Enable Index PLS, Timed Index Profiles | Emerson FM-3 guide

FM-3 Programming Module Reference Manual

The units for the Time parameter depend on the current setting of the Time Base parameter. If Time Base is set to “Realtime” (default), then the units for the Time parameter are Seconds. The user can program the index time with resolution of 0.001 Seconds (or milliseconds). If Time Base is set to “Synchronized”, the units for the Time parameter are defined by the Master Distance Units found on the Master Setup screen.

Doing a synchronized Timed Index means that the user can specify the master distance in which the index should be performed. This can be very useful in many synchronized motion applications.

The internal calculations are designed to calculate a triangular profile (all accel and decel) The ratio of acceleration to deceleration will be the same ratio as Max. Acceleration to Max. Deceleration parameters. For example, if the deceleration is desired to be twice the acceleration, a number twice the value of max acceleration would we entered for maximum deceleration. If the Maximum Velocity is low enough such that the profile will become trapezoidal (some duration at max velocity). Even in trapezoidal moves, the same ratio of acceleration and deceleration is maintained.

The calculations are based on the assumption that Feedrate Override is set to 100%. If set to greater that 100%, the motor could run in excess of the specified Max. Velocity.

Max Velocity

Max Accel

Max Decel

Trapezoidal

Move

Index.ProfileLimited activates

for this profile

Triangle

Move

Time

Figure 60: Timed Index Profiles

Enable Index PLS

This check box enables (when checked) or disables the Index PLS function.

An Index PLS is similar to a global PLS (explained in the PLS View section), but is incremental in nature. The Index PLS has On and Off points just like a global PLS, but the On and Off points are specified as an incremental distance from the start of the index, instead of absolute positions. Each index has its’ own On and Off points, and the Index.#.PLSStatus

