PosnErrorIntegralTimeConstant, PosnFeedback | Emerson FM-3 specification

Parameter Descriptions

Position Error Integral Time Constant

PosnErrorIntegralTimeConstant

Position Error Integral parameter is a control term, which can be used in Pulse mode to compensate for the continuous torque required to hold a vertical load against gravity or to minimize following error.

The user configures this control term using the “Position Error Integral Time Constant” parameter. This parameter determines how quickly the drive will correct for in-position following error. The time constant is in milliseconds and defines how long it will take to decrease the following error to 37 percent of the original value. In certain circumstances the value actually used by the drive will be greater than the value specified here.

Min Time Constant = 1000/Response

For example, with “Response” set to 50, the minimum time constant value is 1000/50 = 20 msec.

Position Feedback

PosnFeedback

Feedback position is the actual motor position in user units. PosnCommand minus the PosnFeedback is the FollowingError

Position Feedback In Counts

PosnFeedbackInCounts

Motor encoder position in encoder counts since power up. This position reflects the feedback position of the motor and is not scaled into user units. It can be used to confirm the exact position of the motor in applications where precise positioning is required.

Power Stage Enabled

PowerStageEnabled

This source (output function) is active when the drive's power stage is enabled.

PowerUpCount

PowerUpCount

Number of times the drive has been powered up since it was manufactured.

PowerUpTime

PowerUpTime

Time elapsed since last drive power-up. Units is minutes.

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Emerson FM-3 manual PosnErrorIntegralTimeConstant, PosnFeedbackInCounts, PowerStageEnabled, PowerUpCount, PowerUpTime

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 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 Scaling Characteristic DistanceCharacteristic Length Decimal Places Velocity Distance Units Scale Factor Enable Separate Distance Units Check BoxVelocity Group Scaled Distance Name 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 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 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 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 Name User Variables ViewDecimal 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 Assignments Setup GroupAssignments 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 User Units Analog Inputs ViewDecimal 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 Number Home ViewHome Reference If on sensor... Group VelocityAcceleration Deceleration 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.#.Decelerating Index.#.Command CompleteIndex.#.Command In Progress Index.#.AtVel 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 Example Program 0 Running on Task Stopping MotionMotion Stop from a Program MotionStop for an Assignment Modbus View Network Group 112 Profibus View DeviceNet 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 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 Gear.Initiate Using LastMotion Modifiers Gear Stop Adding a Program PowerTools Menu Bar MethodAdding and Deleting Programs Toolbar Icon Method Right Click Method Run Anytime ProgramsDeleting 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 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 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.Faulted Fault.DriveOKFault.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 If You Need Help with Installation Starting and Exiting PowerToolsStarting 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 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 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 View VariableWindows, Microsoft FM-3 Programming Module Reference Manual 272 Index Symbols 274 275 FM-3 Programming Module Reference Manual 276