User Guide SM-EZMotion Solutions Module for Unidrive SP Part Number: 400361-00 Date: February 26, 2004
SM-EZMotion Module User Guide Information furnished by Control Techniques Drives Inc. (Control Techniques) is believed to be accurate and reliable. However, no responsibility is assumed by Control Techniques for its use. Control Techniques reserves the right to change the design or operation of the equipment described herein and any associated motion products without notice. Control Techniques also assumes no responsibility for any errors that may appear in this document.
© Control Techniques Drives, Inc. 2003, 2004 All rights reserved. Part Number: 400361-00 Revision: A3 Date: Feburary 2004 Information in this document is subject to change without notice, No part if 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.
Document Conventions Manual conventions have been established to help you learn to use this manual quickly and easily. As much as possible, these conventions correspond to those found in other Microsoft® Windows® compatible software documentation. Menu names and options are printed in bold type: the File menu. Dialog box names begin with uppercase letters: the Axis Limits dialog box. Dialog box field names are in quotes: “Field Name.” Button names are in italic: OK button.
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.
Safety Considerations Safety Information The SM-EZMotion module and its associated drive are intended as components for professional incorporation into complete equipment or systems. If installed incorrectly the drive may present a safety hazard. The drive uses high voltages and currents, carries a high level of stored electrical energy and is used to control mechanical equipment that can cause injury.
accordance with the instructions in the manual. Isolation of control circuits The installer must ensure that the external control circuits are isolated from human contact by at least one layer of insulation rated for use at the applied AC supply voltage. vi www.controltechniques.
SM-EZMotion Module Technical Manual Table of Contents Document Conventions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . iii Safety Instructions. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .iv General Warning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
SM-EZMotion Module Technical Manual 5.2 Jog. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .23 5.3 Home. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .23 5.3.1 Home to Marker . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
7.5.2 Home View . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 73 7.5.3 Index View. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 75 7.5.4 Gearing View. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 80 7.6 Create User Programs. . .. .
SM-EZMotion Module Technical Manual 10.2 Stopping Programs. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .99 10.2.1 From Assignments . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 99 10.2.2 From Programs. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 99 10.2.
1 Introduction 1.1 Introduction Modern variable speed drive such as the Unidrive SP offer a multitude of built-in features such as ramp control, speed control, PID Loops, and even simple position control. However, the base drive’s functionality is too limited for many applications. When it comes to more complex applications, the user must resort to using external equipment such as PLC's to control the drive from a system point of view.
• Programming PowerTools Pro will run on Windows 98, NT, 2000, and XP operating systems. 2 www.controltechniques.
2 Installation This section of the manual will cover basic installation information. 2.1 Mechanical Installation Please refer to the Installation Sheet that comes with the SM-EZMotion module for details on installing the module into the Unidrive SP. 2.2 Slot Selection The SM-EZMotion module may be placed in any of the three available option slots on the Unidrive SP. The user must indicate which slot the SM-EZMotion module is fitted in using PowerTools Pro configuration software.
I/O Connector 1 I/O Connector 2 I/O Connector 4 L1 L2 L3 U V W Encoder Feedback 15 pin D-sub or SM-ETC 1 2 GREEN CHANNEL A/ CHANNEL B 3 BLUE 4 5 ORANGE 6 7 8 YELLOW 9 10 WHT/BRN 11 12 RED/ORG 13 14 RED/BLU 0V COMMON MOTOR THERM 15 CHANNEL A CHANNEL B/ CHANNEL Z CHANNEL Z/ CHANNEL U CHANNEL U/ CHANNEL V CHANNEL V/ CHANNEL W CHANNEL W/ +5 VDC BROWN BLACK WHT/GRY NT, MG, or MH Motor GRY/WHT BRN/WHT ORG/RED Encoder Feedback 15 pin D-sub or SM-ETC 1 2 GRY/PNK 3 4 5 RED BRN/GR
2.6 Simple Servo Motor Phasing Test Step 3: Verify wiring of commutation signals. The Unidrive SP Advanced User Guide section 3 (parameter 3.25) is helpful for this step. When connecting a non-standard servo motor to the Unidrive SP, it is necessary to know the wiring configuration of the motor. At times, all of the necessary wiring documentation for connecting the motor is not readily available from the motor manufacturer.
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3 PowerTools Pro Configuration Software 3.1 Introduction PowerTools Pro is the software used to configure hardware type, setup parameters, I/O functionality, motion profiles, user programs, and networks for the SM-EZMotion module. PowerTools Pro can also be used as a diagnostic tool and for troubleshooting assistance. 3.2 Installing PowerTools Pro 3.2.1 From the Power CD Figure 5: PowerTools Pro can be installed directly from the SM-EZMotion CD that ships with every SM-EZMotion module.
the DOWN ARROW to move down the list, and then press ENTER. • Press ALT and press the underlined letter in the menu name. Then press the underlined letter in the option name. For example, to open a new configuration file, press ALT and press F to open the File menu. Then press N for New, see Figure 8. 3.3.1.1 File The File menu on the Menu Bar contains many different options for file handling (i.e., saving files, importing files, etc.). Figure 8 below shows the File menu expanded. 3.3.1.1.5 Save As...
3.3.1.2 Edit 3.3.1.2.6 Replace Figure 9 shows the Edit Menu as selected from the PowerTools Pro Menu Bar. Selecting Replace bring up the Find window (see Find above) with an additional parameter called Replace With. Using this method will search the user program for text that matches the text in the Find What field, and replace it with the text in the Replace With field. The user can select to replace just the next match, or all existing matches with the Replace All button. 3.3.1.2.
3.3.1.3 Device Figure 10 shows the Device Menu as selected from the PowerTools Pro Menu Bar. allows the user to send changes to the system without requiring a complete download. Certain parameters when changed require a complete download and cannot be sent to RAM. If one of these parameters is changed, the Update Drive option will not be available on the Edit menu. 3.3.1.3.7 Reset Errors Selecting Reset Faults will clear any active Errors or Trips.
3.3.1.4.1.1 Communications Selecting Options > Preferences > Communications will launch the Modbus Setup window as seen in Figure 12. Figure 14: Figure 12: Modbus Setup Window On the Modbus Setup window, the user can configure the maximum node address they wish to poll for when uploading devices or flash upgrading devices. PowerTools Pro will not check to see if any devices with node addresses higher than the number entered are available on the network.
parameters have been set in this window, the user will no longer be prompted with pop-ups when the upload or download files. Once PowerTools detects devices, a window similar to that shown in Figure 17 will appear. For more information on these options, refer to Section 4 Uploading and Downloading Using PowerTools Pro in this manual. 3.3.1.5 Tools Figure 16 shows the Tools Menu as selected from the PowerTools Pro Menu Bar. Figure 17: Figure 16: Tools Menu 3.3.1.5.
hide the Hierarchy to allow for more room while programming. To hide the Hierarchy, select Show Navigation Tree to remove it from the display. If the Hierarchy is not visible, select Show Navigation Tree to make it appear again. 3.3.1.8.2 Using Help 3.3.1.7 Window 3.3.1.8.3 About PowerTools... Figure 19 shows the Window Menu as selected from the PowerTools Pro Menu Bar. About PowerTools Pro will bring up a window that shows what revision of PowerTools Pro software is currently running.
3.3.2.5 Upload between the PC and any nodes the PC is online with. 3.3.2.11 Add Index Same as Device > Upload from the Menu Bar. Selecting Upload will scan the Modbus network for available nodes, and then upload the specified node address configurations. Upload is only available if a configuration is not already open. 3.3.2.6 Download Same as Edit > New > Index from the Menu Bar. Selecting Add Index will add a new index to the configuration. Indexes are added in sequential order.
