Epsilon EP-P Drive and FM-3/4 Modules Reference Manual P/N 400518-04 Revision: A1 Date: December 22, 2006 © Control Techniques Americas LLC, 2006
Epsilon EP-P Drive and FM-3/4 Module Reference Manual Information furnished by Control Techniques Americas LLC (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.
© Control Techniques Americas LLC, 2006 All rights reserved. Part Number: 400518-04 Revision: A1 Date: December 2006 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.
Customer Support Control Techniques Americas LLC 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.
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.
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.
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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.
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Table of Contents Customer Support . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . iii Document Conventions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . iv Safety Instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Motion Group . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 81 Home View . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 84 Index View . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Epsilon EP-P Drive and FM-3/4 Module Reference Manual Introduction Epsilon EP Drive The Epsilon EP drive is a stand-alone, fully digital brushless servo drive designed and built to reliably provide high performance and flexibility without sacrificing ease of use. The use of State-Space algorithms make tuning very simple and forgiving. The drives are designed to operate with up to a 10:1 inertia mismatch right out of the box.
Epsilon EP-P Drive and FM-3/4 Module Reference Manual Figure 2: EN Drive with FM-3/4 Function Module Note that the drive’s firmware is disabled whenever a Function Module, such as the FM-3/4 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.
Epsilon EP-P Drive and FM-3/4 Module Reference Manual Operational Overview This section provides a complete functional description of the Epsilon EP-P drive and FM-3/4 module . It is intended to provide you, the user, with a thorough understanding of all operations. The description includes references to many FM-3/4 module and Epsilon EP-P drive parameters which can be displayed and/or edited using PowerTools Pro software, or through any Modbus interface.
Epsilon EP-P Drive and FM-3/4 Module Reference Manual The “Hierarchy Tree” (shown above) contains expandable groups of parameters. The groups can be expanded and contracted just like folders in Windows® Explorer. Left click on a view name in the Hierarchy Tree will display that view on the right side of the computer screen. To setup a drive the user simply steps through the Hierarchy Tree from top to bottom starting with the Setup view. Simple applications can be setup in a matter of minutes.
Operational Overview Menu Screen EN-204 Adr01 MG-316 SECUR PBusGroup Slave Address MODIF MENU Security: 1 DVNET+ Group MacID MODIF Auto Log Out MENU Security: 1 Baud Rate SECUR Group MODIF MENU Security: 3 RAMPS Group Stop MODIF JOG* Group MENU Security: 0 MODIF MENU Security: 1 HOME Group Home.0.Vel MODIF MENU Security: 1 INDEX* Group PROG* Group
Epsilon EP-P Drive and FM-3/4 Module Reference Manual 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 Epsilon EP-P drive and FM-3/4 module provides four types of motion: jogging, homing, indexing and gearing.
Operational Overview Gear Reducer External Home Sensor NT Motor with Encoder Carriage ec Dir n tio + Figure 7: Sensor Point Home Offset Distance 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 view. 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.
Epsilon EP-P Drive and FM-3/4 Module Reference Manual Marker Selecting Marker means the rising edge of the motor’s encoder marker channel is used to establish the reference position. Figure 9: Marker Home Reference Position Sensor then Marker Selecting Sensor then 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.
Operational Overview >800 µsec Sensor Marker Direction of Travel Figure 11: Sensor then 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 12: Sensor then 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.
Epsilon EP-P Drive and FM-3/4 Module Reference Manual Figure 13: 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 14: Calculated Home Offset, Peak Velocity Reached Two examples below show operation when the specified offset is greater or lesser than the calculated offset.
Operational Overview Specified Offset Figure 16: 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. Home Limit Distance This parameter places an upper limit on the incremental distance the motor will travel during the home.
Epsilon EP-P Drive and FM-3/4 Module Reference Manual 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. Home Sequence 1. If on sensor then back off (if enabled) 2. Search for sensor 3.
Operational Overview External Home Sensor G Re ear du ce r NT Motor Figure 20: 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.
Epsilon EP-P Drive and FM-3/4 Module Reference Manual Figure 23: 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.
Operational Overview Absolute Index Start Position = 1 Rev Index Position = 5 Revs Figure 24: 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.
Epsilon EP-P Drive and FM-3/4 Module Reference Manual Incremental Index Start Position = 1 Rev Index Distance = 2 Revs Figure 27: Incremental Index Example 2 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.
Operational Overview 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°.
Epsilon EP-P Drive and FM-3/4 Module Reference Manual . Figure 28: Upload Drive Configuration Dialog Box Select the device to upload and click Upload. Downloading Downloading is the process of sending the configuration created with PowerTools Pro from the PC to the device. Changes made in PowerTools Pro will not take effect until the information has been downloaded or the Update to RAM button has been clicked.
Operational Overview Figure 29: Download to Device ID 1 Dialog box Select the device to download to and click OK. Change Path Connection This function allows the user to change the drive and Ip address/Com port used for download and upload. It is used when the user has already selected one Ip address Com port and wishes to change to another. The dialog box provides the user with communication information available on the Modbus and Ethernet network (if appropriate).
Epsilon EP-P Drive and FM-3/4 Module Reference Manual Figure 30: Change Path Dialog Box Select the device in the list and then click OK. The communication connection path will then be displayed in the status bar at the bottom of PowerTools Pro window. NVM Options for Uploading and Downloading Uploading When uploading from a device, the values that were last downloaded are uploaded and put into a PowerTools Pro configuration file.
Operational Overview Update – This option will upload the current NVM parameter values from the device 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.
Epsilon EP-P Drive and FM-3/4 Module Reference Manual • If the user modifies parameters, and disconnects, the update button will be disabled, and the changes will not be sent. Options/Preferences/Ptools Operation Communications Tab This dialog box allows the user to set-up the serial communication baud rate, the drive baud rate and the PowerTools Pro baud rate must match. Default drive baud rate = 19200.
Operational Overview Download Section: Ignore saving file on Ptools/Drive revision conversion. On a download PowerTools Pro checks the firmware revision of the device that it is about to be downloaded to and is required to make changes to files that are to be downloaded to older firmware revisions. This check box allows the user to avoid saving the newer file before converting it to a previous revision. Overwrite – Reset the NVM configuration.
Epsilon EP-P Drive and FM-3/4 Module Reference Manual In this dialog box, select the “Save also as secure download format” check box located at the bottom of the dialog box, then click Save. Doing this will save the file in BOTH the standard file format (.fm4), as well as in the secure file format (.fm4s). 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.
