SM-EZMotion Module User Guide P/N 400361-00 Revision: A1 Date: July 3, 2003 © Control Techniques Drives, Inc.
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 All rights reserved. Part Number: Revision: A1 Date: July 2003 Printed in United States of America 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.
Customer Support Control Techniques 12005 Technology Drive Eden Prairie, Minnesota 55344-3620 U.S.A. Telephone: (952) 995-8000 or (800) 397-3786 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) 397-3786 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 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.
are isolated from human contact by at least one layer of insulation rated for use at the applied AC supply voltage. viii www.emersonct.
SM-EZMotion Module Technical Manual Table of Contents Customer Support . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . iii Document Conventions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . iv • Safety Instructions. . . . . . . . . . . . . . . . . . . . . . . . . .
SM-EZMotion Module Technical Manual 5.2 Jog. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .23 5.3 Home. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .23 5.3.1 Home to Marker . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
7.6 Create User Programs. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .63 7.6.1 Program View . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 63 8 How User Programs Work 65 8.1 Program Window Components. . .. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
SM-EZMotion Module Technical Manual 11 Parameter Descriptions 12 Drive Parameters Used by SM-EZMotion Module 85 111 12.1 Description. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .111 12.2 Chart. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .111 12.
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.emersonct.
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 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 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. In that case, it may be possible to follow the simple servo motor phasing test described below.
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3 PowerTools Pro Configuration Software www.emersonct.com. 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 PowerTools Pro can be installed directly from the PowerCD that ships with every Unidrive SP (in North America).
• On the menu bar, click a menu name to display a list of options. On the menu, either click an option or use 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 (e.g.
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 control button. 3.3.1.2.7 New Selecting New will bring up a sub menu allowing the user to add a new Index, Home, or Program. Indexes, Homes, and Programs may not be added while online with the SM-EZMotion. 3.3.1.2.7.1 Index Figure 9: Edit Menu 3.3.1.2.
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. If the trip condition still exists, the trip may reactivate immediately after clearing it. 3.3.1.3.8 View Faults Selecting View Faults from the Edit menu will open the Active Faults pop up window. The Active Faults window will show any fault conditions that have not been reset. 3.3.1.3.
most commonly used parameters are available. If user level is set to "Too Much Mode", then all parameters will be visible. This feature is designed to make the most common parameters easier to find and use in programs, assignments, and throughout the software. 3.3.1.4.1.3 Ptools Operation Selecting Options > Preferences > Ptools Operation allows the user to configure certain setting for the way PowerTools Pro software functions. Figure 15 shows the PowerTools preferences window.
3.3.1.5.1 Watch Window Selecting Watch Window will launch a diagnostics tool that allows the user to view the current value of multiple SM-EZMotion parameters while online with the module. For more information on the Watch Window, refer to Section 11 - Diagnostics of this manual. 3.3.1.5.2 Drive Menu The Drive Menu Watch Window allows the user to read or write a single SP Menu Parameter from within PowerTools Pro.
Navigation Tree to remove it from the display. If the Hierarchy is not visible, select Show Navigation Tree to make it appear again. 3.3.1.7 Window Figure 19 shows the Window Menu as selected from the PowerTools Pro Menu Bar. 3.3.1.8.2 Using Help Selecting Using Help will launch a window that lets the user select different topics available as part of the help file. This utility makes it easier to navigate the different sections of the help file. 3.3.1.8.3 About PowerTools...
3.3.2.5 Upload 3.3.2.10 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. 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. The new index will be the next highest available index number.
3.3.2.15 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. 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. The global Where Am I will continuously update until it is deactivated.
“-“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. When the user gets to the bottom of the hierarchy, the configuration should be ready to be downloaded to the module. 3.3.
4 Communications Options > Preferences > Communications on the Menu 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 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 on Figure 24 above). 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.
values into the user configuration (First Arrow H followed by Arrow A, but data from H is not stored in PowerTools Pro file). Modify Parameter Values The table below shows an example of how these three options work: Value Before Download PowerTools Pro Value for Index.0.Vel NVM Value for Index.0.Vel Click the Update to RAM icon Value After Download Overwrite Option Update Option Keep Option 150 500 150 150 500 150 500 More Changes Required? NO Perform a full Download 500 YES 4.4.
