133 | Emerson FM-3 specification

Programming

Figure 68: Program View with "Run Anytime" Checkbox Enabled

When a fault occurs, the drive will still be disabled, and no motion will be possible. For this reason, it may be necessary to reset the fault in the "Run Anytime" program prior to running motion again. If a motion instruction is processed while the drive is disabled, the program will stall on that particular line of the program, but the program will not stop.

Certain conditions will still cause a program designated as "Run Anytime" to stop. These conditions are listed below:

•Stop Function is activated

•"Run Anytime" program has a program fault

Multiple programs may be configured as "Run Anytime" programs and can be called from a program the same as any other program. If a "Run Anytime" program calls another program which is not configured to run anytime while the drive is faulted or disabled, the task will be stopped.

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Emerson FM-3 manual 133

Contents

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