3.3.2.16 Clear Errors Same as Device > Reset Errors from the Menu Bar. Selecting Reset Errors will clear any active errors. If the fault condition still exists, the error may reactivate immediately after clearing it. user what line in a user program is currently being processed. If multiple user programs are running simultaneously, the user will be asked to specify which Task they wish to follow. A blue arrow will appear next to the active line of the program.
group. To collapse a group on the Hierarchy, click on the “-“symbol next to the grouping. Doing so will hide all of the branches within that group. Natural progression through the hierarchy, starting at the top, and working towards the bottom will step the user through the entire configuration. The Hierarchy starts at the top with Hardware, then moves on to Setup parameters, I/ O Setup, Motion, and then finishes with Programs.
4 Communications Bar. Figure 22 shows the Modbus Setup window that allows the user to configure the communication settings. 4.1 Communications Protocol PowerTools Pro communicates with the SM-EZMotion module using 32-bit Modbus RTU protocol. 4.2 Connecting the PC to the SM-EZMotion Module The SM-EZMotion module communicates with the PC through the Unidrive SP's communications port. An RS-232 to RS-485 converter is necessary to communicate with the Unidrive SP.
SM-EZ Motion Module H User NVM PC with PowerTools Pro PowerTools Pro configuration file (Arrow A in Figure 24). At the completion of the upload, the user will be asked if they wish to upload the NVM values. This dialog box is shown below. A B Non-User NVM D E C F RAM G Figure 25: Figure 24: Memory Storage in the SM-EZMotion Module 4.4.1 Uploading Uploading is the process of reading the configuration stored in the SM-EZMotion module and loading that data into a file on the PC.
Keep This option will download the entire user configuration, but then NVM parameters will be restored to the value prior to download. This is similar to the Update option, but the Keep option does not upload the NVM values into the user configuration (First Arrow H followed by Arrow A, but data from H is not stored in PowerTools Pro file).
Options above. 4.4.5.1.4 Keep - Remember the values and restore them after the download When this radio button is selected the "Keep" option will be used on every download to the module. For more details on how the Keep option works, see the Download NVM Options above. 4.4.5.1.5 Ask on each download When this radio button is selected, the user will be prompted on every download to select either the Overwrite, Update, or Keep option. This is the default preference setting. 4.4.5.
Figure 31: Figure 29: Upload Failure - File Protected By User message Secure File - Save As Window On this window, select the "Save also as secure download format" check box located at the bottom of the window, then click Save. Doing so will save your file in BOTH the standard file format (.EZ), as well as in the secure file format (.EZs). 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.
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5 How Motion Works 5.1 Introduction The SM-EZMotion module offers four different motion object types. These four types are Jog, Home, Index, and Gear. All motion objects run on what is called a Profile. Only one motion object can run on a Profile at a time. For applications that need to run multiple motion objects simultaneously, the SM-EZMotion module has two different Profiles. This will be discussed further in the Summing Multiple Profiles subsection below.
Velocity Velocity Home Velocity Home Velocity Home Offset Home Accel Home Offset Home Decel Home Accel Home Decel Time Time Home Initiate Home Initiate Encoder Marker External Sensor Figure 34: \Home to Marker Profile (Specified Offset) Figure 36: Home to Sensor Profile (Specified Offset) 5.3.2 Home to Sensor 5.3.
Velocity + Velocity Home Sensor is active when Home is initiated, so motor travels in negative direction Home Velocity Home Velocity Home Decel Home Accel Time Home Accel Home Decel Home Accel Time Home Decel Home Velocity - Home Initiate Home Initiate Encoder Marker External Home Sensor External Sensor Activates wait for next Encoder Marker External Sensor Figure 37: Home to Sensor (Back Off Before Homing) 5.3.4.
position. After completing an Absolute Index, the motor will always be in the same position regardless of the starting position of the motor. The direction that the motor moves during an Absolute Index is dependant upon its position when the index is initiated. If an Absolute Index is initiated a second time, just after completing the first index the motor will not move because it is already at its specified absolute position. Figures 41 and 42 show examples of an Absolute Index profile.
+ 5.4.5 Rotary Minus Index Velocity A Rotary Minus Index is used when Rotary Rollover is active. The Rotary Minus Index is similar to an Absolute Index, but it is forced to go in the negative direction to get to its programmed position. The programmed position for a Rotary Minus Index must be within the Rotary Rollover range (Posn < Rotary Rollover). Figure 49 compares a Rotary Minus Index to an Absolute Index (Rotary Rollover is enabled).
the user. If enabled, the Accel and Decel ramps are specified in units of Follower Units / Velocity Time Base / Acceleration Time Base. Note that this is a Realtime ramp. Therefore, the time that it takes to reach the programmed ratio depends on how fast the master is traveling when gearing is activated. Velocity Index Accel Time 2 Seconds Figure 50: Timed Index Profile Figure 51 demonstrates that the faster the Master Velocity, the longer it will take to reach the programmed ratio.
profile are as follows: Follower Distance Units / Velocity Timescale. And units of acceleration for a realtime move are Foll Distance Units / Velocity Timescale / Accel Timescale. A few examples of these units are as listed below. Realtime Follower Distance Units Master Distance Units Vel.
Velocity 200 Time Index 0 Profile 0 Velocity Time -100 Index 1 Profile 1 Velocity 200 100 Index 0 plus Index 1 Summed Profile Time Index 0 Initiate Index 1 Initiate Figure 52: 30 Two Indexes www.controltechniques.
6 How I/O Works 6.1 I/O Scan When used to activate SM-EZMotion functions, the Unidrive SP and SM-EZMotion module I/O are scanned every trajectory update. If the Unidrive SP I/O is used to trigger functions in the base drive itself (i.e. Threshold Detectors, Programmable Logic, Binary Sum, etc.), then the Unidrive SP I/O is only scanned every 4ms.
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7 Configuring an Application 7.1 Introduction All applications using SM-EZMotion modules are configured using PowerTools Pro configuration software. For specific questions on PowerTools Pro operation, please refer to “PowerTools Pro Configuration Software” on page 7 of this manual. The hierarchy in PowerTools Pro gives the user a basic template on how to configure an application.
(see Figure 54). The parameters in this column will be dimmed and unavailable because the motor information comes directly from the .ddf file. Motor Tab Figure 54: Drive/Encoder View - Motor Tab The Motor Tab on the Drive/Encoder view is used for many different functions: 1. To see/verify the motor data for a standard motor that has been selected 2. To create a new motor entry in the .ddf file 7.2.1.3.1.
Motor Poles Specifies the number of magnetic poles on the motor. The supported values are 4 to 120. The motor manufacturer typically provides the motor pole information. Rotor Inertia This parameter specifies the inertia of the motor rotor. The range is 0.000010 to 90.000000 kg*m^2. The SM-EZMotion module uses this parameter to interpret the “Inertia Ratio” parameter found on the Tuning view. “Inertia Ratio” is specified as a ratio of reflected load inertia to motor inertia.
Max Operating Speed Note Since many induction motors can be wired to operate using either 200V or 400V supply ranges, it is important to use the proper nameplate ratings based on the selected supply voltage. Motor Poles Specifies the number of magnetic poles on the motor. The supported values are 4 to 120. The motor manufacturer typically provides the motor pole information.