4.4.5.1.3 Update - Upload the values into the current Update PowerTools Pro configuration When this radio button is selected the "Update" option will be used on every download to the module. For more details on how the Update option works, see the Download NVM 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.
4.4.5.3.2 Always bypass NVM upload When uploading a configuration, PowerTools Pro uploads from a Non-User NVM location, so the data uploaded only matches exactly what was last downloaded. By selecting this radio button, the parameter values in the Save to NVM list will NOT be uploaded. 4.4.5.3.3 Ask on each upload When this radio button is selected, PowerTools Pro will ask the user via a pop-up window whether to upload the NVM or to bypass the NVM upload on every upload. 4.4.
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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).
without a deceleration ramp. Velocity Index Accel Time 2 Seconds Figure 50: Timed Index Profile In some cases, an index time is calculated based on other parameters in a user program. To avoid possible machine damage, the user can specify maximum values for accel, velocity, and decel.
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 Index 0 Profile 0 Time 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.emersonct.
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 Section 3 of this manual. The hierarchy in PowerTools gives the user a basic template on how to configure an application. The user should start at the top of the hierarchy, filling out necessary parameters on the different views, working all the way to the bottom of the hierarchy.
7.2.2.2 SM-EZMotion Module View 7.2.2.4 SM-Universal Encoder Plus Module View If SM-EZMotion is selected in the Slot # Module combo box, the remainder of the view should be blank. The hierarchy automatically updates to show that an SM-EZMotion module is populated in that specific slot, see Figure 55.
7.2.2.6 SM-DeviceNet Module View 7.2.2.8 Applications Plus Module View If DeviceNet is selected in the Slot # Module combo box, the remainder of the view should have configuration parameters to define the properties of the DeviceNet device and network. The hierarchy should automatically update to show that a DeviceNet module is populated in that specific slot, see Figure 59. If Applications Plus is selected in the Slot # Module combo box, the remainder of the view should be blank.
side of the view. The values displayed are only the values at the time the "Get Menu Values" button was selected. The values are NOT continuously updating. Control Button Get Menu Values Pressing the Get Menu Values control button will cause PowerTools Pro to read the current value of all the parameters in the selected menu and display them in the memory column, If the value in the memory is different from the default value. The parameter value will be highlighted in yellow in the default column. 7.2.
7.3.1 Setup View The Setup view allows the user to setup various parameters related to how the overall system operates. Figure 65 shows an example of the Setup view. available on the Status Online tab when online with the device to help select the ideal setting. (See description of Control Loop Group of online parameters for further information) Positive Direction The Positive Direction consists of a clockwise (CW) Motor Rotation Radio Button or a counter-clockwise (CCW) Motor Rotation Radio Button.
Distance Units Name This is a 10-character name for the distance user units you want to use in your application Decimal Places The number of decimal places set in this parameter determines the number of digits after the decimal point used in all distance and position parameters throughout the software. Using a high number of decimal places will improve position resolution, but will also limit the range of absolute position. You can select from zero to six decimal places of accuracy.
synchronized motion throughout the software. Using a high number of decimal places will improve position resolution, but will also limit the maximum position. You can select from zero to six decimal places of programming resolution. The denominator (bottom value of the scaling fraction) is the # of encoder revolutions. The master revs parameter is the number of incoming whole revolutions it takes to travel the specified characteristic distance.
7.3.4 Position View The Position View allows the user to configure parameters related to position control of the SM-EZ Motion module. Figure 68 shows a sample of the Position view. Following Error Limit. If enabled, a fault will be generated if the absolute value of the following error ever exceeds the value in the following error parameter. If disabled, a fault will never be generated. Following Error Limit Following Error is the difference between the Position Command and the Position Feedback.
software. If an absolute index is used with a non-zero rotary rollover point, the SM-EZMotion will calculate the shortest path to its destination and move in the required direction. To force the motor to run a certain direction, use the Rotary Plus or Rotary Minus type of indexes. 7.3.5 Velocity View The Velocity View allows the user to define parameters related to the velocity control of the SM-EZ Motion module. Figure 69 shows an example of the Velocity view.