100

Image 114

Emerson FM-3 manual Enable Index PLS, Timed Index Profiles

Contents

Reference Manual Page FM-3 Page Website and Email Customer Support952 Technical Support 952 995-8033 or 800 Document Conventions Training Services 952 995-8000 or 800Customer Service Sales 952 995-8000 or 800 Application Engineering 952 995-8000 or 800 EN EN Only This Represents General Warning Safety InstructionsReference Materials Qualified Person Safety of Machinery Safety PrecautionsSetup, Commissioning and Maintenance Enclosure Viii Table of Contents Programming 115 Parameter Descriptions 143 Installation 183Tuning Procedures Quick Start Diagnostics and Troubleshooting 225 Specifications 249Glossary 265 Index 273 Xii Introduction FM-3 Programming Module Reference Manual PowerTools Pro Setup Software FeaturesSoftware Interface Keypad Interface Hierarchy View Operational Overview Parameter Screens PBus Group How Motion Works How Jogging Works How Home Works Home Sequence Establishing a Home Reference Position Sensor Marker Accuracy and Repeatability Sensor and Marker Home Offset Calculated Home Offset, Peak Velocity Not Reached End of Home Position Specified Home Offset, Greater than Calculated Offset Home Examples Home Limit DistanceExample 1 Linear Application Home Sequence Sensor Example 2 Rotary Application Home Sensor and Marker then Offset, Example How Indexes Work Index Motion Sequence Indexes View Absolute vs. Incremental Absolute IndexesAbsolute Index Incremental Indexes Incremental Index Indexes with Rotary Rollover Enabled Registration IndexRotary Plus and Rotary Minus Indexes How Communications Work UploadingDownloading NVM Options for Uploading and Downloading UploadingDownloading Updating to RAM Options/Preferences/Ptools Operation Download Section Upload Section Secure Downloading Upload Non-Volatile Memory NVM Section Brake Operation Brake Release Brake ActivateBrake Disengaged Setup View Identification Group Configuration Group Drive Encoder Output Group Update Rate Group Positive Direction Group Switching Frequency Group Status Online Tab Online Only Motor Position Group Motor Velocity GroupControl Loop Group Master Feedback Group Torque Group Information Tab Online Only Drive Information GroupModule Information Group User Units View Distance GroupUnits Name Decimal Places Characteristic DistanceCharacteristic Length Scaling Scaled Distance Name Enable Separate Distance Units Check BoxVelocity Group Velocity Distance Units Scale Factor Acceleration Group Time Scale List BoxSeparate Distance Units Example Master Units View Master Units View Encoder Setup Group Master Position Setup Group Master Distance Units Master Velocity UnitsMaster Acceleration Units Enable Check Box Master Position FilterSamples Settings Group Enable Feedforward Check BoxPosition View Limits Group Software Travel Limit + Rotary GroupSoftware Travel Limits Software Travel Limit Online Tab not shown Velocity View FeedRate Override FeedRate Decel/Accel Examples Ramps View Acceleration Type Feedhold Decel/Accel Ramps GroupStop Deceleration Travel Limit Decel Torque View Torque Level Peak Torque Online Status TabTorque Limit Tuning View Load GroupInertia Ratio Tuning Group Position Error Integral GroupLow Pass Filter Group Time Constant Faults View Active Faults GroupActive Faults Window Power Up Time Power Up GroupPower Up Count Total Power Up PLS View PLS View On Point Number of PLS PointsSource Off Point Rotary Enable Rollover Point Setup NVM View Setup NVM View User Variables View NameDecimal Online Tab not shown Using Variables in a ProgramAdding and Deleting Variables Initial Value User Bits View Adding and Deleting User Bits User 32-bit Bit Register and User Bit Masking Bit Mask Result stored in each bit Configuring the User Bit Mask Register User Bits Read/Write Process User Bits Mask View Setup Group AssignmentsAssignments View Creating An Assignment Assignments View Assign Button Method Deleting An AssignmentDrag and Drop Method Delete Button Method Assignment Polarity Tying a Source to a Destination Assignments that Automatically Use Position Capture User LevelOnly Show Assigned Polarity Button Method Selector View Destinations that use captured data Selector View Assignment View Example Input Lines View Debounce Output Lines View Names Analog Inputs View User UnitsDecimal Maximum Value Read Max/Min Voltage SettingsBandwidth Maximum Voltage Motion Group Jog Name Jog ViewJog Number Time Base Jog Acceleration Jog Sources and DestinationsJog Velocity Jog Deceleration Jog.PlusActivate DestinationsJog.