Saturation Breakpoint 1 user must use the "Apply to Config" button to save them. The rated level of flux in most induction motors causes saturation. Therefore, the flux against flux producing current characteristic is non-linear. The effects of saturation are to cause a step increase in torque when operating in torque mode as the speed increases into the field- weakening region. The user can simulate the non-linear behavior by defining two breakpoints on the flux vs. magnetizing current curve.
Closed Loop Vector Mode Motor Parameter Required for Operation Motor Name • Peak Current • • Full Load Rated Current • • Rated Voltage • • Motor Poles • Rotor Inertia Rated Frequency • • Phase Resistance SP • • Transient Inductance • • Max.
to the SPMotor.ddf file automatically. Servo Mode Motor Parameter Needed to Run AutoTune Measured by AutoTune Mode # Motor Name Peak Current • Continuous Current • Motor Poles • When saving to the .ddf file, if PowerTools Pro finds that a motor already exists with the same name, the User Defined Motor Name Conflict dialog box shown in Figure 56 will appear. The user must then decide how to proceed with saving the motor data .ddf file.
3. Load and Use Motor Parameters From .ddf File Defined Motor If this option is selected, the motor data in the SPMotor.ddf or SPStdMotor.ddf file for the matching Motor Name will overwrite the data in the Motor Parameters column. After this option is selected, the “Use Motor Data From .ddf File” checkbox will be selected, and all the parameter values will be unavailable. 4.
7.2.2.4.1 Encoder Configuration Setup 60. 7.2.2.4.1.1 SC.Hiperface® (Stegmann) Encoder Setup Parameters Encoder Supply Voltage Because of the wide variety of encoders supported by the Unidrive SP with the SM-Universal Encoder Plus module, the user must have the ability to define the voltage supplied to the encoder hardware. The available voltage levels are 5V, 8V, and 15V and are selectable from the list box on the Encoder view.
If the Enable Auto Encoder Configuration checkbox is selected, then the user does not need to enter this parameter, and the Encoder Comms Resolution box will appear dimmed. Equivalent Lines Per Revolution When sin/cos signals are used, the equivalent number of encoder lines per revolution must be set up correctly to give the correct speed and position feedback.
follows: Note Be sure not to configure a supply voltage greater than that supported by the encoder. The Unidrive SP and SM-Universal Encoder Plus cannot protect against possible damage to the encoder if the supply voltage is set too high. Enable Auto Encoder Configuration When a SC.Hiper, SC.EnDat, or EnDat encoder is being used, the Unidrive SP and/or SM-Universal Encoder Plus module can interrogate the encoder on power-up, and acquire many of the encoder setup parameters automatically.
source parameter. Use this field to enter the desired drive source parameter (between 00.00 and 21.51). By default, the SM-EZMotion module configures the simulated output to work in Quadrature mode. In order to change the mode, the user will have to change the Drive Menu Initialization file. Encoder Simulation Numerator To add some flexibility to the Simulated Encoder Output signal, the SM-Universal Encoder Plus module allows the user to scale the output signal by multiplying the source with scaling factor.
Example: Source * (Numerator/Denominator) The true number of encoder lines per rev (or electrical cycle) is 128.123. Since The Equivalent Lines Per Rev parameter must be a whole number, ELPR should be set to 128123, and then the Lines Per Rev Divider would be set to 1000 resulting in the following equation: 7.2.2.5 SM-Resolver Module View Actual Encoder Lines Per Rev = ELPR/Lines Per Rev Divider = 128123 / 1000 = 128.
number of poles of the resolver. See the table below to determine the proper setting for this parameter. Make sure that the maximum speed required for your application is within the allowable range based on this value. The Equivalent Lines Per Rev will also define the Simulated Encoder Output resolution. The Simulated Encoder Output will be equal to this value * 4 (due to Quadrature signal). Resolver Poles Equivalent Lines Per Revolution Operating Resolution (bits) Speed Limit Max 2 4096 14 3,300.
7.2.2.7 SM-Profibus DP Module View Unidrive SP Parameters view. If Profibus DP is selected in the Slot # Module list box, the remainder of the view should have configuration parameters to define the properties of the Profibus device and network. The hierarchy automatically updates to show that a Profibus module is populated in that specific slot, see Figure 64. Figure 66: Figure 64: Slot # View (SM-Profibus DP Module) 7.2.2.
.ini file stored on PC New SM-EZ Motion File .ini file .ini file data is written into new SM-EZ Motion file when new file is created. Figure 67: .ini file Initialization File Example The default contents of the SP Menu Initialization view is generated from a file titled SpInitialize.ini. This file is installed to your PC as part of the PowerTools Pro installation. When a new SM-EZMotion file is created using PowerTools Pro, the contents of SpInitialize.
SP Modbus Node Address This is the Modbus address of the target drive to which you will download the configuration. The default target drive address is 1. distance, velocity, and acceleration units to be used for the motor axis throughout the application. Figure 70 shows an example of the User Units View. Motor Feedback Source Motor Feedback Source allows the user to specify where the motor feedback device is connected to the Unidrive SP.
This selection sets the real-time velocity time scale. 7.3.3.1.1 Master Position Source Decimal Places Master Feedback Source indicates the hardware location of the master encoder input. The number of decimal places defined in this parameter determines the max resolution of all real-time velocity parameters found throughout the PowerTools Pro software. Set between 0 and 6 decimal places.
7.3.3.4 Master Position Filter used by the filter. If clear, the filter is not used 7.3.3.4.1 Master Position Filter Enable Checkbox 7.3.3.5 Master Position Filter Samples The Master Position Filter Enable check box is used to turn on or turn off the Master Position Filter. When Enable check box is selected, the filter is active and the user must select the number of samples, from the Samples list box, Defines the number of samples used by the filter to smooth the master signal.
7.3.4 Position View 7.3.4.2 Limits The Position View allows the user to configure parameters related to position control of the SM-EZ Motion module. Figure 72 shows a sample of the Position view. 7.3.4.2.1 Enable Following Error Check this box to enable (or disable if not checked) the Following Error Limit. If enabled, a fault will be generated if the absolute value of the following error ever exceeds the value in the following error parameter. If disabled, a fault will never be generated. 7.3.4.2.
feedback position will reset (or roll-over) to zero. If the motor changes direction and travels in the negative direction, the position will rollover at 0 to 359.999 degrees and count down. The resolution of the rotary rollover point is determined by the Distance Units Decimal Places parameter on the User Units view in the PowerTools Pro software. 7.3.6 Ramps View The Ramps View allows the user to define various accel/ decel ramps used under typical application conditions.
7.3.6.2 Ramps 7.3.6.2.1 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. 7.3.6.2.2 Feedhold Decel/Accel When the Feedhold destination is activated, the motor will decelerate to a stop in the time specified by the FeedholdDecelTime parameter.
7.3.8.2.2 Position Loop Response The Position Loop Response directly impacts the stiffness of the position loop. Position Loop Response is effectively the Proportional gain term for the position loop controller. Higher Position Loop Response values will result in less following error throughout a motion profile, however setting the response too high can result in instability in the position loop. 7.3.8.2.
Velocity Loop Gains 11. Gradually increase the Position Loop Response until Following Error is minimized. Often, a value approximately 1/4th of the Velocity Loop Bandwidth will work well. Increase until oscillation is introduced and then slightly decrease. Kp (Velocity Loop Proportional Gain) – 3.10 12. Save file. red Reset button. This will save all drive parameters to NVM. The gain parameters in the Unidrive SP written to by the SM-EZMotion module are as follows: Ki (Velocity Loop Integral Gain) – 3.
depends on which slot is being referenced. Following is a list of the different error code references. switched to another drive. 7.3.9.2.2 Module Power Up Time The Module Power Up Time is the time elapsed since power has been cycled to the EZMotion Module. The units for the parameter are Hours with a resolution of 0.1 Hours. 7.3.9.2.3 Module Total Module Up Total is the total elapsed time that the SM-EZMotion module has been powered up (since reset by the factory).