Operational Overview 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.
Epsilon EP-P Drive and FM-3/4 Module Reference Manual is available, indicating the application and drive are out of sync, (Update to RAM remains unavailable if the user changes a variable that requires a reboot. The user then requires a full download). When the Run button is pressed, it does a limited Update to RAM by downloading the changed graph settings to RAM.
Epsilon EP-P Drive and FM-3/4 Module Reference Manual Setting Up Parameters Graph View Figure 34: Graph View Data Capture Group Graph State There are three graph state conditions in the following order: Filling Buffer, Filled. Waiting for Trigger, and Filled and Triggered. Run The Run button commands the drive to begin a high speed data capture of the parameters as selected in each of the four data channels.
Epsilon EP-P Drive and FM-3/4 Module Reference Manual Timing Group The sliders can be moved in several different ways. 1. With the mouse pointer over the slider, left click and hold while dragging the slider back or forth to the desire setting. 2. With the mouse pointer over the slider, left click on the slider and then the arrow keys on the PC keyboard can be used to move the slider in fine increments. The Page Up and Page Down keys move the slider in course increments.
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 Tree, the Setup view will appear on the right side of the view (see Figure 35). 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.
Epsilon EP-P Drive and FM-3/4 Module Reference Manual Gateway (FM-3/4E and Epsilon EP-P only) This 32-bit parameter indicates the default Gateway address for the device. When attempting to communicate with a device on a different Subnet, the message must go through this gateway to reach it’s destination. For a detailed description of the Gateway address refer to the Industrial Ethernet Overview section in the FM-3 and FM-4 Connectivity Modules Reference Manual (P/N 400508-04).
Setting Up Parameters Update Rate Group Trajectory This parameter configures the interrupt interval for the device 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.
Epsilon EP-P Drive and FM-3/4 Module Reference Manual Position Feedback Feedback position (PosnFeedback) is the actual motor position in user units. PosnCommand minus the PosnFeedback is the FollowingError. Following Error Following Error is the difference between the PosnCommand and the PosnFeedback. It is positive when the PosnCommand is greater than the PosnFeedback. Encoder Position Motor encoder position in encoder counts (PosnFeedbackInCounts).
Setting Up Parameters 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.
Epsilon EP-P Drive and FM-3/4 Module Reference Manual Following is a description of all the different functions on the Motor view. Figure 37: Motor View Motor Type List Box Use this list box to select the motor type. PowerTools Pro software will display all the standard motor models and any user defined motors. Selecting the wrong motor type can cause instability and may cause property damage to the motor and/or drive. Use Motor Data From .
Setting Up Parameters Motor Parameters Column Motor Parameters column is a column of data displayed on the Motor view under the Setup view (See Figure 37). This column of data contains the values for each of the motor data parameters. The values in this column are unavailable for edit if the “Use Motor Data From .ddf File” check box is selected. This means that since the data is associated with the .ddf file, it cannot be changed. The values in this column become available when the “Use Motor Data From .
Epsilon EP-P Drive and FM-3/4 Module Reference Manual nLines = Total number of Encoder Lines n = Motor Encoder Lines per Rev Coefficient x = Motor Encoder Exponent The total number of encoder lines is used both for commutation and for position/velocity control. To properly commutate the motor, the drive must know the electrical angle (the angle between the motor magnetic field and stator coils).
Setting Up Parameters in the FM3/4 module. Therefore, in order to store the values in the FM module, the Auto-Tune values must be applied to the configuration file. When the user presses “Apply to Config.”, the values in the “Values From Drive” column are transferred into the Motor Parameters column. Then the values must be downloaded by downloading the entire configuration file using Device > Download.
Epsilon EP-P Drive and FM-3/4 Module Reference Manual Figure 38: Auto-Tune Dialog Box - Auto-Tune Mode 3 After the Auto-Tune Mode has been selected, click Proceed, to start the Auto-Tune. When the Auto-Tune is completed the results will be in the Values from Drive column on the Motor view. Save .ddf Values Button Once the user has entered the data for the motor they are using, they may or may not wish to save the motor data to the Motor.ddf file so it can be easily recalled at a later time.
Setting Up Parameters Figure 39: The User Defined Motor Name Conflict Dialog Box The User Defined Motor Name Conflict dialog box presents the user with four options on how to proceed with saving the motor data. Those four options are: Create new motor entry In .ddf File The user can select to keep the existing data and create a new entry into the motor.ddf file with a different name. After selecting this option, the user simply enters a new name in the Please enter a new motor name text box.
Epsilon EP-P Drive and FM-3/4 Module Reference Manual Parameters Not Matching List This list is part of the User Defined Motor Name Conflict dialog box and displays the parameter value(s) from the Motor Parameters column that do not match the equivalent parameter value in either the motor.ddf or stdmotor.ddf files, for the motor with the matching name. This helps the user to determine whether they wish to overwrite, cancel, or create a new motor with this Save .ddf Values operation.
Setting Up Parameters 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.
Epsilon EP-P Drive and FM-3/4 Module Reference Manual Distance Units Name — Inches Enable Separate Distance Units — Select check box (enabled) Scaled Distance Name — 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.
Setting Up Parameters Figure 41: Master Units View Encoder Setup Group Master Source (FM-3/4 only) Master Source indicates the hardware location of the master encoder input. Select Module to use the sync input connector on the front of the FM-3/4 module; select Drive to use the 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.
Epsilon EP-P Drive and FM-3/4 Module Reference Manual 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 selected, the rotary rollover feature for the Master Axis will be enabled.
Setting Up Parameters 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.
Epsilon EP-P Drive and FM-3/4 Module Reference Manual Figure 42: 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.
Setting Up Parameters 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 Select this check box to enable (or disable if clear) the software travel limits. If disabled, the software travel limits are not monitored. Software Travel Limits Software Travel limits can be used to limit machine travel.
Epsilon EP-P Drive and FM-3/4 Module Reference Manual 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.
Setting Up Parameters = 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, the following real-time data will be displayed.
Epsilon EP-P Drive and FM-3/4 Module Reference Manual 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.
Setting Up Parameters 1. Index.1.Accel specified by user is used to decelerate from Index.0.Vel, to Index.1.Vel, but overshoots since ramp is not aggressive enough to reach Index.1.Vel within Index.1.Dist of 3 Revs. 2. Index.1 begins at Index.1.Vel but since Index.1.Decel specified by user is not aggressive enough to decelerate to zero velocity within Index.1.Dist of 3 Revs slight overshoot occurs. 3. Index.1 begins at Index.0.Vel and ramp is automatically calculated to reach zero speed within Index.1.
