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manual FM-3 Programming Module Reference Manual 114
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Specifications
Characteristic Distance
Install
Error codes
Cable Diagrams
Dimension
Configuration Group
Fault.Reset
Diagnostic Display
PowerTools Pro Setup Software
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FM-3
Programming Module Reference Manual
114
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Contents
Reference Manual
Page
FM-3
Page
Customer Support
952
Website and Email
Technical Support 952 995-8033 or 800
Training Services 952 995-8000 or 800
Customer Service Sales 952 995-8000 or 800
Document Conventions
Application Engineering 952 995-8000 or 800
EN EN Only
This Represents
Safety Instructions
Reference Materials
General Warning
Qualified Person
Safety Precautions
Setup, Commissioning and Maintenance
Safety of Machinery
Enclosure
Viii
Table of Contents
Parameter Descriptions 143 Installation 183
Tuning Procedures
Programming 115
Quick Start
Glossary 265 Index 273
Diagnostics and Troubleshooting 225
Specifications 249
Xii
Introduction
FM-3 Programming Module Reference Manual
Software Interface
PowerTools Pro Setup Software
Features
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
Example 1 Linear Application
Home Examples
Home Limit Distance
Home Sequence
Sensor
Example 2 Rotary Application
Home Sensor and Marker then Offset, Example
How Indexes Work
Index Motion Sequence
Indexes View
Absolute Index
Absolute vs. Incremental
Absolute Indexes
Incremental Indexes
Incremental Index
Rotary Plus and Rotary Minus Indexes
Indexes with Rotary Rollover Enabled
Registration Index
Downloading
How Communications Work
Uploading
Downloading
NVM Options for Uploading and Downloading
Uploading
Updating to RAM
Options/Preferences/Ptools Operation
Download Section
Upload Section
Secure Downloading
Upload Non-Volatile Memory NVM Section
Brake Operation
Brake Disengaged
Brake Release
Brake Activate
Setup View
Identification Group
Configuration Group
Drive Encoder Output Group
Update Rate Group
Positive Direction Group
Switching Frequency Group
Status Online Tab Online Only
Control Loop Group
Motor Position Group
Motor Velocity Group
Master Feedback Group
Torque Group
Module Information Group
Information Tab Online Only
Drive Information Group
Units Name
User Units View
Distance Group
Characteristic Distance
Characteristic Length
Decimal Places
Scaling
Enable Separate Distance Units Check Box
Velocity Group
Scaled Distance Name
Velocity Distance Units Scale Factor
Separate Distance Units Example
Acceleration Group
Time Scale List Box
Master Units View
Master Units View
Encoder Setup Group
Master Position Setup Group
Master Acceleration Units
Master Distance Units
Master Velocity Units
Samples
Enable Check Box
Master Position Filter
Position View
Settings Group
Enable Feedforward Check Box
Limits Group
Rotary Group
Software Travel Limits
Software Travel Limit +
Software Travel Limit
Online Tab not shown
Velocity View
FeedRate Override
FeedRate Decel/Accel
Examples
Ramps View
Acceleration Type
Ramps Group
Stop Deceleration
Feedhold Decel/Accel
Travel Limit Decel
Torque View
Torque Level
Torque Limit
Peak Torque
Online Status Tab
Inertia Ratio
Tuning View
Load Group
Low Pass Filter Group
Tuning Group
Position Error Integral Group
Time Constant
Active Faults Window
Faults View
Active Faults Group
Power Up Group
Power Up Count
Power Up Time
Total Power Up
PLS View
PLS View
Number of PLS Points
Source
On Point
Off Point
Rotary Enable
Rollover Point
Setup NVM View
Setup NVM View
Decimal
User Variables View
Name
Using Variables in a Program
Adding and Deleting Variables
Online Tab not shown
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
Assignments View
Setup Group
Assignments
Creating An Assignment
Assignments View
Deleting An Assignment
Drag and Drop Method
Assign Button Method
Delete Button Method
Assignment Polarity
Tying a Source to a Destination
User Level
Only Show Assigned
Assignments that Automatically Use Position Capture
Polarity Button Method
Selector View
Destinations that use captured data
Selector View
Assignment View
Example
Input Lines View
Debounce
Output Lines View
Names
Decimal
Analog Inputs View
User Units
Read Max/Min Voltage Settings
Bandwidth
Maximum Value
Maximum Voltage
Motion Group
Jog View
Jog Number
Jog Name
Time Base
Jog Sources and Destinations
Jog Velocity
Jog Acceleration
Jog Deceleration
Destinations
Jog.#.Decelerating
Jog.PlusActivate
Jog.MinusActivate
Jog Select Details
FM-3 Programming Module Reference Manual
Home Reference
Home View
Home Number
Velocity
Acceleration
Deceleration
If on sensor... Group
Specified Offset Radio Button
LimitDistEnable
Limit Distance
Home Sources and Destinations
Home.#.Initiate
Home.#.SensorTrigger
Index View
Index Number
Distance/Position
Index Name
IndexType
Timed Indexes
Time Checkbox Enabled
Enable Index PLS
Timed Index Profiles
PLS On Point
PLS Off Point
Registration Parameters
Index.#.Accelerating
Index.AnyCommandComplete
Index Sources and Destinations
Index.#.Command Complete
Index.#.Command In Progress
Index.#.AtVel
Index.#.Decelerating
Toolbar Icon Method
PowerTools Menu Bar Method
Adding and Deleting Indexes
Right Click Method
Deleting an Index
Gearing View
108
Initiating Gearing Motion
Stopping Gearing Motion
Stopping Motion
Motion Stop from a Program
MotionStop for an Assignment
Example Program 0 Running on Task
Network Group
Modbus View
112
Ethernet View
DeviceNet View
Profibus View
FM-3 Programming Module Reference Manual 114
Programming
Program Toolbar Icons
Next Book Mark
Previous Book Mark
Delete All Book Marks
Red Dot Help
Program Where Am I?