7.3.9.4.3 Time Before Trip 0 Position < PLS.#.OffPosn All Trip Times for Trips other than Trip 0 are stored as a period of Time between Trip 0 and the specific Trip. The format for the Time is Hrs.Minutes. For example, if Trip 4 Time is shown as 1.20, that would signify that Trip 4 occurred 1 Hour and 20 Minutes prior to Trip 0. The largest value that can be stored in the Time Before Trip 0 is 600 Hours and 00 Minutes. If 600 Hours is exceeded, the 600 Hours and 00 Minutes is displayed in the Trip Log.
7.3.11 Setup NVM View 7.3.12.0.1 Capture Number This View allows the user to configure which parameters are saved when power is cycled. If a parameter is not in this list, the value of the parameter will revert back to the value that was downloaded when power is cycled. If a parameter is in the list, the value that was being used just before power is cycled will be used when power is restored. This parameter defines the number of Capture objects available. Maximum is eight. 7.3.12.0.
CaptureActivate if the Capture component is enabled and reset. Capture Triggered will remain active until CaptureReset is activated. Destinations CaptureEnable - The CaptureEnable is used to enable or "arm" the capture component. If the CaptureEnable is not active, then the CaptureActivate has no effect, and the CaptureTriggered remains inactive. Once the CaptureEnable is activated, the Capture component is ready and waiting for a CaptureActivate signal to capture data.
properly. Figure 83 shows an example of the Queue view. 7.3.13.0.7 Queue Offset The Queue Offset is the value that is added to the Queue Data and then compared to the selected source to determine when the Queue Exit event activates. For instance, if the source in selected source is set to Feedback Position, and the Queue Offset is set to 10, and the user puts the value 5 into the queue, the Queue Exit source will activate when the Feedback Position is greater than or equal to 5 + 10 or 15. 7.3.13.0.
more room in the queue to store data. The maximum number of pieces of data is determined by the Queue Size parameter. Destinations Queue Clear - This destination automatically clears all of the data out of the queue. The cleared data is not saved and there is no way to recover the cleared data. This is typically activated on power-up of the system to make sure no old data remains in the queue. Queue Compare Enable - The Compare Enable causes the comparator internal to the queue to function.
setting them equal to OFF, FALSE, NO, CLEAR, or DISABLE. box. 7.3.15 User Bits View User Bits act just like User Variables except that they allow the user to store bit level parameters rather than 32-bit parameters. The user may customize each User Bit by giving it a Name and an Initial Value. Setting an individual bit equal to 1 or 0 in a user program will cause a red dot error. The Boolean values listed above must be used.
value, all bits are read regardless of the mask. FM-3/4 Each additional group of 32 User Bits that are added, a new Mask parameter will appear for that group. Mask 0 will control the mask for User Bits 0 through 31. Mask 1 will control the mask for Bits 32 through 63. This sequence repeats for each additional 32 bits that is added. Write Network Master Read AND Mask Value Written data is AND’ed with the Mask and then written into 32-bit Value.
triggered, such as Index Initiates, Program Initiates, Jog Initiates and so on. Sources are located on the left side of the Assignment view and reflect the status of events that occur in the drive. These events are based on drive activity. Figure 91 shows an example of the Assignments view. Assign Button Method Select both the Source and Destination that are to be assigned to each other. Once both are selected, the Assign button in the lower left corner of the view will become enabled.
Polarity Button Method Select both the Source and the Destination to be changed. Once selected, the Polarity button will become enabled in the lower left corner of the view. Click Polarity and change the settings as desired in the Polarity dialog box. Click OK to apply the changes. the list boxes to configure as desired. While online with PowerTools Pro, this view shows “Virtual LED’s” that are used to show the current status of the Unidrive SP digital I/ O. 7.4.
direct result of the number of Select lines. The formula is as follows: # of Selection outputs = 2n (where n is the number of Select inputs) The maximum number of Select lines is eight. Once you have determined how many select lines you want, the assignments to these Selector.Select lines is then made in the Assignments view. For example, if the user enters 2 for the number of Selector Input Destinations, we would have 4 Selection lines (Selector.Selection0 through Selector.Selection3). The Selector.
Selector.Selection sources can be tied to any destination in the Assignments view. Figure 96 shows the four Selection lines being assigned to Index 0 through Index 3 Initiates, and the two Select lines being assigned to digital inputs. By doing this, we could initiate up to four indexes with only two Select lines and a Selector Initiate. This helps to minimize the number of inputs required to initiate a large number of indexes or programs. configuration parameters for Analog Input 3.
This is a simple tool that allows the user to set the analog input to full scale, and then easily read the value without requiring additional calibration. The button appears dim except when online with the SM-EZMotion module. Minimum Value In order to scale the raw analog input value into the proper scale and units for the selected Module Variable, the user must define the maximum scale value and the minimum scale value.
editing. Velocity Feedback If the user wishes to control the Analog Output through other means within the Unidrive SP, it is necessary to clear the Enable Channel checkbox. If the user selects Velocity Feedback from the list of predefined parameters, the SM-EZMotion module will constantly write the present value of the parameter VelFeedback to the Analog Output. Velocity Feedback is defined as the velocity measured by the feedback device (i.e. encoder, resolver, etc.).
menu parameter that will control the Analog Output. The parameter is entered in the format of MM.PP where MM is the Menu number, and PP is the Parameter number. The range for this parameter is 0.00 to 21.51. For more information on the Unidrive SP parameter set, please refer to the Unidrive SP User Guide or Unidrive SP Advanced User Guide. Maximum Value This defines the Maximum Value of the Source parameter that will yield the corresponding Maximum Output for the Analog Output.
7.5.1 Jog View Jog Sources and Destinations Sources Jog.AnyCommandComplete - The Jog.AnyCommandComplete source will activate when either Jog0 or Jog1 completes its deceleration ramp, and reaches zero commanded velocity. It will deactivate when any Jog is initiated again. If the Stop destination is used during a Jog, then the Jog.AnyCommandComplete will not activate. Jog.#.Accelerating - This source is active while a jog is accelerating to its target velocity.
destination is active, the target velocity of the jog is the Jog.1.Velocity. Jog.Select0 can be toggled "On" or "Off" while jogging. Jog acceleration and deceleration ramps are used to ramp between jog velocities. Jog.#.Accel will be used to accelerate to the new (opposite sign) velocity. Note The Jog destinations cannot be initiated when any other motion type (homing, indexing, or programs) is in progress. Below is a description of jog operation using these destinations. Note In the table below Jog.0.