Feedhold Decel/Accel 7.3.8 Tuning View When the Feedhold destination is activated, the motor will decelerate to a stop in the time specified by the FeedholdDecelTime parameter. When feedhold is cleared, the motor will accelerate back to speed in the same specified period of time. The Tuning View contains all the parameters that are adjusted to properly tune the motor/drive system. Figure 72 shows an example of the Tuning View.
setting the bandwidth too high can result in ringing (audible ringing) in the velocity loop. The units for Velocity Loop Bandwidth are Hz. 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.
active error. Power Up The Power Up box contains information related to the lifetime of the Unidrive SP and SM-EZMotion module. Following are the parameters listed in the Power Up information box: Slot 3 Error Code – This will show the error code that is active for the module in Slot 3 of the Unidrive SP. If 0 is displayed, then the module in this slot does not have an active error. Module Power Up Count The error code for each slot is simply being read directly from the Unidrive SP.
Codes, please refer to the Unidrive SP Users Guide or Unidrive SP Advanced Users Guide. Note that this trip code is not the same as the Trip Code or Error Code within a solutions module. For example, if an error occurs in a SM-EZMotion module located in Slot 1, the Trip Log will not store the SM-EZMotion module Error code, but instead it will store SL1.Er indicating that an error occurred in Slot 1. The specific error codes for the different solutions modules are NOT stored in the Trip Log.
range begins at an absolute position of zero and ends at the RotaryRolloverPosn. For example, in a rotary application a PLS could be setup with an OnPosn of 90 degrees and an OffPosn of 100 degrees. If the RotaryRolloverPosn is set to 360 degrees the PLS would come on at 90, go off at 100, go on at 450 (360+90), go off at 460 (360+100), go on at 810 (2*360+90), go off at 820 (2*360+100), and continue repeating every 360 degrees forever. 7.3.
Capture Sources and Destinations Figure 77 shows a block diagram of the Capture object CaptureEnable 1 3 CaptureActivate CaptureEnable 2 CaptureActivate Time CaptureTriggered CaptureTriggered Command Position CaptureReset Feedback Position Master Position CaptureReset Figure 78: Figure 78 is a timing diagram that shows how the different capture related sources and destinations function.
time they activate even when a capture object is not configured. If any of these Sources are assigned to a destination, the captured data may be used by the destination function. The Destinations that can use the automatically captured data are as follows: • Index.#.Initiate • Index.#.SensorTrigger The automatically captured data is not available to the user like it is when a capture object is used. The processor takes care of resetting the automatic capture internally. Index.#.
Queue Object QueueEmpty IF (# of Queue Objects = 0) QueueClear Set # of Queue Objects = 0 and clear data in queue IF (# of Queue Objects = or > Full Level) QueueFull Exit Clear Compare Enable Data In Data[ ] Size Offset Full Level Comparitor Select Name Empty Full Source Select: Full Level Overflow MasterPosn FeedbackPosn CommandPosn Queue Size Data Out Data In Queue Data = X QueueExit Comparitor Queue Offset CompareEnable Queue Object and Components Diagram Sum IF (# of Queue Objects = Q
Adding and Deleting Variables The default number of variables is ten. To add more user variables, click on the up arrow next to the "Number of User Variables" spinner box on the User Variables view. The maximum number of user variables is 256. Only the last variable in the list can be deleted. To delete the last variable, simply click on the down arrow next to the "Number of User Variables" spinner box. User variables are all Global variables.
than having to access them individually. In the SM-EZMotion module it is possible to access 32 User Bits in a single parameter. This parameter is named BitRegister.#.Value. Because some of the 32 User Bits may be used by the program, and should not be modified from the network communications, it is possible to "Mask Off" certain bits. Masking bits prevents them from being modified in the program when the 32-bit parameter is written to.
that particular bit will be passed through when written. Each additional group of 32 User Bits that are added, a new Mask parameter will appear for that group. Mask 0 will control the mask for User Bits 0 through 31. Mask 1 will control the mask for Bits 32 through 63. This sequence repeats for each additional 32 bits that is added. destination.
which Source has been assigned to it. Destinations can also be dragged from right to left, over to Sources. Assign Button Method Click on both the Source and Destination that are to be assigned to each other. Once both are highlighted, the Assign button in the lower left corner of the view will become enabled. Click on the Assign button to complete the assignment. Once the mouse button is release, the assignment is created. The view will update to show that the assignment is created.