Epsilon EP-P Drive and FM-3/4 Module Reference Manual 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.
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.
Epsilon EP-P Drive and FM-3/4 Module Reference Manual Low Pass Filter Enable Check Box When this check box is selected it enables a Low Pass Filter to be applied to the output of the velocity command before the torque compensator. Low Pass Filter 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 600 Hz.
Setting Up Parameters Figure 49: Faults View - Offline When online and a fault is detected, the Faults window opens, showing the fault condition and allows the fault to be reset or ignored. Pressing Reset attempts to reset the fault if the cause of the fault has been removed. Pressing Ignore just closes the faults window.
Epsilon EP-P Drive and FM-3/4 Module Reference Manual When online, the Active Faults window, Reset button and Power Up group window become active. There will also be three tabs that appear, Fault Log, Fault Counts, and Drive Fault Log. Figure 51: Faults View Online - Faults Log Tab Active Faults Group The Active Faults group contains the Active Faults window. Active Faults Window This window displays any active faults in the system.
Setting Up Parameters Fault Code The fault code has the same description of the fault that is or was reported in the Active Faults window. Fault Sub Code The fault subcode applies to only a few faults and provides some additional information about the fault when available. When there is no additional information for the fault, OK is displayed. Power Up (counts) This is the device’s power up counter at the time of the fault. Time (hours.
Epsilon EP-P Drive and FM-3/4 Module Reference Manual Fault Code This is the faults parameter name. Fault Counts This is the number of times that the fault has occurred. Clear Module Counts button Pressing this control button will zero the Fault Counts of all module faults. Drive Fault Log Tab (FM-3/4 only) Figure 53: Faults View - Drive Fault Log Tab The Drive Fault Log tab is visible when online and consists of a list of the ten most recent faults detected by the drive.
Setting Up Parameters Figure 54: 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.
Epsilon EP-P Drive and FM-3/4 Module Reference Manual 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.#.
Setting Up Parameters Figure 55: Setup NVM View FM Only 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 so they can be restored after a powerdown. 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-3/4 is rated at a minimum, 1 million writes.
Epsilon EP-P Drive and FM-3/4 Module Reference Manual The user must determine which signals are used to enable, activate, and then reset the Capture component. A CaptureTriggered destination is then available to indicate to the user that data has been captured and is available for use.
Setting Up Parameters Capture.#.CapturedPositionCommand The command position, in user units, at the time when CaptureTriggered activated. Capture.#.CapturedPositionFeedback The feedback position, in user units, at the time when CaptureTriggered activated. Capture.#.CapturedMasterPostion The master axis feedback position, in master axis distance units, at the time when CaptureTriggered activated.
Epsilon EP-P Drive and FM-3/4 Module Reference Manual 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.
Setting Up Parameters Queue Object Exit Clear Compare Enable Data[ ] Size Offset Full Level Comparitor Select Name Empty Full Overflow Data In Queue Data = X Figure 60: Data Out Y = Queue Data Queue Object and Components Diagram A detailed explanation of each of the queue components is as follows: Queue Data The queue data is loaded into the queue by statements in the user program. Two types of data are most often used with the queue: Position Feedback, and Master Position Feedback.
Epsilon EP-P Drive and FM-3/4 Module Reference Manual Queue Full – The Queue Full source will activate if the number of pieces of data in the queue equals or exceeds the Full Level parameter. The source will deactivate when the number of pieces of data in the queue is less than the Full Level. Queue Overflow – This source activates when there is no more room in the queue to store data. The maximum number of pieces of data is determined by the Queue Size parameter.
Setting Up Parameters Figure 62: 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.
Epsilon EP-P Drive and FM-3/4 Module Reference Manual The Initial Value for each user bit is configured using a check box for the specific bit. To make the Initial Value “On” or “Active”, simply select the check box 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 63. User Bits may be accessed on the User Program. Several examples of this are shown below. Bit.Raise_Table = ON Wait For Bit.
Setting Up Parameters 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 32-bit parameter is passed through, and the resulting value stored in the specific bit will be the written bit value.
Epsilon EP-P Drive and FM-3/4 Module Reference Manual 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 66. In the User Bits Mask view, each bit of the Mask can be set to 0 or 1 individually.
Setting Up Parameters FM-3/4 Modules The base drive is equipped with five optically isolated input lines (one dedicated to a Drive Enable function) and three optically isolated output lines. The FM-3/4 module has an additional eight input and four output lines. The base drive’s input and output lines can be accessed through the removable 10-pin I/O connector (J6), or through the 44pin command connector (J5). The FM-3/4 input and output lines are located on the front of the FM-3/4 module.
Epsilon EP-P Drive and FM-3/4 Module Reference Manual Drag and Drop Method First, position the mouse pointer over the source on the left 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 until the pointer is positioned over the desired destination and release the left mouse button. Destinations can also be dragged over to sources, see Figure 68.
Setting Up Parameters 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. Note Destination functions which initiate motion (Jog.PlusInitiate, Jog.MinusInitiate, Index.#.
Epsilon EP-P Drive and FM-3/4 Module Reference Manual 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.
Setting Up Parameters Figure 70: Assignment View - FM-3/4 Module For example, if we entered 3 for the number of Selector Input Destinations, we would have 8 selection lines (Selector.Selection0 through Selector.Selection7). 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.
Epsilon EP-P Drive and FM-3/4 Module Reference Manual 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 70 shows the four selection lines being tied to Index 0 through Index 3 initiates.
Setting Up Parameters 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 base drive/module hardware outputs. See Figure 73.
Epsilon EP-P Drive and FM-3/4 Module Reference Manual Figure 74: Analog Inputs View for a FM-3/4 Module Enable Channel Check Box By default, the analog input channel is not enabled meaning that the drive is not reading the A/D value read by the analog circuit. If the check box is clear, the channel is not enabled and the configuration parameters for the analog input are unavailable and therefore have no effect.
Setting Up Parameters When the Popup Variables... button is pressed, the Select FM Variables window will open containing a list of variables that can be dragged and dropped into the Module Variable text box. 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. Set Maximums Group Maximum Value This parameter is used for user unit scaling.
Epsilon EP-P Drive and FM-3/4 Module Reference Manual The analog output is scaled from the units of the selected variable to the +10/-10 volt range of the Analog Output. It is a linear scale with offset defined by entering two points on the scale, a minimum and maximum to correlate the user units to analog voltage. The actual minimum and maximum range of either user unit or analog voltage does not need to be entered as the algorithm will extrapolate the ranges.