Home Reference This parameter determines the signal used as the reference. The parameter can have one of three different values: 'Sensor', 'Marker', or 'Marker then Sensor'. When the home reference is 'Sensor' the rising edge of the 'Home.#.SensorTrigger' destination is used to establish the home position. When the home reference is 'Marker' the rising edge of the motor encoder's marker channel is used to establish the home position.
activated during the "back off sensor" portion of the home. 7.5.3 Index View Home.#.CommandComplete - The Home.#.CommandComplete source will activate when the specific home completes its deceleration ramp. It will remain active until the specific home is initiated again. If the drive stop destination is used during a home, then the Home.#.CommandComplete will not activate. Home.#.CommandInProgress - Activated when the Home is initiated and remains active until all motion related to the Home has completed.
regardless of the starting point. values specified. TimeBase Figure 104 shows a screen capture in which the Timed checkbox has been enabled. Notice how the parameters that normally say Velocity, Acceleration, and Deceleration have changed to say Max. Velocity, Max. Acceleration, and Max. Deceleration. When the Time checkbox is enabled, these parameters automatically become maximums for use in the calculations. This list box selects the Time Base for the index velocity and acceleration/deceleration.
triangular profile (all accel and decel). The ratio of acceleration to deceleration will be the same ratio as Max. Acceleration to Max. Deceleration parameters. For example, if the deceleration is desired to be twice the acceleration, a number twice the value of max acceleration would be entered for maximum deceleration. Even in trapezoidal moves, the same ratio of acceleration and deceleration is maintained. The calculations are based on the assumption that Feedrate Override is set to 100%.
Registration to Analog Input Value If Analog In is selected, the value of the drive Analog Input is used as the registration signal. When the value of the analog input reaches a value that satisfies the comparison operator, the sensor trigger will activate. Units for the registration value will match the units configured on the Analog Inputs screen when Analog In selected.
Index.#.Decelerating source will deactivate. PowerTools Pro Menu Bar Method Index.#.LimitDistHit - Activated when the registration sensor is not found before the Limit Distance is traveled. If the Registration Window is enabled the sensor must be activated inside the window to be recognized. From the PowerTools Pro menu bar, select Edit > New > Index. An index will be added in sequential order and the Index view will be displayed allowing the user to enter the index parameters. Index.#.
7.6 Create User Programs 7.5.4 Gearing View 7.6.1 Program View The Program View allows the user to create application specific code to perform all of the necessary motion and I/ O related function of a machine/system. Figure 107 shows an example of the Program View. Figure 106: Gearing View The following parameters are used to configure Gearing motion: Ratio The ratio is defined as the number of follower distance units to move the motor per distance unit of travel.
8 How User Programs Work 8.1 Program Window Components There are 5 major components to the Program View or programming window. These components are the Program Parameters, Program Toolbar, Instruction List, Red Dot Error Bar, and the Code Window. Figure 108 points out the components listed above. Program Parameters Program Toolbar Code Window Instruction List Red Dot Error Bar Figure 108: Program View Components 8.2.
8.2.4 Run Anytime Enable The SM-EZ Motion programming environment has been designed to automatically stop all user programs when a fault occurs (regardless of what type of fault), or when the drive is disabled. Some applications require the ability to run a program as soon as a fault occurs, or continue running a program even through a fault is active. In order to do this, the program must be classified as "Run Anytime".
8.3.8 Clear All Bookmarks 8.3.14 Program Where Am I? This button will delete all of the bookmarks in the program. To delete only a single bookmark, place the cursor on the line for which you wish to delete the bookmark, and click on the Book Mark button. 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. 8.3.
8.4 Program Instruction List logical tests. Example: If EZInput.1=ON Then EZOutput.1=ON EZOutput.2=OFF Endif Example: If (EZInput.1=ON AND EZInput.2=OFF) Then EZOutput.1=ON EZOutput.2=OFF Endif Example: If (SPInput.4=OFF) Then Jog.0.PlusInitiate 'Vel=20in/s Wait For SPInput.4=OFF Jog.Stop Endif Example: If (NOT SPInput.5=ON) Then Jog.0.MinusInitiate 'Vel=20in/s Wait For SPInput.5=OFF Jog.Stop Endif 8.4.1.2 Else This program flow instruction is used in conjunction with the If/Then/Endif instruction.
valid range for the numbers provided is 0 to 2147483647. Example: Wait For (EZInput.1=ON AND EZInput.2=OFF) Index.0.Initiate Example: For Count = 1 to 5 Index.1.Initiate Dwell For Time 1.000 'seconds Next Example: Example: For Count = 1 To 10 Wait For ModuleInput.1 = ON Index.0.Initiate Wait For Index.AnyCommandComplete EZOutput.1=ON Wait For Time 1.000 'seconds EZOutput.1=OFF Next 8.4.1.
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 then calling that program, the total number of program lines can be reduced. This can also make the program easier to understand. Care should be taken not to "nest" more than four program calls due to processor stack overflow.
GoTo RunIndex2: 'Go to RunIndex2 label EndIf RunIndex1: Index.1.Initiate GoTo EndLoop: applications. This dwell does not begin until all other motion has completed. When the dwell begins, program flow will wait until the specified master distance has passed. The units for the dwell value are specified in the Master Units View. Example: Do While (TRUE) Index.0.Initiate Dwell For MasterDist 12.00 'MstrInch Loop RunIndex2: Index.2.Initiate EndLoop: Wait For Index.
(Index.0.Initiate or Index.0.CompoundInitiate), not the index itself, determines whether or not the index will execute a deceleration ramp. For example, Index.0 can be used multiple times in multiple programs. It can be initiated at different times using the Index.0.Initiate instruction and the Index.0.CompoundInitiate instruction. A comment is automatically inserted after the index instruction that shows key data about the particular index. The comment starts with the apostrophe ' character.
complete. Although the amount of time lost is extremely small (less than 5 milliseconds), over a long period of time, this lost time can accumulate. Example: Gear.Initiate Wait for EZInput.2=ON Gear.Stop This instruction should not be used within a loop in the user program. If the Gear.Initiate instruction is processed while gearing is active, the program will hang on this instruction. 8.4.2.12 Profile.ProfileStop Profile.
PowerTools Pro into "Red Dot Help Mode". While in this mode, the mouse pointer should have a red and yellow question mark next to it. After going into Red Dot Help Mode, simply click on the line of the program that has a red dot next to it. Some description of the error should appear that helps indicate what the error is, or how to fix it. When finished checking Red Dot Errors, once again click the Red Dot Help button on the Program Toolbar to exit Red Dot Help Mode.
Task 3 The Dwell cannot start until other motion on the same profile is complete, and therefore the program (or task) is blocked until Index0 is finished. This process description is accurate as long as no program is blocked. Task 3 Modbus In Figure 113, the Update Rate represents the Trajectory Update Rate that the user selects on the Setup view. The first routine to be processed in the update is the control loop update. Next, all messages will be handled.
(tasks) are blocked. t=0 Control Loop Update Message(s) Waiting? Yes Process Message(s) No Switch to Next Task Process Task Yes End Of Update? No Task Blocked? No Yes Switch to Next Task Figure 115: 92 Multitasking Flow Chart www.controltechniques.
9 Starting and Stopping Motion 9.1 Starting Motion All of the motion types described in “How Motion Works” on page 23 can be initiated using a couple of different methods. The two different methods are from assignments, and from user programs. The following sections details how each of the different motions are initiated from both assignments and from user programs. 9.1.
an edge-sensitive assignment meaning that the home will start on the rising edge of the Source signal. If the Home.#.Initiate Destination is held active, the Home will not initiate again until the next rising edge. 9.1.1.5 Index.#.Initiate The Index.#.Initiate Destination is used to start the specified index instance. When the Source assigned to the Index.#.Initiate Destination activates, the index will accelerate to the specified index velocity. If the Index.#.