#.Decelerating Jog.MinusActivate Jog Select Details FM-3 Programming Module Reference Manual Home View Home NumberHome Reference Deceleration VelocityAcceleration If on sensor... Group LimitDistEnable Limit DistanceSpecified Offset Radio Button Home Sources and Destinations Home.#.Initiate Home.#.SensorTrigger Index View Index Number Index Name IndexTypeDistance/Position Timed Indexes Time Checkbox Enabled Enable Index PLS Timed Index Profiles PLS On Point PLS Off Point Registration Parameters Index.AnyCommandComplete Index Sources and DestinationsIndex.#.Accelerating Index.#.AtVel Index.#.Command CompleteIndex.#.Command In Progress Index.#.Decelerating PowerTools Menu Bar Method Adding and Deleting IndexesToolbar Icon Method Right Click Method Deleting an Index Gearing View 108 Initiating Gearing Motion Stopping Gearing Motion MotionStop for an Assignment Stopping MotionMotion Stop from a Program Example Program 0 Running on Task Network Group Modbus View 112 DeviceNet View Profibus ViewEthernet View FM-3 Programming Module Reference Manual 114 Programming Program Toolbar Icons Delete All Book Marks Next Book MarkPrevious Book Mark Red Dot Help Drag In Variables Program Where Am I?Disable Error Check Lock Program Program Flow Instructions ProgramsProgram Instruction Types If/Then/Endif Else For Count/Next Do While/Loop Wait For Wait For Time Call Program End Formula Bit Bit OrLabel Motion Instructions GoToDwell For Time Dwell for Master Dist Index.Initiate Index.CompoundInitiate Complex Velocity Profile Home.Initiate Index Velocity Profile with Drive Outputs Jog.Stop Jog.PlusInitiateJog.MinusInitiate Gear Stop Using LastMotion Modifiers Gear.Initiate Toolbar Icon Method PowerTools Menu Bar MethodAdding and Deleting Programs Adding a Program Run Anytime Programs Right Click MethodDeleting a Program 133 Out and Return Simple Resetting Faults in Run Anytime ProgramsExample Programs Out and Return More Complex Elevator Accumulator with 100 Stop Positions Simple Jogging within a Program Rotary Table with Calibrated Stop PositionsFlying Cutoff/Shear Synchronized Jog with Manual Phase Adjustment Auger Filler with Inputs to Adjust the Fill Amount Sequence Learn and Playback Learn Program Program 140 141 FM-3 Programming Module Reference Manual 142 AbsolutePositionValid AcceleratingAccelType AccelUnits.Decimal AccelUnits.TimeScaleAtVel Brake.Activate ClearFollowingErrorCommandingMotion Brake.Disengaged Decelerating DistUnits.CharacteristicDistDistUnits.CharacteristicLength DefineHome DistUnits.Name DriveEnableStatusDistUnits.Decimal DriveAmbientTemp DriveInput.#.Force DriveInput.#.ForceEnableDriveInput.#.DebounceTime DriveInput.#.Name Fault.DriveFaultsBitmap DriveOutput.#.ForceEnableDriveOutputEncoder.ScalingEnable DriveOutput.#.Name Fault.DriveOK Fault.FaultedFault.ModuleFaultsBitmap Fault.#.Counts Fault.ResetFault.#.Active FeedforwardsEnable FeedRateOverride FeedholdDecelTimeFeedRateDeactivate FoldbackActive FollowingErrorLimit FollowingErrorFollowingErrorEnable FoldbackRMS Gear.Activate Gear.CommandCompleteGear.CommandInProgrees Gear.AtVel Home.AnyCommandComplete Home.#.Accel Home.#.Accelerating Home.#.CommandCompleteHome.#.CommandInProgress Home.#.AtVel Home.#.EndPosn Home.#.LimitDistEnableHome.#.Decelerating Home.#.Initiate Home.#.Reference Home.#.OffsetTypeHome.#.OnSensorAction Home.#.SensorTrigger Home.#.TimeBase Index.AnyCommandCompleteIndex.ResetProfileLimited Home.#.Vel Index.#.Accelerating Index.#.CommandCompleteIndex.#.Accel Index.#.AnalogLimitType Index.#.Decel Index.#.CommandInProgressIndex.#.CompoundInitiate Index.#.Decelerating Index.#.LimitDistHit Index.#.PLSEnableIndex.#.Initiate Index.#.Name Index.#.RegistrationOffset Index.#.RegistrationWindowEnableIndex.#.PLSStatus Index.#.RegistrationType Index.#.TimeBase Index.#.TimedIndexEnableIndex.#.SensorTrigger Index.#.Vel InPosnTime Jog.AnyCommandCompleteInPosn InPosnWindow Jog.Stop Jog.#.CommandCompleteJog.Select0 Jog.#.Accel Jog.#.Decelerating Jog.#.CommandInProgressJog.#.Decel Jog.#.MinusInitiate Modbus.BaudRate ModuleInput.#.ForceEnableLineVoltage Modbus.ModbusId ModuleInput.#.Raw ModuleOutput.#.ForceEnableModuleInput.#.Name ModuleInput.