AbsolutePositionValid, Accelerating, AccelType | Emerson FM-3

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.

Absolute Position Valid

AbsolutePositionValid

This source is activated when either the DefineHome destination is activated, or any home is successfully completed (sensor or marker found). This source is deactivated if the drive is rebooted, an encoder fault occurs, the drive is powered down, or a home is re-initiated.

Accelerating

Accelerating

This source is active when the FM-3 module is executing an acceleration ramp. A normal index consists of 3 segments: Accelerating, At Velocity, and Decelerating. The Accelerating source will be set (active) during this acceleration segment regardless of whether the motor is speeding up or slowing down. Therefore, this source can sometimes be active when the motor is decelerating. This could be true when compounding indexes together.

Acceleration Type

AccelType

This parameter is used to select the accel/decel type for all motion (homes, jogs and indexes). The “S-Curve” ramps offer the smoothest motion, but lead to higher peak accel/decel rates. “Linear” ramps have the lowest peak accel/decel rates but they are the least smooth ramp type. “5/8 S-Curve” ramps and “1/4 S-Curve” ramps use smoothing at the beginning and end of the ramp but have constant (linear) accel rates in the middle of their profiles. The “5/8 S- Curve” is less smooth than the “S-Curve” but smoother than the “1/4 S-Curve”. S-Curve accelerations are very useful on machines where product slip is a problem. They are also useful when smooth machine operation is critical. Linear ramps are useful in applications where low peak torque is critical. Below is a comparison of the 4 ramp types:

•S-Curve: Peak Accel = 2 x Average Accel

•5/8 S-Curve: Peak Accel = 1.4545 x Average Accel

•1/4 S-Curve: Peak Accel = 1.142857 x Average Accel

•Linear: Peak Accel = Average Accel

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Emerson FM-3 manual AbsolutePositionValid, Accelerating, AccelType