Example 1: Index.0.CompoundInitiate 'Dist=10, Vel=100, Accel=100, Decel=100 Index.1.CompoundInitiate 'Dist=20, Vel=500, Accel=5000, Decel=5000 Index.2.Initiate 'Dist=30, Vel=1000, Accel=10000, Decel=10000 1000 RPM 500 RPM 30 Revs 20 Revs 100 RPM 10 Revs Figure 117: Compound Index Example 1 Example 2: Index.2.CmpoundInitiate 'Dist=30, Vel=1000, Accel=10000, Decel=10000 Index.1.CompoundInitiate 'Dist=20, Vel=500, Accel=5000, Decel=5000 Index.0.
It is important to understand that when compounding indexes together, the acceleration and deceleration will override the index distance. Figure 118 above shows the scenario where the final index in the compound string has a short distance and a slow acceleration ramp. Index 0 will start from a velocity of 500 RPM (Index.1.Vel) and accelerate down to its programmed velocity of 100 RPM at a rate of 100 Revs/Min./Sec.
On Profile.1 modifier must be added to the Jog.Stop command. If this instruction is used while gear motion is not active, it will be ignored, and the program will move to the next instruction. 9.2.3 From PowerTools Pro Motion can be stopped while online with PowerTools Pro in a number of different ways. Following is a list of ways to stop motion while online with the device. 9.2.3.1 Stop All - Main Toolbar 9.2.2.2 Gear.Stop The Gear.Stop command is used to stop gearing motion that is active.
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10 Starting and Stopping Programs 10.1 Starting Programs online, click on the Run Program button on the Program Toolbar. Doing so will initiate the program number that is currently displayed. 10.2 Stopping Programs 10.2.1 From Assignments The user can initiate programs using multiple different methods. The following section describes how programs can be initiated from Assignments, from Programs, and from PowerTools Pro while online with the system.
clicked again. 10.2.3.2 Stop All - Program Toolbar Motion and Programs can also be stopped from the Program Toolbar using the Stop All button. This button is like an edge sensitive function that will not prevent motion or programs from being initiated again. 10.2.3.3 Pause/Break Key When online it is possible to stop any motion pr program from the keyboard on your PC by pressing the Pause/ Break key. Pressing Pause/Break is identical to clicking on the Stop All button on the PowerTools Pro toolbar.
11 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.
the corresponding bit location of BitRegister.#.Value (by setting the bit location to 1) or to clear the current data in BitRegister.#.Value (by setting the bit location to 0). Unidrive SP Braking Resistor Overload Accumulator BrakeOverloadAccumulator This parameter gives an indication of braking resistor temperature based on a simple thermal model. The formula for the thermal model is a function of parameters 10.30 and 10.31 (set in the initialization file).
units, at the time when CaptureTriggered activated. Captured Master Position Homed Captured.#.CapturedMasterPosHomed On the rising edge of the Capture Activate event, the master axis position is captured (in counts). The captured counts value is then converted into Master Distance User Units and stored in the Captured Master Position parameter. If the user redefines the zero position of the master axis, the master position in User Units is zeroed out, however the counts parameter is not.
Accelerating, At Velocity, and Decelerating. Decelerating follows the accelerating segment and the At Velocity segment. When indexes are compounded to create a complex motion profile, only the last index may contain a decelerating segment. Define Home DefineHome This destination is used to set the Commanded Position to the value specified in the DefineHomePosn variable.
considered active in the SM-EZMotion firmware. Once the input has been active for the debounce time, a rising edge on the input will occur in the SM-EZMotion module. This parameter can be found on the EZMotion I/O Setup view. EZInput Force EZInput.#.Force often referred to simply as EZOutput.#. In a user program, EZOutput.#.Out is set On or Off to activate or deactivate the digital outputs. From the Assignments view, any Source can be assigned to the EZOutputs to activate them automatically.
FeedRate Override feature. When FeedRate Deactivate is enabled, FeedRate Override will be disabled and all index or home motion will operate at its programmed velocity. When FeedRate Deactivate is disabled, FeedRate Override will be enabled, and index and home motion is subject to scaling by the FeedRate Override parameter. The default value for FeedRate Override is 100%, so even when FeedRate Override is enabled, default motion will run at programmed velocity.
source can be active even if the motor is not in motion as long as gearing is active. Gear Decel Gear.Decel during the home, units are specified on the User Units page. Home Accelerating Home.#.Accelerating This parameter sets the deceleration of the realtime gearing ramp. Gear.Decel units are in Follower Units/ Velocity Time Base/Acceleration Time Base. The Gear.Decel functions only when the follower is ramping its speed down after the gearing function has turned off.
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. Home Initiate Home.#.Initiate When activated, this destination will initiate the specified home. Home will not initiate if an index, jog, program, or stop is currently active. Home Limit Distance Home.#.LimitDist This parameter places an upper limit on the incremental distance traveled during a home.
when any index command is initiated. the specific index completes its deceleration ramp. It will remain active until the specific index is initiated again. If the Stop destination is used during an Index, then the Index.#.CommandComplete will not activate. Index Profile Limited Index.ProfileLimited For timed indexes, if the values for Max. Velocity, Max. Acceleration and Max. Deceleration are such that the distance cannot be covered in the specified time, the Index.
Index Initiate Index.#.Initiate The Index.#.Initiate destination is used to initiate the specific index. The Index is initiated on the rising edge of this function. An Index cannot be initiated if there is an Home, Jog, or Program in progress, or if the Stop destination or if a travel limit is active. It can be activated from an assignment or from a program. Index Limit Distance Hit Index.#.LimitDistHit This source is activated when the registration sensor is not found before the Limit Distance is traveled.
commanded motion must be complete and the absolute value of the following error is less than the InPosnWindow parameter for the InPosn source to activate. registration point for registration type indexes. Index Time Base Index.#.TimeBase The time base selects either realtime, which allows velocities, acceleration and deceleration to be based on real time, or synchronized, which allows for an external synchronization signal. Index Timed Index Enable Index.#.
Jog.#.MinusActivate or Jog.#.PlusActivate instructions, and using the Jog.Stop will cause the motor to decelerate to a stop at the Jog.#.Decel rate for the jog that is active. Jog Acceleration Jog.#.Accel This parameter is the average acceleration ramp for the specific jog. Jog 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. Jog Time Base Jog.#.
Master Axis Feedback Selector MasterAxis.SpeedFeedbackSelector The MasterAxis.Speed Feedback Selector parameter determines where the feedback device for the master signal is connected to. Early releases of the SM-EZMotion module only support a value of Slots 1, 2, or 3 (and NOT Drive). The master encoder feedback signal must be connected to a SM-Universal Encoder Plus module fitted into one of the Unidrive SP option slots. This parameter is read-only from within a user program.
traveling in a positive direction. Assume that the PLS.#.Direction is set to "Both". When traveling in the positive direction and the position feedback reaches the OnPosn, the PLS.#.Status will activate. As the motor continues in the same direction, the PLS.#.Status will deactivate when feedback position reaches or exceeds the OffPosn. If motor travel changes to the negative direction, the PLS.#.
or CCW. Profile Command Complete Profile.#.CommandComplete Position Command PosnCommand Position command sent to the Unidrive SP by the SM-EZMotion module. This parameter does not take following error into account. See also PosnFeedback and FollowingError. Units are in user units. Position Feedback PosnFeedback Feedback position is the actual motor position in user units. PosnCommand minus the PosnFeedback is the FollowingError.
accelerate back up to the programmed speed in the same amount of time to finish its profile. Profile Motion Stop Profile.#.MotionStop This function is used to stop any motion operating on the specified profile. This allows the user to stop motion running on one profile without stopping motion on both profiles. When activated, motion running on the specified profile will decelerate to a stop using the deceleration rate programmed in the StopDecel parameter.