Disable Error Check
Drag In Variables
Lock Program
Programs
Program Instruction Types
Program Flow Instructions
If/Then/Endif
Else
For Count/Next
Do While/Loop
Wait For
Wait For Time
Call Program
End
Formula
Label
Bit
Bit Or
Dwell For Time
Motion Instructions
GoTo
Dwell for Master Dist
Index.Initiate
Index.CompoundInitiate
Complex Velocity Profile
Home.Initiate
Index Velocity Profile with Drive Outputs
Jog.MinusInitiate
Jog.Stop
Jog.PlusInitiate
Using Last
Motion Modifiers
Gear Stop
Gear.Initiate
PowerTools Menu Bar Method
Adding and Deleting Programs
Toolbar Icon Method
Adding a Program
Deleting a Program
Run Anytime Programs
Right Click Method
133
Resetting Faults in Run Anytime Programs
Example Programs
Out and Return Simple
Out and Return More Complex
Elevator Accumulator with 100 Stop Positions
Flying Cutoff/Shear
Simple Jogging within a Program
Rotary Table with Calibrated Stop Positions
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
AccelType
AbsolutePositionValid
Accelerating
AtVel
AccelUnits.Decimal
AccelUnits.TimeScale
ClearFollowingError
CommandingMotion
Brake.Activate
Brake.Disengaged
DistUnits.CharacteristicDist
DistUnits.CharacteristicLength
Decelerating
DefineHome
DriveEnableStatus
DistUnits.Decimal
DistUnits.Name
DriveAmbientTemp
DriveInput.#.ForceEnable
DriveInput.#.DebounceTime
DriveInput.#.Force
DriveInput.#.Name
DriveOutput.#.ForceEnable
DriveOutputEncoder.ScalingEnable
Fault.DriveFaultsBitmap
DriveOutput.#.Name
Fault.ModuleFaultsBitmap
Fault.DriveOK
Fault.Faulted
Fault.Reset
Fault.#.Active
Fault.#.Counts
FeedforwardsEnable
FeedholdDecelTime
FeedRateDeactivate
FeedRateOverride
FoldbackActive
FollowingError
FollowingErrorEnable
FollowingErrorLimit
FoldbackRMS
Gear.CommandComplete
Gear.CommandInProgrees
Gear.Activate
Gear.AtVel
Home.AnyCommandComplete
Home.#.Accel
Home.#.CommandComplete
Home.#.CommandInProgress
Home.#.Accelerating
Home.#.AtVel
Home.#.LimitDistEnable
Home.#.Decelerating
Home.#.EndPosn
Home.#.Initiate
Home.#.OffsetType
Home.#.OnSensorAction
Home.#.Reference
Home.#.SensorTrigger
Index.AnyCommandComplete
Index.ResetProfileLimited
Home.#.TimeBase
Home.#.Vel
Index.#.CommandComplete
Index.#.Accel
Index.#.Accelerating
Index.#.AnalogLimitType
Index.#.CommandInProgress
Index.#.CompoundInitiate
Index.#.Decel
Index.#.Decelerating
Index.#.PLSEnable
Index.#.Initiate
Index.#.LimitDistHit
Index.#.Name
Index.#.RegistrationWindowEnable
Index.#.PLSStatus
Index.#.RegistrationOffset
Index.#.RegistrationType
Index.#.TimedIndexEnable
Index.#.SensorTrigger
Index.#.TimeBase
Index.#.Vel
Jog.AnyCommandComplete
InPosn
InPosnTime
InPosnWindow
Jog.#.CommandComplete
Jog.Select0
Jog.Stop
Jog.#.Accel
Jog.#.CommandInProgress
Jog.#.Decel
Jog.#.Decelerating
Jog.#.MinusInitiate
ModuleInput.#.ForceEnable
LineVoltage
Modbus.BaudRate
Modbus.ModbusId
ModuleOutput.#.ForceEnable
ModuleInput.#.Name
ModuleInput.#.Raw
ModuleInput.#.Status
MotionStop
MotorType
Name
PLS.#.Direction
PLS Enable
PLS.#.PLSEnable
PLS Rollover Enable
PLS.#.RotaryRolloverEnable
PosnCommand
PosnErrorIntegralEnable
PLS.#.RotaryRolloverPosn
PLS.#.Source
PosnErrorIntegralTimeConstant
PowerStageEnabled
PowerUpCount
PowerUpTime
PowerUpTimeTotal
RotaryRolloverEnable