Contents

Reference Manual Page FM-3 Page 952 Customer SupportWebsite and Email Technical Support 952 995-8033 or 800 Customer Service Sales 952 995-8000 or 800 Training Services 952 995-8000 or 800Document Conventions Application Engineering 952 995-8000 or 800 This Represents EN EN Only Reference Materials Safety InstructionsGeneral Warning Qualified Person Setup, Commissioning and Maintenance Safety PrecautionsSafety of Machinery Enclosure Viii Table of Contents Tuning Procedures Parameter Descriptions 143 Installation 183Programming 115 Quick Start Specifications 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 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 Limit Distance Home ExamplesExample 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 Indexes Absolute vs. IncrementalAbsolute Index Incremental Index Incremental Indexes Registration 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 Operation Upload Section Upload Non-Volatile Memory NVM Section Secure Downloading Brake Operation Brake Activate Brake ReleaseBrake 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 Velocity Group Motor Position GroupControl Loop Group Torque Group Master Feedback Group Drive Information Group Information Tab Online OnlyModule Information Group Distance Group User Units ViewUnits Name Characteristic Length Characteristic DistanceDecimal Places Scaling Velocity Group Enable Separate Distance Units Check BoxScaled Distance Name Velocity Distance Units Scale Factor Time Scale List Box Acceleration GroupSeparate Distance Units Example Master Units View Master Units View Master Position Setup Group Encoder Setup Group Master 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 Limit Online Tab not shown FeedRate Override Velocity View Examples FeedRate Decel/Accel Acceleration Type Ramps View Stop Deceleration Ramps GroupFeedhold Decel/Accel Travel Limit Decel Torque Level Torque View Online 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 Up PLS View PLS View Source Number of PLS PointsOn Point Off Point Rollover Point Rotary Enable Setup NVM View Setup NVM View Name User Variables ViewDecimal Adding and Deleting Variables Using Variables in a ProgramOnline Tab not shown Initial Value 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 Assignments Setup GroupAssignments View Assignments View Creating An Assignment Drag and Drop Method Deleting An AssignmentAssign Button Method Delete Button Method Tying a Source to a Destination Assignment Polarity Only Show Assigned User LevelAssignments that Automatically Use Position Capture Polarity Button Method Destinations that use captured data Selector View Selector View Assignment View Example Debounce Input Lines View Names Output Lines View User Units Analog Inputs ViewDecimal Bandwidth Read Max/Min Voltage SettingsMaximum Value Maximum Voltage Motion Group Jog Number Jog ViewJog Name Time Base Jog Velocity Jog Sources and DestinationsJog Acceleration Jog Deceleration Jog.#.Decelerating DestinationsJog.PlusActivate Jog.MinusActivate Jog Select Details FM-3 Programming Module Reference Manual Home Number Home ViewHome Reference Acceleration VelocityDeceleration If on sensor... Group Limit Distance LimitDistEnableSpecified Offset Radio Button Home Sources and Destinations Home.#.SensorTrigger Home.#.Initiate Index Number Index View IndexType Index NameDistance/Position Timed Indexes Time Checkbox Enabled Timed Index Profiles Enable Index PLS PLS Off Point PLS On Point Registration Parameters Index Sources and Destinations Index.AnyCommandCompleteIndex.#.Accelerating Index.#.Command In Progress Index.#.Command CompleteIndex.#.AtVel Index.#.Decelerating Adding and Deleting Indexes PowerTools Menu Bar MethodToolbar Icon Method Deleting an Index Right Click Method Gearing View 108 Stopping Gearing Motion Initiating Gearing Motion Motion Stop from a Program Stopping MotionMotionStop for an Assignment Example Program 0 Running on Task Modbus View Network Group 112 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 Help Disable Error Check Program Where Am I?Drag In Variables Lock Program Program Instruction Types ProgramsProgram Flow Instructions If/Then/Endif For Count/Next Else Wait For Do While/Loop Call Program Wait For Time Formula End Bit Or BitLabel GoTo Motion InstructionsDwell For Time Index.Initiate Dwell for Master Dist Complex Velocity Profile Index.CompoundInitiate Index Velocity Profile with Drive Outputs Home.Initiate Jog.PlusInitiate Jog.StopJog.MinusInitiate Motion Modifiers Using LastGear Stop Gear.Initiate Adding and Deleting Programs PowerTools Menu Bar MethodToolbar Icon Method Adding a Program Right Click Method Run Anytime ProgramsDeleting a Program 133 Example Programs Resetting Faults in Run Anytime ProgramsOut and Return Simple Out and Return More Complex Elevator 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 Playback 140 141 FM-3 Programming Module Reference Manual 142 Accelerating AbsolutePositionValidAccelType AccelUnits.TimeScale AccelUnits.DecimalAtVel CommandingMotion ClearFollowingErrorBrake.Activate Brake.Disengaged DistUnits.CharacteristicLength DistUnits.CharacteristicDistDecelerating DefineHome DistUnits.Decimal DriveEnableStatusDistUnits.Name DriveAmbientTemp DriveInput.