7.4.2 SP I/O Setup View Figure 90: Figure 88: Selector View The selector helps to minimize the required number of inputs and outputs to initiate different actions. The selector limits the I/O by using a conversion from binary to decimal. Figure 91 shows a block diagram of the Selector Object. Drive I/O Setup View 7.4.3 EZ Motion I/O Setup View Selector.Select0 Selector.Select1 Selector.Select2 Selector.Select3 Selector Object Selector.SelectorInitiate Figure 91: Selector.Selection0 Selector.
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 must then be made in the Assignments view. until the Selector.SelectorInitiate destination is activated. Selector.Selection sources can be tied to any destination in the Assignments view.
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 destination is used during a Jog, then the Jog.#.CommandComplete will not activate. Jog.#.Decelerating - This source is active while a jog is decelerating from its target velocity. Once the Jog reaches zero velocity (or its new target velocity), the Jog.#.Decelerating source will deactivate.
Switch that is active. 7.5.2 Home View Figure 94: Jog Activate Figure 96: Home View Home Number 0 The Home Number parameter displays which home sequence you are editing and allows you to scroll through multiple home sequences using the up and down arrows. The first release only allows for one home sequence. Name Figure 95: Jog Select Usage If the Jog direction is reversed, the Jog.#.Decel value will be used to decelerate the motor to zero speed and then the Jog.#.
home reference. End of Home Position Acceleration This parameter defines the position at the completion of the home. This defaults to 0.0 such that at the end of a home, the Feedback Position and the Commanded Position are set to 0.0. 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...
Destinations machine operations. Home.#.Initiate - The Home.#.Initiate destination is used to initiate the home function. The Home is initiated on the rising edge of this function. The device will not initiate a Home if there is an Index, Jog, or Program in progress, or if the Stop destination is active or if a travel limit is active. IndexType Home.#.SensorTrigger - This destination is required to be used if you are homing to a sensor. This destination is edge sensitive.
the SM-EZ Motion module will automatically calculate the necessary velocity, accel, and decel in order to achieve the programmed distance in the specified time. Note A user program cannot compound into a Timed Index, or compound out of a Timed Index. All index types can be specified as a Timed Index, except for Registration type indexes. This is because a registration index does not have a specified distance or absolute position.
PLS has On and Off points just like a global PLS, but the On and Off points are specified as an incremental distance from the start of the index, instead of absolute positions. Each index has its own On and Off points, and the Index.#.PLSStatus is only updated when Index# is run. The direction of the PLS does not matter, the Index.#.PLSStatus will activate and deactivate the same incremental distance from the start of the index. run again.
If a registration sensor is seen outside of this window (not between the WindowStart and WindowEnd positions) then it will be ignored. Window End This parameter defines the end of the Registration Sensor Valid Window relative to start position of this index. This is an unsigned value and is relative only to starting position of this index. Index direction does not affect this parameter. The Registration Window End position (or distance) should be greater than the Registration Window Start position.
active will not prevent ProfileLimited from activating. Index.#.Initiate - The Index.#.Initiate destination is used to initiate the specific index. The Index is initiated on the rising edge of this function. An Index cannot be initiated if there is an Home, Jog, or Program in progress, or if the Stop destination or if a travel limit is active. It can be activated from an assignment or from a program. deleted, and then right-click on the mouse.
Figure 101: Program View For details on the Program View or how to create a program, see Section 7 - How User Programs Work in this manual. 64 www.emersonct.