Setting Up Parameters places for both values is taken from the selected module variable. MaxOutputValue is the maximum analog output value which corresponds to the maximum user value. Minimum Value The analog output is a linear interpolation of the selected module variable between the minimum and maximum specified end points. Each end point is specified as the user value and the corresponding output value at that point.
Epsilon EP-P Drive and FM-3/4 Module Reference Manual 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.
Setting Up Parameters 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.
Epsilon EP-P Drive and FM-3/4 Module Reference Manual 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.
Setting Up Parameters 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 selected, the drive will back off the sensor before beginning the home.
Epsilon EP-P Drive and FM-3/4 Module Reference Manual 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 80: Home Reference Position Home Sources and Destinations Sources Home.AbsolutePosnValid This source is activated when a Home is successfully completed.
Setting Up Parameters 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. 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.
Epsilon EP-P Drive and FM-3/4 Module Reference Manual 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.
Setting Up Parameters Figure 82: Time Check Box 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.
Epsilon EP-P Drive and FM-3/4 Module Reference Manual Max Velocity Max Accel Max Decel Trapezoidal Move Index.ProfileLimited activates for this profile Triangle Move Time Figure 83: Timed Index Profiles Enable Index PLS This check box enables (when selected) 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.
Setting Up Parameters Registration Parameters The following parameters are entered on the Registration tab and are only available 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.
Epsilon EP-P Drive and FM-3/4 Module Reference Manual 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 backup to the specified position (registration point + the Registration Offset). Index Sources and Destinations Sources Index.AnyCommandComplete Active when any index motion command is completed.
Setting Up Parameters 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.#.
Epsilon EP-P Drive and FM-3/4 Module Reference Manual Gearing View Figure 84: 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.
Setting Up Parameters Figure 85: 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
Epsilon EP-P Drive and FM-3/4 Module Reference Manual Both of these lines of code will initiate Index 0 on Profile 0. The first one uses Profile 0 because it is the default profile, and the second one uses Profile 0 because it is specified. The On Profile.0 command is completely optional, but may be used for clarity. To run a motion object on the other profile (Profile 1), we must specify the use of Profile 1. The following program line will perform Index 0 on Profile 1. Index.0.Initiate On Profile.
Setting Up Parameters Index.1.Initiate On Profile.1 Wait For Index.1.CommandComplete DriveOutput.1 = ON If using the “On Profile” command on the same line of code as the “Using Capture” command, “Using Capture” should precede the “On Profile” command. Below are example lines of program code that initiate indexes on different profiles using captured data for the starting point. Initiate Index 1 on Profile 0 using data stored in Capture object 2 as the starting point. Index.1.Initiate Using Capture.
Epsilon EP-P Drive and FM-3/4 Module Reference Manual 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. Profile.#.MotionStop from a Program The Profile.MotionStop instruction is used to stop motion on an individual profile without stopping all motion. Upon activation of the Profile.
Setting Up Parameters By selecting Modbus in the Hierarchy Tree, the Modbus View will appear on the right (see Figure 87). The right part of the window displays all of the drive parameters. The number of parameters that appear depends on the User Level. Figure 87: Modbus View An external device such as a Human Machine Interface (HMI) or PLC can be used to monitor or edit individual FM-3/4 module parameters. The FM-3/4 module and base drives use a 32-bit Modbus RTU communications protocol.
Epsilon EP-P Drive and FM-3/4 Module Reference Manual Some Modbus addresses have been reserved and can not be assigned: 39980-39999 and 49501-49999. Note Some configuration software uses a 6 digit addressing base. The first digit is an indication of register or bit type. Thus 400001 in this software is equal to 40001 in Control Techniques Modbus RTU.
Epsilon EP-P Drive and FM-3/4 Module Reference Manual Programming By selecting Program in the Hierarchy Tree, the Program View will appear on the right (see Figure 89). 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 89: Program View Program Toolbar Buttons Following is a detailed description of each of the buttons found on the Program Toolbar.
Epsilon EP-P Drive and FM-3/4 Module Reference Manual Book Mark This button 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 buttons can be used to jump from one bookmark to the next very quickly. If this button is clicked when a bookmark already exists on the line of code, the bookmark will be removed.
Programming Program Where Am I? Clicking on this button 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 button 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.
Epsilon EP-P Drive and FM-3/4 Module Reference Manual ‘Input.1 is ON and DriveInput.2 is OFF DriveOutput.1=ON DriveOutput.2=OFF Endif If (DriveInput.2=ON) Then Jog.0.PlusInitiate Wait For DriveInput.2=OFF Jog.Stop Endif ‘Jog+ when DriveInput.2=ON ‘Vel=20in/s ‘Stop when the input goes OFF ‘Decelerate to a stop If (DriveInput.3=ON) Then Jog.0.MinusInitiate Wait For DriveInput.3=OFF Jog.Stop Endif ‘Jog- when DriveInput.
Programming Examples: Do While DriveInput.1=ON Index.1.Initiate Dwell For Time 1.000 Loop ‘Repeat the three lines of code below ‘as long as DriveInput.1 is ON. ‘Incremental,Dist=5.250in,Vel=10.0in/s ‘seconds Do While (DriveInput.1=ON AND DriveInput.2=OFF) ‘Repeat the three lines of code below ‘as long as DriveInput.1 is ON and ‘DriveInput.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.
Epsilon EP-P Drive and FM-3/4 Module Reference Manual 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.
Programming var.var1 = 1111111111111111111111111111111b var.var2 = 0000000000000000000001111101000b BitOr This operator may be used when it is desirable 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.
Epsilon EP-P Drive and FM-3/4 Module Reference Manual Program Math Functions Cos This trig function can be used in formulas from within a program. Example: var.var0 = Cos(var.var1). Returns the trigonometric cosine in degrees. Cos(x) x is in degrees and accurate to 6 decimal places. Sin This trig function can be used in formulas from within a program. Example: var.var0 = Sin(var.var1). Returns the trigonometric sine in degrees. Sin(x) x is in degrees and accurate to 6 decimal places.
Programming Examples: Do While (TRUE) Index.0.Initiate‘Incremetal,Dist=25.000in,Vel=25in/s Dwell For Time 1.000‘Seconds Loop Do While (TRUE) Index.0.Initiate‘Incremetal,Dist=25.000in,Vel=25in/s Dwell For Time 1.000‘Seconds Index.1.Initiate‘Incremental,Dist=15.000in,Vel=25in/s Dwell For Time 0.500‘Seconds Loop Dwell for Master Dist This motion instruction is used to pause program execution for a precise change in distance on the master encoder signal.
