit in a binary number that is the least important or having the least weight.
LED
Light Emitting Diode used on the front display of drives and function modules.
List Box
In a dialog box, a list box is an area in which the user can choose among a list of items, such
as files, directories, printers or the like.
mA
Milliamp, which is 1/1000th of an Ampere.
MB
Mega-byte.
MODBUS
Communication Protocol by Modicon. The drive follows the Modbus specification outlined
in the Modicon Modbus Protocol Reference Manual, PI-MBNS-300 Revision G, November
1994.
Module
Function Module
Most Significant Bit
The bit in a binary number that is the most important or that has the most weight.
ms
Millisecond, which is 1/1000th of a second.
268
Glossary
NVM
Non-Volatile Memory. NVM stores specifically defined variables as the variables
dynamically change. It is used to store changes through a power loss.
NTC
Negative Temperature Resistor
Option Button
See Radio Button.
Opto-isolated
A method of sending a signal from one piece of equipment to another without the usual
requirement of common ground potentials. The signal is transmitted optically with a light
source (usually a Light Emitting Diode) and a light sensor (usually a photosensitive
transistor). These optical components provide electrical isolation.
Output Function
See source. The terminals at which energy is taken from a circuit or device.
Output Line
The actual transistor or relay controlled output signal.
Parameters
User read only or read/write parameters that indicate and control the drive operation. These
variables generally hold numerical data defined in the Setup Views.
PC
Personal Computer.
PE
Protective Earth.
PID
Proportional-Integral-Derivative. An acronym that describes the compensation structure that
can be used in many closed-loop systems.
PLC
Programmable Logic Controller. Also known as a programmable controller, these devices are
used for machine control and sequencing.
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PowerTools Pro
PowerTools Pro is a Windows® based software to interface with the EN or MDS drive with
an attached FM-3 or FM-4 module.
Radio Button
Also known as the Option Button. In a dialog box, radio buttons are small circles only one of
which can be chosen at a time. The chosen button is black and the others are white. Choosing
any button with the mouse causes all the other buttons in the set to be cleared.
RAM
RAM is an acronym for Random-Access Memory, which is a memory device whereby any
location in memory can be found, on average, as quickly as any other location. Commonly
refers to Read-Write memory, as opposed to Read-Only Memory (ROM, EPROM,
EEPROM, Flash). RAM is considered volatile, because its contents are lost during a power
loss.
RMS
Root Mean Squared. For an intermittent duty cycle application, the RMS is equal to the value
of steady state current which would produce the equivalent heating over a long period of time.
ROM
ROM is an acronym for Read-Only Memory. A ROM contains computer instructions that do
not need to be changed, such as permanent parts of the operating system.
RPM
Revolutions Per Minute.
Serial Port
A digital data communications port configured with a minimum number of signal lines. This
is achieved by passing binary information signals as a time series of 1’s and Ø’s on a single
line.
Source
The terminals at which energy is taken from a circuit or device.
Travel Limit
The distance that is limited by either a travel limit switch or the software.
Torque
The moment of force, a measure of its tendency to produce torsion and rotation about an axis.
270
Glossary
Uploading
The transfer of a complete set of parameters from a drive to an FM.
User Units
Ability of program to allow user to specify which type of units will measure and specify
motion and time.
VAC
Volts, Alternating Current.
Variable
A labeled value that encompasses numeric boolean, input function, and output functions.
VDC
Volts, Direct Current.
Velocity
The rate of change in position in a given direction during a certain time interval.
View
Portion of screen within frame.
Windows®, Microsoft®
Microsoft Windows is an operating system that provides a graphical user interface, extended
memory and multi-tasking. The screen is divided into windows and the user uses a mouse to
start programs and make menu choices.
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Index
Symbols
D
+/- Limit, 230
DDS-XXX Cable, 258
Delete All Book Marks, 117
Delete Program Button, 131
Deleting a Program, 132
Deleting An Assignment, 74
Diagnostic Display, 225
Digital Inputs and Outputs, 82
Disable Error Check, 118
Do While/Loop, 121
Drag In I/O, 117
Drag In Operands, 117
Drag In Variables, 118
Drive Faults, 238
Dwell for Master Dist, 126
Dwell For Time, 125
A
Add Program Button, 131
Adding a Program, 131
Adding Indexes, 105
Analog Output, 236
Assignment Polarity, 75
B
Book Mark, 116
Brake Operation and Wiring, 236
E
C
Cable Diagrams, 251
Call Program, 122
CDRO-XXX Cable, 257
CFCO-XXX Cable, 262
CFCS-XXX Cable, 261
CFOS-XXX Cable, 263
CMDO-XXX Cable, 256
CMDS-XXX Cable, 260
CMDX-XXX Cable, 255
CMMS-XXX Cable, 260
Creating An Assignment, 73
Else, 120
Encoder Hardware, 230
Encoder State, 230
End, 123
Error Messages, 238
Example Programs, 134
F
Fault Codes, 226
Fault Descriptions, 228
Find, 116
Find Next, 116
Firmware Checksum, 228
Following Error Fault, 230
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For Count/Next, 120
Formula, 123
G
Gear Stop, 130
Gear.Initiate, 130
GoTo, 125
H
M
Modbus Communications, 184
Motion Instructions, 125
Motion Modifers, 130
Motor Over Temperature Fault, 230
N
Next Book Mark, 117
Non-volatile Memory Invalid, 228
High DC Bus Fault, 229
Home.Initiate, 128
O
I
Over Speed Fault, 230
If/Then/Endif, 119
Index.CompoundInitiate, 127
Index.Initiate, 126
Installation Notes, 183
Introduction, 1
Invalid Configuration, 229
J
Jog.MinusInitiate, 129
Jog.PlusInitiate, 129
Jog.Stop, 129
L
Label, 124
Lock Program, 118
Low DC Bus Fault, 229
274
P
Power Stage Fault, 229
Power-Up Self-Test Failure, 228
Previous Book Mark, 117
Program Flow Instructions, 119
Program Instruction Types, 119
Program Toolbar Icons, 116
Program Where Am I?, 118
Programming Error Messages, 240
R
Red Dot Help, 117
Redo Last Change, 116
Registration Index, 22
RMS Shunt Power Fault, 230
Rotary + and Rotary - Indexes, 22
Rotary Indexes, 22
Run Anytime Programs, 132
Run This Program, 118
Index
S
Safety Considerations, vii
Safety of Machinery, vii
Safety Precautions, vii
Setup, 31
Setup, Commissioning and Maintenance, vii
status codes
decimal point, 225
Ready, 225
Ready to Run, 225
Stop All, 118
T
TERM-H (Head) Terminator, 259
TERM-T (Tail) Terminator, 259
TIA-XXX Cable, 258
U
Undo Last Change, 116
Using Last, 130
W
Wait For, 121
Wait For Time, 122
Watchdog Timer, 228
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FM-3 Programming Module Reference Manual
276
Since 1979, the “Motion Made Easy” products, designed and manufactured in
Minnesota U.S.A., are renowned in the motion control industry for their ease of
use, reliability and high performance.
For more information about Control Techniques “Motion Made Easy” products
and services, call (800) 893-2321 or contact our website at
www.emersonct.com.
Control Techniques Drives, Inc.
Division of EMERSON Co.
12005 Technology Drive
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U.S.A.
Customer Service
Phone: (952) 995-8000 or (800) 893-2321
Fax: (952) 995-8129
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