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 102 points out the components listed above. Program Parameters Program Toolbar Code Window Instruction List Red Dot Error Bar Figure 102: 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".
delete only a single bookmark, place the cursor on the line for which you wish to delete the bookmark, and click on the Book Mark icon. 8.3.9 Red Dot Help If a user program contains an error, the realtime program parser will detect it, and place a red dot next to the line of code with the error. For help on what the particular error is, click on the Red-Dot Help icon, and then click on the line of code with the red-dot next to it. PowerTools Pro will attempt to give a detailed description of the error. 8.
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: Wait For Index.AnyCommandComplete If (EZInput.2=ON) Then Jog.0.PlusInitiate 'Vel=20in/s Wait For EZInput.2=OFF Jog.Stop Endif 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.
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.AnyCommandComplete Loop 8.4.2.3 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 wll 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 icon 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 107, 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 109: 76 Multitasking Flow Chart www.emersonct.
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 multiple methods. The two different methods are from assignments, and from user programs. The following section 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 111: 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 112 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.
9.2.3 From PowerTools Pro 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. 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 icon 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.
again. 10.2.3.2 Stop All - Program Toolbar Motion and Programs can also be stopped from the Program Toolbar using the Stop All icon. This icon is like an edge sensitive function that will not prevent motion or programs from being initiated again. 84 www.emersonct.
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).
generated by the Unidrive SP. 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.
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.
Gear.Decel functions only when the follower is ramping its speed down after the gearing function has turned off. during the Home back off sensor motion. Home At Velocity Home.#.AtVel Gear Decel Enable Gear.DecelEnable Gear.DecelEnable is a Destination that when it is "on" allows a gear to run a specified decel ramp after the gearing command is turned off. Gear Decelerating Gear.Decelerating This source is activated when the home velocity is reached when a the specified home is in progress.
Home Initiate Home.#.Initiate Home Reference Home.#.Reference 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. If no home reference is found the motor will decelerate to a stop at the limit distance and activate the Home.#.LimitDistHit event. Home Sensor Trigger Home.#.
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.ProfileLimited flag will activate when the index is initiated. The Index.ProfileLimited flag will remain active until cleared using the Index.ResetProfileLimited assignment or program instruction.
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 Unidrive SP Overload Accumulator OverloadAccumulator 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.
is not between the On and Off positions, and inactive whenever the axis is between the two positions. However, the PLS.#.Status will not turn on until it reaches the OnPosn the first time. PLS On Point PLS.#.OnPosn PLS.#.Status will be active when the selected source position is between the PLS.#.OnPosn and the PLS.#.OffPosn. The terms On and Off assume the motor is traveling in a positive direction. Assume that the PLS.#.Direction is set to "Both".
SM-EZMotion Power Up Count PowerUpCount Note Power Up Count is the current value of how many times the SM-EZMotion module has been powered up. Each time power is cycled to the system, this number increments by one. This parameter is stored in the SM-EZMotion module, and is not reset if the module is switched to another drive. This parameter is read-only and can be found on the Errors view while online with PowerTools Pro EZ.
Program Any Complete Program.AnyComplete Queue Size Queue Size This source is activated when any program ends normally. If a program ends due to a fault or the stop destination, this source does not activate. Deactivates when any program is initiated. Program Initiate Program.#.Initiate 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. Queue Full Level Queue.#.
the queue and remain inactive until all data has been removed from the queue. Queue Exit Queue.#.QueueExit This event activates when the source parameter is equal to the QueueExitPosition. Queue Exit deactivates when the Queue Remove instruction is processed. Queue Exit Position Quene.#.ExitPosition Queue Exit Position is the sum of Queue Data Out and the Queue Offset. When the Queue Exit Position is equal to the selected source parameter. Then the Queue Exit event activates.
Error Code for the specific error. This parameter can be seen while online with PowerTools Pro EZ on the Errors view. For details on the specific error code, refer to the user guide for the particular option module. Slot 2 Error Status Slot2.ErrorStatus If the Unidrive SP trips due to an error in an option module populated in Slot 2, this parameter will store/display the Error Code for the specific error. This parameter can be seen while online with PowerTools Pro EZ on the Errors view.
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 module is in slot 2, the parameter would be named: Slot2.EncoderSimulationSource. The SM-Universal Encoder Plus is capable of sending out a simulated encoder signal. To configure the simulated encoder signal, the user specifies a source parameter and a ratio multiplier.