Epsilon EP-P Drive and FM-3/4 Module Reference Manual CompoundIndexInitiate var.var0 goto a: 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.
Programming Wait For Index.AnyCommandComplete Figure 90: Index Velocity Profile 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 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.
Epsilon EP-P Drive and FM-3/4 Module Reference Manual Example: Index.0.BlendInitiate into (1) DriveOutput.1=ON Index.1.BlendInitiate into (2) DriveOutput.2=ON Index.2.Initiate DriveOutput.3=ON Wait For Index.AnyCommandComplete DriveOutput.1=OFF DriveOutput.2=OFF DriveOutput.3=OFF 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.
Programming Examples: Jog.0.MinusInitiate Jog.1.MinusInitiate ‘Vel=27.2in/s ‘Sync,Vel=1.000in/in Program.ProgramStop The Program.#.ProgramStop instruction is used to stop processing a specific program. The ProgramStop instruction can be used in a program to stop itself or any other program. The ProgramStop instruction DOES NOT stop the motion that has been initiated by the program being stopped. Either the MotionStop or the Profile.Stop instruction must be used to stop motion from a program.
Epsilon EP-P Drive and FM-3/4 Module Reference Manual Prior to A1 firmware in the FM-3/4, 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 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.
Programming Gear.Initiate On Profile.1 Wait For DriveInput.3 = ON Gear.Stop On Profile.1 'Gear operates on Profile 1 'Stop Gear running on Profile 1 Jog.0.PlusInitiate On Profile.1 'Jog 0 runs in positive direction on Profile 1 Index.0.Initiate 'Index 0 runs on Profile 0 Wait For Index.AnyCommandComplete Wait For DriveInput.2 = ON Jog.Stop On Profile.1 'Stop Jog running on Profile 1 Adding and Deleting Programs Programs can be added or removed from the user configuration in three ways.
Epsilon EP-P Drive and FM-3/4 Module Reference Manual 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” check box must be selected in the Program view. Figure 92 shows an example of the “Run Anytime” check box after it has been selected.
Programming Program Multi-Tasking Many applications require the operation of a background task that operates outside of the main program loop, but must be consistently processed. For instance, a background task that performs calculations for values sent to an operator interface or a background task that monitors parameters for fault detection. The FM-4 and Epsilon EP-P processor has the ability to execute multiple tasks.
Epsilon EP-P Drive and FM-3/4 Module Reference Manual = Control Loop Update = Messages (Modbus, Keypad, LCD Display, Faults, etc.) = Program Execution N = Number of Tasks assigned 1600 usec Figure 94: 1600 usec 1600 usec 1600 usec Time Slicing and Multiple Tasking Handling In Figure 94, the Update Rate (found on the Setup View) is set to 1600 microseconds. The first routine to be processed in the update is the control loop update. Next, all messages will be handled.
Programming A Dwell instruction is also a motion instruction and can block the program in the same way. The Dwell cannot start until Index0 is complete, and therefore the program (or task) is blocked until Index0 is finished. Blocked here until Index0 is complete Index.0.Initiate Dwell For Time 1.000 'Seconds ModuleOutput.1=ON The Wait For instruction will block the program until the Wait For condition is satisfied. The Wait For condition does not have to be TRUE at the exact time the task is processed.
Epsilon EP-P Drive and FM-3/4 Module Reference Manual t = 0 usec Control Loop Update Yes Message(s) Waiting? Process Message(s) No Switch to next task Process Task Yes End of Update? t = 1600 usec No Task Blocked? No Yes Switch to next task Figure 96: Time Slicing Flow Chart 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.
Programming Do While (TRUE) Wait For DriveInput.2=ON DriveOutput.1=OFF Index.2.Initiate Wait For InPosn DriveOutput.2=ON Wait For Time 1.000 ModuleOutput.2=OFF Index.1.Initiate Wait For InPosn DriveOutput.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.
Epsilon EP-P Drive and FM-3/4 Module Reference Manual If(DriveInput.2=ON) Then Jog.0.PlusInitiate Wait For DriveInput.2=OFF Jog.Stop Endif If (DriveInput.3=ON) Then Jog.0.MinusInitiate Wait For DriveInput.3=OFF Jog.Stop Endif Loop ‘Jog+ when DriveInput.2=ON ‘Vel=20in/s ‘Stop jogging when DriveIput.2 goes OFF ‘Decelerate to a stop ‘Jog- when DriveInput.3=ON ‘Vel=20in/s ‘Stop jogging when DriveInput.
Programming 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.
Epsilon EP-P Drive and FM-3/4 Module Reference Manual If ((DriveInput.4=ON) AND (DriveOutput.4=OFF)) Then Index.1.Dist = Index.1.Dist - 0.10 ‘ounces DriveOutput.4=ON ‘DriveOutput.4 is used to make sure that the distance is ‘incremented only once each time DriveInput.4 is pressed. If (Index.1.Dist < 12) Then DriveOutput.2=ON ‘Short index output Else DriveOutput.2=OFF Endif Endif If((DriveInput.4=OFF) AND (DriveOutput.4=ON)) Then DriveOutput.
Programming Subroutine for Jogging the Axis into the Desired Position (Program 1) ‘Allow jogging until either the “Learn” input (DriveInput.1) ‘or the “Skip” input (DriveInput.2) goes ON. Do While ((DriveInput.1=OFF) AND (DriveInput.2=OFF)) If (DriveInput.3=ON) Then ‘Jog+ if the Jog+ input is on Jog.0.PlusInitiate ‘Vel=0.1in/s Do While (DriveInput.3=ON) If (DriveInput.5=ON) Then Jog.0.Vel = 1.0 Else Jog.0.Vel = 0.1‘in/s Endif Loop Jog.Stop Endif If (DriveInput.4=ON) Then Jog.0.
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Epsilon EP-P Drive and FM-3/4 Module Reference Manual 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.
Epsilon EP-P Drive and FM-3/4 Module Reference Manual 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.
Parameter Descriptions Capture Reset CaptureReset The CaptureReset is used to reset or re-arm the capture component after it has been activated. If the capture has been activated, the CaptureTriggered destination will be active. The capture component cannot capture data again until it has been reset. The capture component will automatically reset itself if the CaptureEnable signal is removed.
