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Emerson FM-3 manual Reference Manual

Models: FM-3

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FM-3

Programming Module

Reference Manual

P/N 400508-01

Revision: A8

Date: March 10, 2004

© Control Techniques Drives, Inc. 2000-2004

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Emerson FM-3 manual Reference Manual

Contents

Reference Manual Page FM-3 Page 952 Customer SupportWebsite and Email Technical Support 952 995-8033 or 800Customer Service Sales 952 995-8000 or 800 Training Services 952 995-8000 or 800Document Conventions Application Engineering 952 995-8000 or 800This Represents EN EN OnlyReference Materials Safety InstructionsGeneral Warning Qualified PersonSetup, Commissioning and Maintenance Safety PrecautionsSafety of Machinery EnclosureViii Table of Contents Tuning Procedures Parameter Descriptions 143 Installation 183Programming 115 Quick StartSpecifications 249 Diagnostics and Troubleshooting 225Glossary 265 Index 273 Xii Introduction FM-3 Programming Module Reference Manual Features PowerTools Pro Setup SoftwareSoftware Interface Hierarchy View Keypad InterfaceOperational Overview PBus Group Parameter ScreensHow Jogging Works How Motion WorksHow Home Works Establishing a Home Reference Position Home SequenceMarker SensorSensor and Marker Accuracy and RepeatabilityHome Offset Calculated Home Offset, Peak Velocity Not Reached Specified Home Offset, Greater than Calculated Offset End of Home PositionHome Limit Distance Home ExamplesExample 1 Linear Application Sensor Home SequenceHome Sensor and Marker then Offset, Example Example 2 Rotary ApplicationIndex Motion Sequence How Indexes WorkIndexes View Absolute Indexes Absolute vs. IncrementalAbsolute Index Incremental Index Incremental IndexesRegistration Index Indexes with Rotary Rollover EnabledRotary Plus and Rotary Minus Indexes Uploading How Communications WorkDownloading Uploading NVM Options for Uploading and DownloadingDownloading Updating to RAM Download Section Options/Preferences/Ptools OperationUpload Section Upload Non-Volatile Memory NVM Section Secure DownloadingBrake Operation Brake Activate Brake ReleaseBrake Disengaged Identification Group Setup ViewDrive Encoder Output Group Configuration GroupPositive Direction Group Update Rate GroupStatus Online Tab Online Only Switching Frequency GroupMotor Velocity Group Motor Position GroupControl Loop Group Torque Group Master Feedback GroupDrive Information Group Information Tab Online OnlyModule Information Group Distance Group User Units ViewUnits Name Characteristic Length Characteristic DistanceDecimal Places ScalingVelocity Group Enable Separate Distance Units Check BoxScaled Distance Name Velocity Distance Units Scale FactorTime Scale List Box Acceleration GroupSeparate Distance Units Example Master Units View Master Units ViewMaster Position Setup Group Encoder Setup GroupMaster Velocity Units Master Distance UnitsMaster Acceleration Units Master Position Filter Enable Check BoxSamples Enable Feedforward Check Box Settings GroupPosition View Limits Group Software Travel Limits Rotary GroupSoftware Travel Limit + Software Travel LimitOnline Tab not shown FeedRate Override Velocity ViewExamples FeedRate Decel/AccelAcceleration Type Ramps ViewStop Deceleration Ramps GroupFeedhold Decel/Accel Travel Limit DecelTorque Level Torque ViewOnline Status Tab Peak TorqueTorque Limit Load Group Tuning ViewInertia Ratio Position Error Integral Group Tuning GroupLow Pass Filter Group Time Constant Active Faults Group Faults ViewActive Faults Window Power Up Count Power Up GroupPower Up Time Total Power UpPLS View PLS ViewSource Number of PLS PointsOn Point Off PointRollover Point Rotary EnableSetup NVM View Setup NVM ViewName User Variables ViewDecimal Adding and Deleting Variables Using Variables in a ProgramOnline Tab not shown Initial ValueUser Bits View Adding and Deleting User Bits Bit Mask Result stored in each bit User 32-bit Bit Register and User Bit MaskingUser Bits Read/Write Process Configuring the User Bit Mask RegisterUser Bits Mask View Assignments Setup GroupAssignments View Assignments View Creating An AssignmentDrag and Drop Method Deleting An AssignmentAssign Button Method Delete Button MethodTying a Source to a Destination Assignment PolarityOnly Show Assigned User LevelAssignments that Automatically Use Position Capture Polarity Button MethodDestinations that use captured data Selector ViewSelector View Assignment View Example Debounce Input Lines ViewNames Output Lines ViewUser Units Analog Inputs ViewDecimal Bandwidth Read Max/Min Voltage SettingsMaximum Value Maximum VoltageMotion Group Jog Number Jog ViewJog Name Time BaseJog Velocity Jog Sources and DestinationsJog Acceleration Jog DecelerationJog.