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.#.QueueClear This destination automatically clears all of the data out of the queue. The cleared data is not saved and there is no way to recover the cleared data. This is typically activated on power-up of the system to make sure no old data remains in the queue. Queue Compare Enable Queue.#.QueueCompareEnable Queue Full Queue.#.
rotary rollover position of 360 degrees. The position will rollover to zero when the axis position gets to 360 degrees. (358, 359, 359.999, 0.0000, 1, 2, and so on.) The rollover point is defined to be exactly the same position as 0. Selector Input Destinations Selector.SelectLinesUsed The selector is a binary to decimal decoder. This parameter selects the number of destinations (input lines) to be used by the selector.
SlotX Encoder Lines Per Revolution SlotX.EncoderLinesPerRev This parameter is only available when an SM-Universal Encoder Plus option module has been populated in one of the Unidrive SP slots. The X in “SlotX” defines the slot number that the SM-Universal Encoder Plus option module has been fitted in. For example, if the Universal Encoder Plus option module is in slot 2, the parameter would be named Slot2.EncoderLinesPerRev. The EncoderLinesPerRev defines the resolution of the encoder hardware.
To support many different applications, the SM-Universal Encoder Plus module can provide several different supply voltages. Select from 5V, 8V, or 15V to be provided from the module hardware. See the SM-Universal Encoder Plus section of this manual or the SM-Universal Encoder Plus User Guide for more information. SlotX Resolver Equivalent Lines Per Rev SlotX.EncoderLinesPerRev This parameter has slightly different functionality when using a SM-Resolver module.
alphanumeric characters, but must begin with a non-numeric character. SlotX IO Direction SlotX.IO.#.Direction This parameter is only available when an SM-I/O Plus Option module has been populated in one of the Unidrive SP slots. The X in “SlotX” defines the slot number that the SM-I/O Plus module has been fitted in. For example, if the I/O Plus module is in slot 2, the parameter would be named Slot2.IO.#.Direction.
mechanical revolution. The (# of Poles / 2) will equal the number of electrical cycles per revolution. For more information see the SM-Resolver User Guide. TravelLimitDecel ramp. Software travel limits are not active unless enabled and Absolute Position Valid is active. Software Travel Limit Minus Position SoftwareTravelLimitMinusPosn SlotX Relay Name SlotX.Relay.#.Name This parameter is only available when an SM-I/O Plus module has been populated in one of the Unidrive SP slots.
Drive Analog Input X Minimum User Value SPAnalogInput.#.MinUserValue The SM-EZMotion reads the value of the analog input in units of 0 to 100% and then scales that using linear interpolation and then populates the specified destination parameter/variable. When the analog input reaches the Minimum Input Value, the destination variable will be equal to the Minimum User Value. This is used as a point on the curve for the linear interpolation. Drive Analog Input X Maximum Input Value SPAnalogInput.#.
Drive Analog Output X Minimum User Value SPAnalogOutput.#.MinUserValue The SM-EZMotion can read the value of a specified parameter and scale it into the Unidrive SP’s scale of 0 to 100% of scale on the output. The SM-EZMotion uses linear interpolation to scale the value properly. When the selected source parameter is equal to the Minimum User Value, then the Analog Output will be equal to the Minimum Output Value.
to update the value of the analog output. For a list of parameters that can be used, refer to the Drive Menu Watch view in PowerTools Pro, or the Unidrive SP Advanced User Guide. Unidrive SP I/O Status Word SPConnect.DigitalIOReadWord This parameter is a bitmap that contains the status of the digital I/O on the Unidrive SP. This parameter is read-only and is used to control the virtual LED’s on the Drive I/O Setup view. Drive Mode SPDrive.
Unidrive SP Software Sub-Version SPDrive.SoftwareSubVersion SPInput Name SPInput.#.Name The Unidrive SP software (or firmware) revisions are named using an xx.yy.zz format. xx.yy is displayed in parameter 11.29 of the Unidrive SP database, and zz is displayed in parameter 11.34. This parameter can be found on the Information tab on the Status view while Online with PowerTools Pro.
event activates. If assigned to a source on the assignments view, when the source event activates, the output that it is assigned to will turn on. Note This parameter will appear on the Assignments view under the Outputs group of Destinations even if the I/O point has been configured as a digital input. This parameter is used behind the scenes in PowerTools Pro when reading or writing to a SP menu parameter using the Drive Watch Window button. These are not to be used inside a user program.
cannot initiate programs or motion. The source will remain active until the SM-EZMotion module is powered down. SPRelay State SPRelay.#.Out The Unidrive SP has relay output that can be used to control devices that require more current than a digital output. The “.Out” at the end of the parameter name is optional, so this parameter is often referred to simply as SPRelay.#. This parameter can be used in a user program to activate the output (i.e. SPRelay.
temporarily disable the travel limit fault capability of the SM-EZMotion module. When TravelLimitDisable is activated, the SM-EZMotion module travel limits (hardware or software) are no longer valid. If disabled using a program, the travel limits will automatically be re-enabled when the program ends, if they haven’t already been enabled. This feature is typically used when a machine must use one of its limit switches as a home switch.
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12 Drive Parameters Used by SM-EZMotion Module 12.1 Description The Unidrive SP is configured using a database of parameters. The parameters are grouped according to functionality. Each function group is given a Menu#. Each parameter in the drive is accessed using a Menu Number and Parameter Number in the following format: Menu Number.Parameter Number (or MM.PP) An example of this is Menu Number 5, Parameter Number 7 is accessed using 5.07. In order to configure the drive to operate as desired, the MM.
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Drive Parameters Used by SM-EZMotion Module www.controltechniques.
module as shown below. Notes: 1.The SM-EZMotion module reads this parameter for display purposes in PowerTools Pro Software. Primary use is for diagnostics.
x.18 – EZInput.2.Status Example: Firmware Revision Parameter x.02 Value A1 1.01 This parameter shows the status of digital Input #2 on the SM-EZMotion module. A value of 1 indicates that the Input is active. A value of 0 indicates that the Input is inactive. This equates Pin # 3 on the EZMotion I/O Connector. A3 1.03 x.19 – EZInput.3.Status B1 2.01 Beta Y1 60.01 x.13 – EZOutput.1.Status This parameter shows the status of digital Output #1 on the SM-EZMotion module.
Examples: x.48 = 11023 would signify that user programs are currently running on Task 2 and Task 1, and that a Index is running on Profile 1 while a Jog is running on Profile 0. x.48 = 104 would signify that a user program is running on Task 0 and Gearing motion is running on Profile 0. x.50 – Option Module Error Status The error status is provided so that only one option module error trip is required for each option module slot.
13 Diagnostics There are many different tools available to the user to help diagnose problems or errors in the Unidrive SP and SM-EZMotion module. The most common tools used are the Error Codes, Analog Outputs, and PowerTools Pro utilities such as the Watch Window, Fault View, Status Bar, and Online View Tabs. Any or all of these can be used to figure out why an application may not be running properly. The following section gives detailed information about each of the tools listed above. 13.
Error Code Cause (x.50) Trip? Possible Reason Possible Solution 104 Y Following Error Amount of following error exceeded following error limit set in PowerTools Pro software. Increase Following Error Limit in PowerTools Pro configuration. Increase Velocity Loop Bandwidth and/or Position Loop Bandwidth in PowerTools Pro configuration. Lower Acceleration/ Deceleration ramp values. Make sure that programmed velocity is within maximum operating speed of the given motor.