Program.AnyComplete
Program.#.Initiate
ShuntPowerRMS
Selector.SelectLinesUsed
Selector.#.Select
Selector.#.Selection
SoftwareTravelLimitEnable
SoftwareTravelLimitMinusActive
SoftwareTravelLimitMinusPosn
SoftwareTravelLimitPlusActive
TorqueCommand
TorqueCommandLimited
StartUp
Stop
TravelLimitDisable
TorqueLevel
TorqueLevelActive
TorqueLimit
TorqueLimitEnable
TravelLimitMinusActivate
TravelLimitMinusActive
TravelLimitPlusActivate
VelCommand
TorqueUnits.PercentContinuousCurrent
TorqueUnits.Torque
Var.Var#.Decimal
VelocityUnits.Decimal
VelocityUnits.DistVelScale
VelocityUnits.Name
VelocityUnits.ScalingFlag
FM-3 Programming Module Reference Manual 182
Basic Installation Notes
Mechanical Installation
Modbus Communications
Grip the FM On each side LCD
Software Installation
PC System Configuration
Preparing for PowerTools Pro Installation
Installing PowerTools Pro
Starting the Software
Starting and Exiting PowerTools
If You Need Help with Installation
Accessing Help
To display Help in PowerTools, do one of the following
Opening a New File
Exiting the Software
188
Basic Setup Steps
Opening a New Configuration Window
Enter All Setup Data
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 steps
Tuning Procedure
Initial settings
General Tuning Hints
Fully Optimized Level
Friction
Tuning Parameters
Inertia Ratio
Response
Feedforwards
Determining Tuning Parameter Values
Line Voltage EN Only
Initial Test Settings
Procedure for Determining Friction
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
Fault Descriptions
Watchdog Timer
Power Up Test
Flash Invalid
FM-3 Fault
Invalid Configuration
Power Module
High DC Bus
RMS Shunt Power
Max Following Error
Encoder State
Encoder Hardware
FM-3 Specific Fault Descriptions
Isr Ovr
Traj Flt
Drv Syn
Watchdg
Mtr Tmp
DvOvrTmp
Inv Parm Inv NVM
Pwr On FlwErr
Analog Outputs
Analog Output Scale units
Diagnostic Analog Output Test Points
Diagnostic Output Test Points
237
Drive Faults
Error Messages
Resetting Faults
Viewing Active Drive Faults
Non-Programming Error Messages
Error The maximum limit of Instances is reached
Programming Error Messages
Error Your Application is not valid to download
Error a FM3 number’s mantissa must be between -2147483647
FYI Your Application has
Error Can only compare,,etc numeric results
Error Couldnt find named Variable
Error Couldnt find named Variable from Text
Error Program Instance does not Exist
Error Syntax error encountered
Error Text Strings are limited to 12 characters
Error The destination variable does not accept Data
Error The destination variable is Read Only
243
Error This instance does not exist
Error This is not a fully qualified variable
Error This variable cannot be assigned a selection value
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
Amplifier
Axis
Baud Rate
Check Box
Configuration
Destination
Dialog Box
DIN Rail
Global Where Am
Firmware
Flash
Flash File
Input Function
Input Line
Jog
Least Significant Bit
Option Button
Opto-isolated
Output Function
Output Line
PowerTools Pro
Radio Button
Serial Port
Travel Limit
Windows, Microsoft
Variable
View
FM-3 Programming Module Reference Manual 272
Symbols
Index
274
275
FM-3 Programming Module Reference Manual 276