#.Decelerating DestinationsJog.PlusActivate Jog.MinusActivateJog Select Details FM-3 Programming Module Reference Manual Home Number Home ViewHome Reference Acceleration VelocityDeceleration If on sensor... GroupLimit Distance LimitDistEnableSpecified Offset Radio Button Home Sources and Destinations Home.#.SensorTrigger Home.#.InitiateIndex Number Index ViewIndexType Index NameDistance/Position Timed Indexes Time Checkbox Enabled Timed Index Profiles Enable Index PLSPLS Off Point PLS On PointRegistration Parameters Index Sources and Destinations Index.AnyCommandCompleteIndex.#.Accelerating Index.#.Command In Progress Index.#.Command CompleteIndex.#.AtVel Index.#.DeceleratingAdding and Deleting Indexes PowerTools Menu Bar MethodToolbar Icon Method Deleting an Index Right Click MethodGearing View 108 Stopping Gearing Motion Initiating Gearing MotionMotion Stop from a Program Stopping MotionMotionStop for an Assignment Example Program 0 Running on TaskModbus View Network Group112 Profibus View DeviceNet ViewEthernet View FM-3 Programming Module Reference Manual 114 Programming Program Toolbar Icons Previous Book Mark Next Book MarkDelete All Book Marks Red Dot HelpDisable Error Check Program Where Am I?Drag In Variables Lock ProgramProgram Instruction Types ProgramsProgram Flow Instructions If/Then/EndifFor Count/Next ElseWait For Do While/LoopCall Program Wait For TimeFormula EndBit Or BitLabel GoTo Motion InstructionsDwell For Time Index.Initiate Dwell for Master DistComplex Velocity Profile Index.CompoundInitiateIndex Velocity Profile with Drive Outputs Home.InitiateJog.PlusInitiate Jog.StopJog.MinusInitiate Motion Modifiers Using LastGear Stop Gear.InitiateAdding and Deleting Programs PowerTools Menu Bar MethodToolbar Icon Method Adding a ProgramRight Click Method Run Anytime ProgramsDeleting a Program 133 Example Programs Resetting Faults in Run Anytime ProgramsOut and Return Simple Out and Return More ComplexElevator Accumulator with 100 Stop Positions Rotary Table with Calibrated Stop Positions Simple Jogging within a ProgramFlying Cutoff/Shear Synchronized Jog with Manual Phase Adjustment Auger Filler with Inputs to Adjust the Fill Amount Learn Program Program Sequence Learn and Playback140 141 FM-3 Programming Module Reference Manual 142 Accelerating AbsolutePositionValidAccelType AccelUnits.TimeScale AccelUnits.DecimalAtVel CommandingMotion ClearFollowingErrorBrake.Activate Brake.DisengagedDistUnits.CharacteristicLength DistUnits.CharacteristicDistDecelerating DefineHomeDistUnits.Decimal DriveEnableStatusDistUnits.Name DriveAmbientTempDriveInput.#.DebounceTime DriveInput.#.ForceEnableDriveInput.#.Force DriveInput.#.NameDriveOutputEncoder.ScalingEnable DriveOutput.#.ForceEnableFault.DriveFaultsBitmap DriveOutput.#.NameFault.Faulted Fault.DriveOKFault.ModuleFaultsBitmap Fault.#.Active Fault.ResetFault.#.Counts FeedforwardsEnableFeedRateDeactivate FeedholdDecelTimeFeedRateOverride FoldbackActiveFollowingErrorEnable FollowingErrorFollowingErrorLimit FoldbackRMSGear.CommandInProgrees Gear.CommandCompleteGear.Activate Gear.AtVelHome.#.Accel Home.AnyCommandCompleteHome.#.CommandInProgress Home.#.CommandCompleteHome.#.Accelerating Home.#.AtVelHome.#.Decelerating Home.#.LimitDistEnableHome.#.EndPosn Home.#.InitiateHome.#.OnSensorAction Home.#.OffsetTypeHome.#.Reference Home.#.SensorTriggerIndex.ResetProfileLimited Index.AnyCommandCompleteHome.#.TimeBase Home.#.VelIndex.#.Accel Index.#.CommandCompleteIndex.#.Accelerating Index.#.AnalogLimitTypeIndex.#.CompoundInitiate Index.#.CommandInProgressIndex.#.Decel Index.#.DeceleratingIndex.#.Initiate Index.#.PLSEnableIndex.#.LimitDistHit Index.#.NameIndex.#.PLSStatus Index.#.RegistrationWindowEnableIndex.#.RegistrationOffset Index.#.RegistrationTypeIndex.#.SensorTrigger Index.#.TimedIndexEnableIndex.#.TimeBase Index.#.VelInPosn Jog.AnyCommandCompleteInPosnTime InPosnWindowJog.Select0 Jog.#.CommandCompleteJog.Stop Jog.#.AccelJog.#.Decel Jog.#.CommandInProgressJog.#.Decelerating Jog.#.MinusInitiateLineVoltage ModuleInput.#.ForceEnableModbus.BaudRate Modbus.ModbusIdModuleInput.#.Name ModuleOutput.#.ForceEnableModuleInput.#.Raw ModuleInput.#.StatusMotorType MotionStopName PLS.#.DirectionPLS.#.PLSEnable PLS EnablePLS Rollover Enable PLS.