Epsilon EP-P Drive and FM-3/4 Module Reference Manual Commutation Angle Correction CommutationAngleCorrection The difference between the electrical angle as determined at power up from the U, V, and W commutation tracks and the electrical angle as determined from the marker pulse or UVW transitions. This value will be zero until the marker pulse is detected or UVW transition is detected.
Parameter Descriptions 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.
Epsilon EP-P Drive and FM-3/4 Module Reference Manual 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.#.
Parameter Descriptions Fault Counts Fault.#.Counts The module stores the total number of times the specific fault has occurred since it was manufactured. Drive Faults Bitmap Fault.DriveFaultsBitmap This parameter is a 32-bit register which holds all of the drive fault status bits.
Epsilon EP-P Drive and FM-3/4 Module Reference Manual 7 = Module program fault 8 = No Program 9 = DN Connection Time Out 10 = DN Bus Off 11 = DN Duplicate Mac ID 12 = Module Trajectory 13 = PB Parameterization fault 14 = PB Watchdog fault 15 = PB Configuration 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.
Parameter Descriptions Code FM-3/4 2B DevicenetDupMacId 2C TrajectoryFault 2D ProfibusParameterizationFlt 2E ProfibusWatchdogFault 2F ProfibusConfigurationFault Fault Log - Power Up Count FaultLog.#.PowerUpCount This is the module power up count at the time that the fault occurred. Fault Log - Power Up Time FaultLog.#.PowerUpTime This is the module power up time when the fault occurred. Fault Log - Sub Fault FaultLog.#.SubFault The sub-fault value at the time the fault occurred.
Epsilon EP-P Drive and FM-3/4 Module Reference Manual 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.
Parameter Descriptions 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. 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.
Epsilon EP-P Drive and FM-3/4 Module Reference Manual 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.
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.#.
Epsilon EP-P Drive and FM-3/4 Module Reference Manual 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.
Parameter Descriptions 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.
Epsilon EP-P Drive and FM-3/4 Module Reference Manual 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.
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.
Epsilon EP-P Drive and FM-3/4 Module Reference Manual 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.
Parameter Descriptions 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.
Epsilon EP-P Drive and FM-3/4 Module Reference Manual 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.#.
Parameter Descriptions 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-4 module. 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.
Epsilon EP-P Drive and FM-3/4 Module Reference Manual 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.
Parameter Descriptions 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.#.
Epsilon EP-P Drive and FM-3/4 Module Reference Manual 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.
Parameter Descriptions Power Stage Enabled PowerStageEnabled This source (output function) is active when the drive's power stage is enabled. Power Up Count PowerUpCount Number of times the drive has been powered up since it was manufactured. Power Up Time PowerUpTime Time elapsed since last drive power-up. The units is minutes. Accelerating Profile.#.Accelerating This source will be active when the motion being run on the specified profile is accelerating to its programmed velocity.
Epsilon EP-P Drive and FM-3/4 Module Reference Manual deactivate. This allows the user to see when any motion being run on this profile is decelerating rather than having to monitor each motion object individually. Feedhold Profile.#.Feedhold This function is used to suspend or pause a profile in motion without stopping it altogether. The Feedhold effects all types of motion except for Gearing.
Parameter Descriptions Size Queue Size This is the maximum number of elements that can be stored in the queue. If more than this number of pieces of data is in the queue at a time, then a Queue Overflow event will activate. Full Level Queue.#.FullLevel The amount of data in the queue is constantly monitored and the Queue Full source will activate when the number of pieces of data in the queue exceeds the Full Level parameter. This is only a flag and does not indicate a fault of any kind. Queue Clear Queue.
Epsilon EP-P Drive and FM-3/4 Module Reference Manual Queue Overflow Queue.#.QueueOverflow This source activates when there is no more room in the queue to store data. The maximum number of pieces of data is determined by the Queue Size parameter. Queue Remove Queue.#.Remove The Queue Remove instruction is used in the program to remove data from the queue. When processed, the oldest piece of data will be deleted out of the queue. The Queue Remove instruction also deactivates the Queue Exit function.
Parameter Descriptions Shunt Active ShuntActive This source is active when the drive's internal shunt is active (conducting current). Shunt Power RMS 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.
Epsilon EP-P Drive and FM-3/4 Module Reference Manual 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.
Parameter Descriptions (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. Torque Limit TorqueLimitEnable This destination is used to enable the TorqueLimit.
Epsilon EP-P Drive and FM-3/4 Module Reference Manual 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#.
Parameter Descriptions 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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Epsilon EP-P Drive and FM-3/4 Module Reference Manual Quick Start for an FM-4 Module The quick start guide provides information on the basic operation and functions of the FM-4 module. The quick start steps cover only the most basic steps required to setup a FM-4 module for use with a base drive.
Epsilon EP-P Drive and FM-3/4 Module Reference Manual Figure 98: 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-4 module is attached. EN E Series Only Line Voltage – Select, from the list box, the line voltage applied (115 Vac or 230 Vac). Target Drive Address – Enter the Modbus address for this drive/FM-4 system.
Quick Start for an FM-4 Module Now set up 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.
Epsilon EP-P Drive and FM-3/4 Module 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%.
Quick Start for an FM-4 Module Figure 102: 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 the application requires them. They are assigned in the same way as the Assignments views in Step 3 below.
Epsilon EP-P Drive and FM-3/4 Module Reference Manual Drag and Drop Method Figure 103: Making Assignments The Input Lines view shows the assignments that have been made to the Inputs group of Sources on the Assignments view. 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.
Quick Start for an FM-4 Module 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 Tree. Jog Setup The Jog views allow the user to setup any jogs required by the application. Select either the Jog0 or Jog1 to enter the specific Jog parameters. Figure 105 shows Jog1 setup view (renamed Jog Fast).
Epsilon EP-P Drive and FM-3/4 Module Reference Manual Figure 106: 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.
Quick Start for an FM-4 Module Figure 107: 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.
Epsilon EP-P Drive and FM-3/4 Module Reference Manual Figure 108: 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. Step 5: Creating a Program Now that the drive setup is complete, assignments are made, and motion profiles are defined, a program can be created. To do this, expand the Program group in the Hierarchy Tree, and select Program 0.
Quick Start for an FM-4 Module Drag and Drop Figure 109: 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.
Epsilon EP-P Drive and FM-3/4 Module Reference Manual 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.
Quick Start for an FM-4 Module Enable Following Error – Enable this check box. Following Error Limit – The example uses a limit of 0.25 Inches. Enable Software Travel Limits – Enable this check box. 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.