(pins 2, 3, and 4) are configured as Inputs or Outputs using PowerTools Pro EZ software. The SlotX.IO.#.Direction parameter is used to configure whether the I/O point acts as a digital input or digital output. Valid entries for this parameter are selInput or selOutput. This parameter is modified automatically when the user changes the settings on the Slot X view. SlotX IO Status SlotX.IO.#.In This parameter is only available when an SM-I/O Plus module has been populated in one of the Unidrive SP slots.
add a level of protection from exceeding the machines travel limits. The SoftwareTravelLimitMinusActive source (output function) is active when the SoftwareTravelLimitMinusPosn is reached or exceeded. Motion is halted using the TravelLimitDecel whenever a hardware or software travel limit is hit or exceeded. Software travel limits are not active unless Absolute Position Valid is active. levels for external encoders.
Bit 13 = Parameter 10.14Direction Running Bit 12 = Parameter 10.13Direction Commanded feedback signal must be connected to the Unidrive SP encoder connector. This parameter is read-only from within a user program. Bit 11 = Parameter 10.12Braking Resistor Alarm SPInput Status SPInput.#.In Bit 10 = Parameter 10.11Braking IGBT Active Bit 9 = Parameter 10.10Regenerating Bit 8 = Parameter 10.09Drive Output Is At Current Limit Bit 7 = Parameter 10.08Load Reached Bit 6 = Parameter 10.
using the Drive Watch Window icon. These are not to be used inside a user program. SPIO Name SPIO.#.Name Each digital I/O point on the Unidrive SP can be given a name. The name can be used in a user program to reference a specific I/O point. The name can be up to 12 alphanumeric characters, but must begin with a non-numeric character. SPIO State SPIO.#.Out The first three digital I/O points on the Unidrive SP (pins 24, 25, and 26) are configured as Inputs or Outputs using PowerTools Pro EZ software.
SPRunTimeHoursMinutes Unidrive SP Power Up Time – Yrs.Days SPPowerUpTimeYearsDays The Drive Power Up Time is the time elapsed since power has been cycled to the Unidrive SP. The format for this parameter is Years.Days and Hours.Minutes. These values must be used in combination to find the actual time. This parameter can be found on the Errors view while Online with PowerTools Pro EZ. Total Power Up Time = SPPowerUpTimeYearsDays + SPPowerUpTimeHoursMinutes SPRelay Name SPRelay.#.
12kHz, and 14kHz. Travel Limit Plus Active TravelLimitPlusActive SM-EZMotion Total Power Up Time TotalPowerUpTime Total Power Up Time is the total elapsed time that the SM-EZMotion module has been powered up (since reset by the factory). The units for the parameter are Hours with a resolution of 0.1 Hours. This parameter is stored in the SM-EZMotion module, and is not reset if the module is switched to another drive.
Velocity Loop Bandwidth VelocityLoopBandwidth The Velocity Loop Bandwidth parameter is the theoretical bandwidth of the velocity controller (how fast the system can respond to change in velocity command). The value of this parameter depends heavily on the correct values for the motor data, particularly the Motor Rotor Inertia and the Motor Current Constant (Ke). Units for this parameter are Hz. Time Scale VelocityUnits.
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.
Menu 1 Speed Ref. Menu 2 Ramps 2 2.02 Menu 3 Menu 4 Menu 5 Fdbk Setup Current Control Motor Control 3.02 Menu 6 Sequencer Menu 7 Analog I/O Menu 8 Menu 9 Menu 10 Menu 11 Digital I/O Logic / Mot. Pot Status / Trips General Drv Setup 8.011 8.021 8.031 8.041 8.051 8.061 5 4.041 4.055 4.065 4.073 5.051 5.073 8.081 8.091 3 5.09 3.105 3.115 4.112 4.123 4.133 4.143 4.153 4.162 10.011 10.021 5.113 10.121 6.155 7.152 5.173 5.183 8.182 1 4.19 3.224 3.235 6.201 6.211 6.221 6.