#.DebounceTime DriveInput.#.ForceEnableDriveInput.#.Force DriveInput.#.Name DriveOutputEncoder.ScalingEnable DriveOutput.#.ForceEnableFault.DriveFaultsBitmap DriveOutput.#.Name Fault.Faulted Fault.DriveOKFault.ModuleFaultsBitmap Fault.#.Active Fault.ResetFault.#.Counts FeedforwardsEnable FeedRateDeactivate FeedholdDecelTimeFeedRateOverride FoldbackActive FollowingErrorEnable FollowingErrorFollowingErrorLimit FoldbackRMS Gear.CommandInProgrees Gear.CommandCompleteGear.Activate Gear.AtVel Home.#.Accel Home.AnyCommandComplete Home.#.CommandInProgress Home.#.CommandCompleteHome.#.Accelerating Home.#.AtVel Home.#.Decelerating Home.#.LimitDistEnableHome.#.EndPosn Home.#.Initiate Home.#.OnSensorAction Home.#.OffsetTypeHome.#.Reference Home.#.SensorTrigger Index.ResetProfileLimited Index.AnyCommandCompleteHome.#.TimeBase Home.#.Vel Index.#.Accel Index.#.CommandCompleteIndex.#.Accelerating Index.#.AnalogLimitType Index.#.CompoundInitiate Index.#.CommandInProgressIndex.#.Decel Index.#.Decelerating Index.#.Initiate Index.#.PLSEnableIndex.#.LimitDistHit Index.#.Name Index.#.PLSStatus Index.#.RegistrationWindowEnableIndex.#.RegistrationOffset Index.#.RegistrationType Index.#.SensorTrigger Index.#.TimedIndexEnableIndex.#.TimeBase Index.#.Vel InPosn Jog.AnyCommandCompleteInPosnTime InPosnWindow Jog.Select0 Jog.#.CommandCompleteJog.Stop Jog.#.Accel Jog.#.Decel Jog.#.CommandInProgressJog.#.Decelerating Jog.#.MinusInitiate LineVoltage ModuleInput.#.ForceEnableModbus.BaudRate Modbus.ModbusId ModuleInput.#.Name ModuleOutput.#.ForceEnableModuleInput.#.Raw ModuleInput.#.Status MotorType MotionStopName PLS.#.Direction PLS.#.PLSEnable PLS EnablePLS Rollover Enable PLS.#.RotaryRolloverEnable PosnErrorIntegralEnable PosnCommandPLS.#.RotaryRolloverPosn PLS.#.Source PowerStageEnabled PosnErrorIntegralTimeConstantPowerUpCount PowerUpTime RotaryRolloverEnable PowerUpTimeTotalProgram.AnyComplete Program.#.Initiate Selector.SelectLinesUsed ShuntPowerRMSSelector.#.Select Selector.#.Selection SoftwareTravelLimitMinusActive SoftwareTravelLimitEnableSoftwareTravelLimitMinusPosn SoftwareTravelLimitPlusActive TorqueCommandLimited TorqueCommandStartUp Stop TorqueLevel TravelLimitDisableTorqueLevelActive TorqueLimit TravelLimitMinusActivate TorqueLimitEnableTravelLimitMinusActive TravelLimitPlusActivate TorqueUnits.PercentContinuousCurrent VelCommandTorqueUnits.Torque Var.Var#.Decimal VelocityUnits.DistVelScale VelocityUnits.DecimalVelocityUnits.Name VelocityUnits.ScalingFlag FM-3 Programming Module Reference Manual 182 Mechanical Installation Basic Installation Notes Grip the FM On each side LCD Modbus Communications PC System Configuration Software InstallationPreparing for PowerTools Pro Installation Installing PowerTools Pro If 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 Software 188 Opening a New Configuration Window Basic Setup StepsEnter All Setup Data General Setup View 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 Initial settings Tuning ProcedureTuning steps Fully Optimized Level General Tuning Hints Inertia Ratio Tuning ParametersFriction Feedforwards Response Line Voltage EN Only Determining Tuning Parameter Values Procedure for Determining Friction Initial Test SettingsDetermining Friction Consider the following before determining the 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 Watchdog Timer Fault DescriptionsPower Up Test Flash Invalid Invalid Configuration FM-3 FaultPower Module High DC Bus Max Following Error RMS Shunt PowerEncoder State Encoder Hardware FM-3 Specific Fault Descriptions Traj Flt Isr OvrDrv Syn Watchdg DvOvrTmp Mtr TmpInv Parm Inv NVM Pwr On FlwErr Analog Outputs Analog Output Scale units Diagnostic Output Test Points Diagnostic Analog Output Test Points 237 Error Messages Drive FaultsResetting Faults Viewing Active Drive Faults Error The maximum limit of Instances is reached Non-Programming Error Messages Error Your Application is not valid to download Programming Error MessagesError a FM3 number’s mantissa must be between -2147483647 FYI Your Application has Error Couldnt find named Variable Error Can only compare,,etc numeric resultsError Couldnt find named Variable from Text Error Program Instance does not Exist Error Text Strings are limited to 12 characters Error Syntax error encounteredError The destination variable does not accept Data Error The destination variable is Read Only 243 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 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 Axis AmplifierBaud Rate Check Box Destination ConfigurationDialog Box DIN Rail Firmware Global Where AmFlash Flash File Input Line Input FunctionJog Least Significant Bit Opto-isolated Option ButtonOutput Function Output Line Radio Button PowerTools ProSerial Port Travel Limit View VariableWindows, Microsoft FM-3 Programming Module Reference Manual 272 Index Symbols 274 275 FM-3 Programming Module Reference Manual 276