Epsilon EP-P Drive and FM-3/4 Module Reference Manual Drag and Drop Method Figure 113: 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 114. Figure 114: Input Lines View Notice that a Name can be associated to each input line. Each input line can also have a debounce time.
Quick Start for an FM-4 Module Figure 115: Output Lines View 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 114, shows the Home.0.Sensor Trigger has been assigned to ModuleInput.2.
Epsilon EP-P Drive and FM-3/4 Module Reference Manual Absolute Index Figure 116: 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.
Quick Start for an FM-4 Module 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 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.
Epsilon EP-P Drive and FM-3/4 Module Reference Manual 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.
Epsilon EP-P Drive and FM-3/4 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.
Epsilon EP-P Drive and FM-3/4 Module Reference Manual • 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 1. Calculate or estimate the load inertia. It is always better to estimate low. 2. Disable the drive.
Tuning Procedures Figure 119: Default Inertia Setting (0) Figure 120: Inertia Setting (5) 2. Increase the response parameter 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.
Epsilon EP-P Drive and FM-3/4 Module Reference Manual 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.
Tuning Procedures 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).
Epsilon EP-P Drive and FM-3/4 Module Reference Manual 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.
Tuning Procedures 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.
Epsilon EP-P Drive and FM-3/4 Module Reference Manual For horizontal loads or counterbalanced vertical loads use the following formula: IR = (R • Vm (Ta + Td)) −1 2000 Where: 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 =
Tuning Procedures Vm Percent Continuous/volt Scaled Torque Command Output (default)) RPM /volt Scaled Velocity Command Output (default)) NT-320 5.16 30 600 NT-330 6.87 30 600 NT-345 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 Motor NT-355 MG-455 Drive EN-208 2.44 30 600 MG-490 EN-214 1.85 30 600 MG-4120 1.69 30 600 NT-207 7.27 30 600 5.37 30 600 MG-205 NT-212 4.
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Epsilon EP-P Drive and FM-3/4 Module Reference Manual Diagnostics and Troubleshooting Diagnostic Display The diagnostic segment display on the front of the base drive and Epsilon EP-P drive shows drive status, FM-3/4 module status, and fault codes. When a fault condition occurs, the base drive and drive will display the fault code, overriding the status code. The alphanumeric display on the FM-3/4 module provides additional fault information.
Epsilon EP-P Drive and FM-3/4 Module Reference Manual Display Indication Status FM-3/4 Keypad Display (When Applicable) Description Program Program is executing. Drive Type Motor Type Menu Groups Pulse Mode Pulse Mode Operation is executing. NA Torque Mode Analog Torque Mode Operation NA Velocity Mode Analog Velocity Mode Operation NA Address Fault Codes A number of diagnostic and fault detection circuits are incorporated to protect the drive.
Diagnostics and Troubleshooting Segment Display Fault Action to Reset Bridge Disabled FM-3/4 Keypad Display (When Applicable) Encoder State Cycle Power Yes Enc St Encoder Hardware Cycle Power Yes Enc HW Motor Overtemp Reset Button or Input Line Yes Mtr Tmp RMS Shunt Power Reset Button or Input Line Yes Shnt Pw Overspeed Reset Button or Input Line Yes Overspd Max Following Error Reset Button or Input Line Yes Flw Err Travel Limit +/- Auto No Trav (-) Trav (+) All "On" Norma
Epsilon EP-P Drive and FM-3/4 Module Reference Manual 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.
Diagnostics and Troubleshooting 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 0.2 revs).
Epsilon EP-P Drive and FM-3/4 Module Reference Manual Cn Tmout A connection time-out occurs when a FM-3/4DN or any other device on the network does not receive a packet of information that it was expecting. Connection time-out faults are self-resetting unless ten are received in a row causing a buss-off condition. BusOff This fault occurs when the FM-3/4DN experiences ten connection time-outs in a row. This situation forces a buss-off fault that is resettable only by cycling logic power on the FM-3/4DN.
Diagnostics and Troubleshooting The Parser is an internal component of PowerTools Pro 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. 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, use the program toolbar RedDot Help button.
Epsilon EP-P Drive and FM-3/4 Module Reference Manual 196 Problem/Message Cause String does not represent a predefined name... The string needs to match one of the defined strings on record in the FM-3/FM-4 Registry data base. Solution String is not a selection The string matches one of the defined strings, but that string is not a selection. Syntax error encountered Parser Error Message. The Parser can not understand your text sequence. Text Strings are limited to 12 characters...
Diagnostics and Troubleshooting Problem/Message Cause This variable cannot be assigned a selection value The variable that you are attempting to define with a selection does not accept selection values. 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.
Epsilon EP-P Drive and FM-3/4 Module Reference Manual drag and drop the parameter from the Drag Source window on the left over to the Parameters Displayed in Watch Window on the right and it will be added to the Watch Window. Figure 123: The Watch Window Once a parameter is added to the Watch Window, it’s 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.
Diagnostics and Troubleshooting 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. Global Where Am I Button In the Program View, when online and executing a program or sequence of programs, the user can display current program status.
Epsilon EP-P Drive and FM-3/4 Module Reference Manual Diagnostic Analog Output Test Points The drives have two 10 bit Analog Outputs which may be used for diagnostics, monitoring or control purposed. These outputs are referred to as Channel 1 and Channel 2. With the base drives the Analog Outputs can be accessed from the command connector on the base drive or from the diagnostic output pins located on the front of the base drive.
Epsilon EP-P Drive and FM-3/4 Module Reference Manual Specifications Power consumption: 3 W from drive power supply. I/O Supply Voltage: 10 Vdc-30 Vdc. Function Electrical Characteristics ON State Voltage 10 Vdc-30 Vdc ON State Current 2 mA-6.5 mA Inputs Outputs OFF State Voltage 0 Vdc-3 Vdc OFF State Current 0 µA-400 µA Max. ON State Voltage I/O Supply Voltage -1.5 V Max. ON State Current 150 mA Max. OFF State Current 100 µA Dimensions and Clearances 2.5 (63.5) 7.187 (182.5) 1.25 (31.
Epsilon EP-P Drive and FM-3/4 Module Reference Manual AX4-CEN CDRO Figure 127: 202 FM-3/4 Module Mounted on an EN Drive Dimensional Drawing
Specifications 5.94 [150.88] 5.22 [132.59] “A” 2.5 [63.50] 0.92 [23.37] 1.20 [30.48] (4X)Ø.219 [5.56] .200 [5.08] DDC-RJ45 8.099 [205.72] 7.70 [195.58] EP204-IDN-EN00 9609XX-XX A1 SN 0610E014 0.75 [19.05] 3.50 [88.