Menu 12 Threshold / Var Slctr Menu 13 Menu 14 Menu 15 Menu 16 Menu 17 Menu 18 Menu 19 Menu 20 Menu 21 Posn Control User PID Controller Option Module 1 Option Module 2 Option Module 3 User Vars 1 User Vars 2 User Vars 3 2nd Motor Setup S e e S e e S e e o p t i o n o p t i o n o p t i o n m o d u l e m o d u l e m o d u l e u s e r u s e r u s e r g u i d e g u i d e g u i d e 18.316 18.326 18.336 18.346 18.356 18.366 18.376 18.386 19.317 19.327 19.337 19.347 19.357 19.
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 This parameter shows the status of digital Input #3 on the SM-EZMotion module. A value of 1 indicates that the Input is active.
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 118: Figure 116: 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 M again to return to parameter 3. Enter the value 19237 4. Press the Mode button view mode 5.
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14 Creating a Custom Motor File PowerTools Pro EZ 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 EZ installation and is located in the same directory as the PowerTools Pro EZ software. The list of standard motors is called “Spstdmotor.DDF”. Another file, called “Spmotor.
Motor Definition Section peakCurrent 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 120. Specifies the peak current allowed by the motor. The valid range is 0.00 to 9999.99 Amps (rms). The motor manufacturer typically provides the peak current data. The motor parameters do not define with which drive(s) the motor may be used. Therefore, any motor in the .
• Motor Continuous Current maxOperatingSpeed 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. 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, 85 Accelerating, 85 AccelType, 85 AccelUnits.Decimal, 85 AccelUnits.TimeScale, 85 Assignments View, 52 AtVel, 85 Decelerating, 87 DefineHome, 88 DefineHomePosn, 88 Digital I/O Connections, 3 DistUnits.CharacteristicDist, 88 DistUnits.CharacteristicLength, 88 DistUnits.Decimal, 88 DistUnits.Name, 88 Drive Parameters, 111 Drive/Encoder View, 33 DriveActive, 88 DriveEnableStatus, 88 DriveHealthy, 88 DriveSerialNumber, 88 B Bit.B#, 85 BitRegister.#.
Gear.Activate, 90 Gear.AtVel, 90 Gear.CommandComplete, 90 Gear.CommandInProgrees, 90 Gear.Decel, 90 Gear.DecelEnable, 91 Gear.Decelerating, 91 Gear.RecoveryDist, 91 Gearing, 28 Gearing View, 63 H Hardware.SlotXModuleType, 91 Home to Marker, 23 Home to Sensor, 24 Home to Sensor then Marker, 24 Home View, 57 Home.#.Accel, 91 Home.#.Accelerating, 91 Home.#.AtVel, 91 Home.#.CalculatedOffset, 91 Home.#.CommandComplete, 91 Home.#.CommandInProgress, 91 Home.#.Decel, 91 Home.#.Decelerating, 91 Home.#.
M Master Position Filter Samples, 39 Master Units Setup View, 38 MasterAxis.MasterEncRevCount, 96 MasterAxis.MasterEncRevPosition, 96 MasterAxis.SpeedFeedbackSelector, 97 ModuleSerialNumber, 97 ModuleTemperature, 97 Motion Timebase, 28 MotionStop, 97 MotorType, 97 N Name, 97 O OverloadAccumulator, 97 P PLS View, 45 PLS.#.Direction, 97 PLS.#.OffPosn, 97 PLS.#.OnPosn, 98 PLS.#.PLSEnable, 98 PLS.#.RotaryRolloverEnable, 98 PLS.#.RotaryRolloverPosn, 98 PLS.#.Source, 98 PLS.#.
SlotX.EncoderSimulationNumerator, 102 SlotX.EncoderSimulationSource, 102 SlotX.EncoderSupplyVoltage, 103 SlotX.EncoderType, 103 SlotX.Input.#.In, 103 SlotX.Input.#.Name, 103 SlotX.IO.#.Direction, 103 SlotX.IO.#.In, 104 SlotX.IO.#.Name, 104 SlotX.IO.#.Out, 104 SlotX.Relay.#.Name, 104 SlotX.Relay.#.
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.
