How Home Works | Emerson FM-3 specification

FM-3 Programming Module Reference Manual

Figure 5:

Jog Tab

How Home Works

The Home is used in applications in which the axis must be precisely aligned with some part of the machine. The Home is initiated in one of three ways: with the Initiate Destination function found in the Assignments view, through a program, or with the Online tab. A Home or Define Home is required to set the Absolute Position Valid so that any index to absolute position can work.

The FM-3 module can home the motor to an external sensor, the motor’s encoder marker pulse, or to a sensor and then to the encoder marker pulse.

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Emerson FM-3 manual How Home Works

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 Specifications 249 Diagnostics and Troubleshooting 225Glossary 265 Index 273 Xii Introduction FM-3 Programming Module Reference Manual Features PowerTools Pro Setup SoftwareSoftware 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 Limit Distance Home ExamplesExample 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 Indexes Absolute vs. IncrementalAbsolute Index Incremental Indexes Incremental Index 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 Options/Preferences/Ptools Operation Download Section Upload Section Secure Downloading Upload Non-Volatile Memory NVM Section Brake Operation Brake Activate Brake ReleaseBrake 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 Velocity Group Motor Position GroupControl Loop Group Master Feedback Group Torque Group Drive Information Group Information Tab Online OnlyModule Information Group Distance Group User Units ViewUnits Name Decimal Places Characteristic DistanceCharacteristic Length Scaling Scaled Distance Name Enable Separate Distance Units Check BoxVelocity Group Velocity Distance Units Scale Factor Time Scale List Box Acceleration GroupSeparate Distance Units Example Master Units View Master Units View Encoder Setup Group Master Position 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 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 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 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 Name User Variables ViewDecimal 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 Assignments Setup GroupAssignments 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 User Units Analog Inputs ViewDecimal 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 Number Home ViewHome Reference Deceleration VelocityAcceleration If on sensor... Group Limit Distance LimitDistEnableSpecified Offset Radio Button Home Sources and Destinations Home.#.Initiate Home.#.SensorTrigger Index View Index Number IndexType Index NameDistance/Position Timed Indexes Time Checkbox Enabled Enable Index PLS Timed Index Profiles PLS On Point PLS Off Point Registration Parameters Index Sources and Destinations Index.AnyCommandCompleteIndex.#.Accelerating Index.#.AtVel Index.#.Command CompleteIndex.#.Command In Progress Index.#.Decelerating Adding and Deleting Indexes PowerTools Menu Bar MethodToolbar 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 Profibus View DeviceNet 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 Or BitLabel GoTo Motion InstructionsDwell For Time Dwell for Master Dist Index.Initiate Index.CompoundInitiate Complex Velocity Profile Home.Initiate Index Velocity Profile with Drive Outputs Jog.PlusInitiate Jog.StopJog.MinusInitiate Gear Stop Using LastMotion Modifiers Gear.Initiate Toolbar Icon Method PowerTools Menu Bar MethodAdding and Deleting Programs Adding a Program Right Click Method Run Anytime ProgramsDeleting 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 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 Sequence Learn and Playback Learn Program Program 140 141 FM-3 Programming Module Reference Manual 142 Accelerating AbsolutePositionValidAccelType AccelUnits.TimeScale AccelUnits.DecimalAtVel 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.Faulted Fault.DriveOKFault.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 If You Need Help with Installation Starting and Exiting PowerToolsStarting 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 Initial settings Tuning ProcedureTuning steps General Tuning Hints Fully Optimized Level Inertia Ratio Tuning ParametersFriction 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 View VariableWindows, Microsoft FM-3 Programming Module Reference Manual 272 Symbols Index 274 275 FM-3 Programming Module Reference Manual 276