#.Status Name MotionStopMotorType PLS.#.Direction PLS Rollover Enable PLS EnablePLS.#.PLSEnable PLS.#.RotaryRolloverEnable PLS.#.RotaryRolloverPosn PosnCommandPosnErrorIntegralEnable PLS.#.Source PowerUpCount PosnErrorIntegralTimeConstantPowerStageEnabled PowerUpTime Program.AnyComplete PowerUpTimeTotalRotaryRolloverEnable Program.#.Initiate Selector.#.Select ShuntPowerRMSSelector.SelectLinesUsed Selector.#.Selection SoftwareTravelLimitMinusPosn SoftwareTravelLimitEnableSoftwareTravelLimitMinusActive SoftwareTravelLimitPlusActive StartUp TorqueCommandTorqueCommandLimited Stop TorqueLevelActive TravelLimitDisableTorqueLevel TorqueLimit TravelLimitMinusActive TorqueLimitEnableTravelLimitMinusActivate TravelLimitPlusActivate TorqueUnits.Torque VelCommandTorqueUnits.PercentContinuousCurrent Var.Var#.Decimal VelocityUnits.Name VelocityUnits.DecimalVelocityUnits.DistVelScale VelocityUnits.ScalingFlag FM-3 Programming Module Reference Manual 182 Basic Installation Notes Mechanical Installation Modbus Communications Grip the FM On each side LCD Preparing for PowerTools Pro Installation Software InstallationPC System Configuration Installing PowerTools Pro Starting and Exiting PowerTools If You Need Help with InstallationStarting the Software Opening a New File Accessing HelpTo display Help in PowerTools, do one of the following Exiting the Software 188 Enter All Setup Data Basic Setup StepsOpening a New Configuration Window General Setup View 190 User Units View Master Units View Position View Velocity View Ramps View Tuning View Torque View Making Assignments PLS View 196 Setting Up Motion Parameters Jog Setup Home Setup Index Setup Home Setup View 200 201 Creating a Program 203 204 Example Application Start Up Example System Enable Following Error Enable this checkbox Making Assignments 208 209 210 211 212 Tuning Procedures PID vs. State-Space Tuning Procedure Initial settingsTuning steps General Tuning Hints Fully Optimized Level Tuning Parameters Inertia RatioFriction Response Feedforwards Determining Tuning Parameter Values Line Voltage EN Only Determining Friction Initial Test SettingsProcedure for Determining Friction Consider the following before determining the Friction Determining Inertia Ratio Rpmh Rpml Inertia Measurement Procedure Consider the following before determining the inertia Ramp Units Conversion Conversion Formula 223 FM-3 Programming Module Reference Manual 224 Diagnostics and Troubleshooting Diagnostic Display Fault Codes 227 Power Up Test Fault DescriptionsWatchdog Timer Flash Invalid Power Module FM-3 FaultInvalid Configuration High DC Bus Encoder State RMS Shunt PowerMax Following Error Encoder Hardware FM-3 Specific Fault Descriptions Drv Syn Isr OvrTraj Flt Watchdg Inv Parm Inv NVM Mtr TmpDvOvrTmp Pwr On FlwErr Analog Outputs Analog Output Scale units Diagnostic Analog Output Test Points Diagnostic Output Test Points 237 Resetting Faults Drive FaultsError Messages Viewing Active Drive Faults Non-Programming Error Messages Error The maximum limit of Instances is reached Error a FM3 number’s mantissa must be between -2147483647 Programming Error MessagesError Your Application is not valid to download FYI Your Application has Error Couldnt find named Variable from Text Error Can only compare,,etc numeric resultsError Couldnt find named Variable Error Program Instance does not Exist Error The destination variable does not accept Data Error Syntax error encounteredError Text Strings are limited to 12 characters Error The destination variable is Read Only 243 Error This variable cannot be assigned a selection value Error This instance does not existError This is not a fully qualified variable Error This variable type cannot be assigned a value Online Status Indicators Watch Window 246 Global Where Am I Button Motion Status FM-3 Programming Module Reference Manual 248 Specifications Dimensions and Clearances 250 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 Baud Rate AmplifierAxis Check Box Dialog Box ConfigurationDestination DIN Rail Flash Global Where AmFirmware Flash File Jog Input FunctionInput Line Least Significant Bit Output Function Option ButtonOpto-isolated Output Line Serial Port PowerTools ProRadio Button Travel Limit Variable ViewWindows, Microsoft FM-3 Programming Module Reference Manual 272 Symbols Index 274 275 FM-3 Programming Module Reference Manual 276