Error Code Cause (x.50) Trip? Error Possible Reason Possible Solution Math addition operation in user program has resulted in an overflow of the resultant parameter Verify that the sum of all the operands in addition formulas will not result in a value in the following range: -231 < SUM < 231-1 Formula in user program causes a divide by zero Make sure that the denominator in all division formulas is not equal to zero.
Error Code Cause (x.50) Trip? 172 Y Error Possible Reason Invalid Slot 2 Selection 173 Y Invalid Slot 3 Selection 174 Y File Corruption Error - Consult Factory 175 Y Module Output Overload Option module selected for Slot 2 in PowerTools Pro file does not match actual module type fitted Switch module located in Slot 2 to match module type selected in PowerTools Pro file.
can save the specific parameters that have been added to the Watch Window. Once the selections have been saved, the Restore Selections button can be used to monitor all the same parameters the next time the user opens the Watch Window. Therefore, if there is a list of helpful diagnostic parameters the user wishes to see when online, those specific parameters can be saved and recalled in the Watch Window at any time. The settings are saved in a file named "EZwatch.wch".
Profile 1 Motion Position and Velocity Feedback Profile 0 Motion Overall Status Communications Status Figure 124: Figure 122: SM-EZMotion Error Pop-Up Window The Errors View also contains a Trip Log that lists the 10 most recent drive trips. Trip 0 is listed as the most recent fault with a Trip Time in Years.Days and Hours.Minutes format. Along with the Trip Code, the Trip Log will also store the time before the most recent trip that each trip occurred. 13.3.
13.5 Clearing the SM-EZMotion module memory The SM-EZMotion module has a function that allows the user to clear the module memory. Doing so will erase the configuration stored in the module. To procedure for erasing the module configuration is as follows: 1.Navigate to parameter 18.01 on the keypad 2. Press the Mode button mode M to enter parameter edit Mode 3. Enter the value 19237 4. Press the Mode button view mode M again to return to parameter 5.
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14 Creating a Custom Motor File PowerTools Pro software obtains the names and parameters of all motors in the Motor Type list box from various Motor Data Definition Files (.DDF file extension). The list of default (or standard) motors is automatically loaded during the PowerTools Pro installation and is located in the same directory as the PowerTools Pro software. The list of standard motors is called “Spstdmotor.DDF”. Another file, called “Spmotor.
peakCurrent Motor Definition Section The motor definitions section contains the names and parameters of one or more user defined motors. The order of the parameters in the motor definition must match the example in Figure 126. The motor parameters do not define with which drive(s) the motor may be used. Therefore, any motor in the .ddf file may be used with any drive. Abbreviated parameter identifiers are used in the .ddf file.
maxOperatingSpeed • Motor Inductance Specifies the maximum operating speed of the motor. It is used by the drive to limit the Velocity Command. The valid range for this parameter is 0.0 to 40,000.0 RPM. • Motor Peak Current • Motor Continuous Current thermalTimeConstant Specifies the Thermal Time Constant of the motor. This parameter is used by the Unidrive SP for thermal protection of the motor. The drive models the temperature of the motor using a formula that generates an overload accumulator value.
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15 Glossary µs Microsecond, which is 0.000001 seconds. A A function (i.e., Stop, Preset) that may be assigned to an input line. In SM-EZMotion, the input function is connected to the action through click and drag operations in PowerTools Software on the Assignment View. Dialog Box Amps. A dialog box is a window that appears in order to collect information from the user. When the user has filled in the necessary information, the dialog box disappears. Amplifier Servo Drive.
List Box Global Where Am I PowerTools feature that indicates which line of which user program is executing. Home Routine The home provides motion in applications in which the axis must precisely align with some part of a machine. mA Milliamp, which is 1/1000th of an Ampere. MB Hysteresis For a system with an analog input, the output tends to maintain its current value until the input level changes past the point that set the current output value.
Source Views. The terminals at which energy is taken from a circuit or device. PC Personal Computer. Travel Limit PE The distance that is limited by either a travel limit switch or the software. Protective Earth. PID Torque Proportional-Integral-Derivative. An acronym that describes the compensation structure that can be used in many closed-loop systems. The moment of force, a measure of its tendency to produce torsion and rotation about an axis. Uploading PLC Programmable Logic Controller.
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16 Index A D Absolute Index, 25 AbsolutePositionValid, 101 Accelerating, 101 AccelType, 101 AccelUnits.Decimal, 101 AccelUnits.TimeScale, 101 Assignments View, 64 AtVel, 101 Decelerating, 103 DefineHome, 104 DefineHomePosn, 104 Digital I/O Connections, 3 DistUnits.CharacteristicDist, 104 DistUnits.CharacteristicLength, 104 DistUnits.Decimal, 104 DistUnits.Name, 104 Drive Parameters, 131 Drive/Encoder View, 33 DriveActive, 104 DriveEnableStatus, 104 DriveHealthy, 104 DriveSerialNumber, 104 B Bit.
Gear.Accelerating, 106 Gear.Activate, 106 Gear.AtVel, 106 Gear.CommandComplete, 106 Gear.CommandInProgrees, 106 Gear.Decel, 107 Gear.DecelEnable, 107 Gear.Decelerating, 107 Gear.RecoveryDist, 107 Gearing, 28 Gearing View, 80 H Hardware.SlotXModuleType, 107 Home to Marker, 23 Home to Sensor, 24 Home to Sensor then Marker, 24 Home View, 73 Home.#.Accel, 107 Home.#.Accelerating, 107 Home.#.AtVel, 107 Home.#.CalculatedOffset, 107 Home.#.CommandComplete, 107 Home.#.CommandInProgress, 107 Home.#.Decel, 107 Home.
M Master Position Filter Samples, 51 Master Units Setup View, 50 MasterAxis.MasterEncRevCount, 112 MasterAxis.MasterEncRevPosition, 112 MasterAxis.SpeedFeedbackSelector, 113 ModuleSerialNumber, 113 ModuleTemperature, 113 Motion Timebase, 28 MotionStop, 113 MotorType, 113 N Name, 113 O OverloadAccumulator, 113 P PLS View, 58 PLS.#.Direction, 113 PLS.#.OffPosn, 113 PLS.#.OnPosn, 114 PLS.#.PLSEnable, 114 PLS.#.RotaryRolloverEnable, 114 PLS.#.RotaryRolloverPosn, 114 PLS.#.Source, 114 PLS.#.
Slot3.ErrorStatus, 118 SlotX.EncoderCommsBaudRate, 118 SlotX.EncoderCommsResolution, 118 SlotX.EncoderEnableAutoConfiguration, 118 SlotX.EncoderLinesPerRev, 119, 120 SlotX.EncoderSimulationDenominator, 119 SlotX.EncoderSimulationNumerator, 119 SlotX.EncoderSimulationSource, 119 SlotX.EncoderSupplyVoltage, 119 SlotX.EncoderTurns, 120 SlotX.EncoderType, 120 SlotX.Error DetectionLevel, 120 SlotX.Excitation, 120 SlotX.Input.#.In, 120 SlotX.Input.#.Name, 120 SlotX.IO.#.Direction, 121 SlotX.IO.#.In, 121 SlotX.IO.
V Var.Var#.Decimal, 129 Var.Var#.Value, 129 VelCommand, 129 Index VelFeedback, 129 Velocity View, 53 VelocityFeedforwardEnable, 129 VelocityLoopBandwidth, 129 VelocityUnits.TimeScale, 129 www.controltechniques.
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