Epsilon EP-P Drive and FM-3/4 Module Reference Manual Cable Diagrams EN Drive w/ FM-4 EN Drive w/ FM-4 SCSLD-x Encoder SNCE-xxx SNCI-003 15’, 25’ or 50’ SNCO-003 3’ SNCI-003 3’ SNCDD-001.5 1.
Specifications SNCE-XXX Cable Pin 1 A+ RED/WHT 1 A- 2 B+ 3 B- 5 Z+ 6 Z- 7 +5 Vdc 4 GND 8 YEL/WHT P BLU/WHT BLK/WHT P YEL P BLU RED P BLK A A+ H A- B B+ I B- C Z+ J Z- D +5 Vdc F GND DRAIN WIRE SNCDD-001.
Epsilon EP-P Drive and FM-3/4 Module Reference Manual SNCO-003 Cable Pin 1 +A -A +B -B +Z -Z GND Pin removed BLK BRN RED ORG YEL GRN BLU VIO DRAIN WIRE 1 2 3 5 6 7 8 4 1 2 3 5 6 7 8 4 P P P P SNCI-003 Cable .68 MAX. 2.00 MAX.
Specifications SNCLI-003 Cable +A -A +B -B +Z -Z GND +5 Vdc 1 2 3 5 6 7 8 4 BLK BRN RED ORG YEL GRN BLU VIO DRAIN WIRE P P P P 3 1 4 2 5 207
Epsilon EP-P Drive and FM-3/4 Module Reference Manual ENCO Cable YEL/WHT H RED/WHT A BLK/WHT I BLU/WHT B YEL C RED D DRAIN WIRE A B C I J G F E D SOLDER SIDE Socket 208 B Z/ P BLK F A B/ P BLU J H A/ P Z GND P +5 V Shield
Specifications CMDX-XXX Cable Pin 1 Pin 1 Note: Inner foil shields are already mechanical connected to outer braid shield by raw cable manufacture.
Epsilon EP-P Drive and FM-3/4 Module Reference Manual CMDO-XXX Cable Pin 1 Note: Inner foil shields are already mechanical connected to outer braid shield by raw cable manufacture.
Specifications CDRO-XXX Cable Pin 1 Encoder Output A/ 9 Encoder Output A 8 Encoder Output B/ 24 Encoder Output B 23 Encoder Output Z/ 38 Encoder Output Z 37 Encoder +5VDC Supply 11 Encoder Supply Common 12 I/O Supply+ 34 Drive Enable Input Analog Command Input - 16 Analog Command Input + 15 Diagnostic Output Common 29 14 N/C Input #4 4 Output #1 19 Pulse Input B 26 Pulse Input B/ 40 Output #2 18 Output #3 17 I/O Common - 31 I/O Supply + 33 Diagnostic Output 1 43
Epsilon EP-P Drive and FM-3/4 Module Reference Manual TIA-XXX Cable Pin 1 (Typ) .
Specifications TERM-H (Head) Terminator TERM-T (Tail) Terminator Note See the "Multi-drop Communications" section for resistor values.
Epsilon EP-P Drive and FM-3/4 Module Reference Manual CMDS-XXX Cable 1 1/2" MAX. 3 3/4" MAX. PE/GND D R A S B T C BRAID SHIELD GRN/YEL FORM WIRE BRN BLK BLU CMMS-XXX Cable 1 1/2" MAX.
Specifications CFCS-XXX Cable 3 3/4" MAX. 1 1/2" MAX.
Epsilon EP-P Drive and FM-3/4 Module Reference Manual CFCO-XXX Cable Pin 1 216 A 1 A/ 10 B 2 B/ 11 Z 3 Z/ 12 U 4 U/ 13 V 5 V/ W 14 W/ 15 +5 Vdc 7 GND 17 MOTOR OVERTEMP 9 NOT USED 16 6 BLU ORN P GRN BRN P BLK YEL P WHT/BRN BRN/WHT P WHT/GRY GRY/WHT P RED/ORG ORG/RED P RED/BLU BLU/RED P RED/GRN GRN/RED P
Specifications CFOS-XXX Cable 1 1/2" MAX. 3 3/4" MAX.
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Epsilon EP-P Drive and FM-3/4 Module Reference Manual 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-4 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 RS-232. (1 character is usually 10 bits.
Epsilon EP-P Drive and FM-3/4 Module Reference Manual 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.
Glossary 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. Input Function See destination. A function (i.e., Stop, Preset) that may be assigned to an input line. In PowerTools Pro, the input function is connected to the action through click and drag operations in PowerTools Software on the Assignment View.
Epsilon EP-P Drive and FM-3/4 Module Reference Manual 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.
Glossary 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.
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Epsilon EP-P Drive and FM-3/4 Module Reference Manual Index Symbols E +/- Travel Limit, 193 Else, 104 Encoder Line Fault, 192 Encoder State, 192 End, 106 Error Messages, 194 Example Programs, 120 A Add Program Icon, 115 Adding a Program, 115 All "On", 193 Analog Output, 194 B Book Mark, 102 Brake Operation and Wiring, 194 C Cable Diagrams, 204 Call Program, 106 CDRO-XXX Cable, 211 CFCO-XXX Cable, 216 CFCS-XXX Cable, 215 CFOS-XXX Cable, 217 CMDO-XXX Cable, 210 CMDS-XXX Cable, 214 CMMS-XXX Cable, 214
Epsilon EP-P Drive and FM-3/4 Module Reference Manual L Label, 107 Lock Program, 102 Low DC Bus Fault, 192 M Motion Instructions, 108 Motion Modifiers, 113 Motor Over Temperature Fault, 192 N Safety Precautions, vii Setup, 29 Setup, Commissioning and Maintenance, vii status codes decimal point, 189 Ready, 189 Ready to Run, 189 Stop All, 103 T TERM-H (Head) Terminator, 213 TERM-T (Tail) Terminator, 213 TIA-XXX Cable, 212 Timeline Control Instructions, 113 Next Book Mark, 102 Non-volatile Memory Invalid
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) 397-3786 or contact our website at www.emersonct.com. Control Techniques Drives, Inc Division of EMERSON Co. 12005 Technology Drive Eden Prairie, Minnesota 55344 U.S.A.