#.RotaryRolloverEnablePosnErrorIntegralEnable PosnCommandPLS.#.RotaryRolloverPosn PLS.#.SourcePowerStageEnabled PosnErrorIntegralTimeConstantPowerUpCount PowerUpTimeRotaryRolloverEnable PowerUpTimeTotalProgram.AnyComplete Program.#.InitiateSelector.SelectLinesUsed ShuntPowerRMSSelector.#.Select Selector.#.SelectionSoftwareTravelLimitMinusActive SoftwareTravelLimitEnableSoftwareTravelLimitMinusPosn SoftwareTravelLimitPlusActiveTorqueCommandLimited TorqueCommandStartUp StopTorqueLevel TravelLimitDisableTorqueLevelActive TorqueLimitTravelLimitMinusActivate TorqueLimitEnableTravelLimitMinusActive TravelLimitPlusActivateTorqueUnits.PercentContinuousCurrent VelCommandTorqueUnits.Torque Var.Var#.DecimalVelocityUnits.DistVelScale VelocityUnits.DecimalVelocityUnits.Name VelocityUnits.ScalingFlagFM-3 Programming Module Reference Manual 182 Mechanical Installation Basic Installation NotesGrip the FM On each side LCD Modbus CommunicationsPC System Configuration Software InstallationPreparing for PowerTools Pro Installation Installing PowerTools ProIf You Need Help with Installation Starting and Exiting PowerToolsStarting the Software To display Help in PowerTools, do one of the following Accessing HelpOpening a New File Exiting the Software188 Opening a New Configuration Window Basic Setup StepsEnter All Setup Data General Setup View190 User Units View Position View Master Units ViewRamps View Velocity ViewTorque View Tuning ViewPLS View Making Assignments196 Jog Setup Setting Up Motion ParametersHome Setup Home Setup View Index Setup200 201 Creating a Program 203 204 Example System Example Application Start UpEnable Following Error Enable this checkbox Making Assignments 208 209 210 211 212 PID vs. State-Space Tuning ProceduresInitial settings Tuning ProcedureTuning steps Fully Optimized Level General Tuning HintsInertia Ratio Tuning ParametersFriction Feedforwards ResponseLine Voltage EN Only Determining Tuning Parameter ValuesProcedure for Determining Friction Initial Test SettingsDetermining Friction Consider the following before determining the FrictionRpmh Rpml Determining Inertia RatioConsider the following before determining the inertia Inertia Measurement ProcedureConversion Formula Ramp Units Conversion223 FM-3 Programming Module Reference Manual 224 Diagnostic Display Diagnostics and TroubleshootingFault Codes 227 Watchdog Timer Fault DescriptionsPower Up Test Flash InvalidInvalid Configuration FM-3 FaultPower Module High DC BusMax Following Error RMS Shunt PowerEncoder State Encoder HardwareFM-3 Specific Fault Descriptions Traj Flt Isr OvrDrv Syn WatchdgDvOvrTmp Mtr TmpInv Parm Inv NVM Pwr On FlwErrAnalog Outputs Analog Output Scale units Diagnostic Output Test Points Diagnostic Analog Output Test Points237 Error Messages Drive FaultsResetting Faults Viewing Active Drive FaultsError The maximum limit of Instances is reached Non-Programming Error MessagesError Your Application is not valid to download Programming Error MessagesError a FM3 number’s mantissa must be between -2147483647 FYI Your Application hasError Couldnt find named Variable Error Can only compare,,etc numeric resultsError Couldnt find named Variable from Text Error Program Instance does not ExistError Text Strings are limited to 12 characters Error Syntax error encounteredError The destination variable does not accept Data Error The destination variable is Read Only243 Error This is not a fully qualified variable Error This instance does not existError This variable cannot be assigned a selection value Error This variable type cannot be assigned a valueWatch Window Online Status Indicators246 Motion Status Global Where Am I ButtonFM-3 Programming Module Reference Manual 248 Dimensions and Clearances Specifications250 Cable Diagrams SNCE-XXX Cable SNCDD-001.5 Cable SNCO-003 Cable SNCI-003 Cable SNCLI-003 Cable CMDX-XXX Cable CMDO-XXX Cable CDRO-XXX Cable TIA-XXX Cable DDS-XXX Cable TERM-H Head Terminator TERM-T Tail Terminator CMDS-XXX Cable CMMS-XXX Cable CFCS-XXX Cable CFCO-XXX Cable CFOS-XXX Cable FM-3 Programming Module Reference Manual 264 Axis AmplifierBaud Rate Check BoxDestination ConfigurationDialog Box DIN RailFirmware Global Where AmFlash Flash FileInput Line Input FunctionJog Least Significant BitOpto-isolated Option ButtonOutput Function Output LineRadio Button PowerTools ProSerial Port Travel LimitView VariableWindows, Microsoft FM-3 Programming Module Reference Manual 272 Index Symbols274 275 FM-3 Programming Module Reference Manual 276