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Emerson FM-3 manual 223

Models: FM-3

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Page 237

Tuning Procedures

	Motor	Drive	Vm	Percent Continuous/volt	RPM /volt Scaled Velocity
				Scaled Torque Command	RPM /volt Scaled Velocity
				Scaled Torque Command	Command Output (default))
				Output (default))	Command Output (default))
				Output (default))

	NT-320		4.30	30	600

	MG-205	EN-204	4.77	30	600

	MG-208		5.11	30	600
	MG-208		5.11	30	600

	MG-316		3.17	30	600

	NT-320		5.16	30	600

	NT-330		6.87	30	600

	NT-345		6.72	30	600

	NT-355	EN-208	5.97	30	600

	MG-316		3.17	30	600

	MG-340		3.14	30	600

	MG-455		2.44	30	600

	NT-345		6.72	30	600

	NT-355		5.97	30	600

	MG-455	EN-214	2.44	30	600

	MG-490		1.85	30	600

	MG-4120		1.69	30	600

	NT-207		7.27	30	600

	NT-212	Eb-202	5.37	30	600

	MG-205		4.77	30	600
	MG-205		4.77	30	600

	MG-208		3.63	30	600

	NT-207		7.27	30	600

	NT-212		7.22	30	600

	MG-205	Eb-203	4.77	30	600

	MG-208		4.63	30	600

	MG-316		2.67	30	600

	NT-320		4.77	30	600

	NT-330	Eb-205	5.50	30	600

	NT-345		5.10	30	600

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Image 237

Emerson FM-3 manual 223

Contents

Reference Manual Page FM-3 Page 952 Customer SupportWebsite and Email Technical Support 952 995-8033 or 800Customer Service Sales 952 995-8000 or 800 Training Services 952 995-8000 or 800Document Conventions Application Engineering 952 995-8000 or 800This Represents EN EN OnlyReference Materials Safety InstructionsGeneral Warning Qualified PersonSetup, Commissioning and Maintenance Safety PrecautionsSafety of Machinery EnclosureViii Table of Contents Tuning Procedures Parameter Descriptions 143 Installation 183Programming 115 Quick StartDiagnostics 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 InterfaceOperational Overview PBus Group Parameter ScreensHow Jogging Works How Motion WorksHow Home Works Establishing a Home Reference Position Home SequenceMarker SensorSensor and Marker Accuracy and RepeatabilityHome Offset Calculated Home Offset, Peak Velocity Not Reached Specified Home Offset, Greater than Calculated Offset End of Home PositionHome Examples Home Limit DistanceExample 1 Linear Application Sensor Home SequenceHome Sensor and Marker then Offset, Example Example 2 Rotary ApplicationIndex Motion Sequence How Indexes WorkIndexes View Absolute vs. Incremental Absolute IndexesAbsolute Index Incremental Index Incremental IndexesIndexes 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 OperationUpload Section Upload Non-Volatile Memory NVM Section Secure DownloadingBrake Operation Brake Release Brake ActivateBrake Disengaged Identification Group Setup ViewDrive Encoder Output Group Configuration GroupPositive Direction Group Update Rate GroupStatus Online Tab Online Only Switching Frequency GroupMotor Position Group Motor Velocity GroupControl Loop Group Torque Group Master Feedback GroupInformation Tab Online Only Drive Information GroupModule Information Group User Units View Distance GroupUnits Name Characteristic Length Characteristic DistanceDecimal Places ScalingVelocity Group Enable Separate Distance Units Check BoxScaled Distance Name Velocity Distance Units Scale FactorAcceleration Group Time Scale List BoxSeparate Distance Units Example Master Units View Master Units ViewMaster Position Setup Group Encoder Setup GroupMaster Distance Units Master Velocity UnitsMaster Acceleration Units Enable Check Box Master Position FilterSamples Settings Group Enable Feedforward Check BoxPosition View Limits Group Software Travel Limits Rotary GroupSoftware Travel Limit + Software Travel LimitOnline Tab not shown FeedRate Override Velocity ViewExamples FeedRate Decel/AccelAcceleration Type Ramps ViewStop Deceleration Ramps GroupFeedhold Decel/Accel Travel Limit DecelTorque Level Torque ViewPeak 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 Power Up Count Power Up GroupPower Up Time Total Power UpPLS View PLS ViewSource Number of PLS PointsOn Point Off PointRollover Point Rotary EnableSetup NVM View Setup NVM ViewUser Variables View NameDecimal Adding and Deleting Variables Using Variables in a ProgramOnline Tab not shown Initial ValueUser Bits View Adding and Deleting User Bits Bit Mask Result stored in each bit User 32-bit Bit Register and User Bit MaskingUser Bits Read/Write Process Configuring the User Bit Mask RegisterUser Bits Mask View Setup Group AssignmentsAssignments View Assignments View Creating An AssignmentDrag and Drop Method Deleting An AssignmentAssign Button Method Delete Button MethodTying a Source to a Destination Assignment PolarityOnly Show Assigned User LevelAssignments that Automatically Use Position Capture Polarity Button MethodDestinations that use captured data Selector ViewSelector View Assignment View Example Debounce Input Lines ViewNames Output Lines ViewAnalog Inputs View User UnitsDecimal Bandwidth Read Max/Min Voltage SettingsMaximum Value Maximum VoltageMotion Group Jog Number Jog ViewJog Name Time BaseJog Velocity Jog Sources and DestinationsJog Acceleration Jog DecelerationJog.#.Decelerating DestinationsJog.PlusActivate Jog.MinusActivateJog Select Details FM-3 Programming Module Reference Manual Home View Home NumberHome Reference Acceleration VelocityDeceleration If on sensor... GroupLimitDistEnable Limit DistanceSpecified Offset Radio Button Home Sources and Destinations Home.#.SensorTrigger Home.#.InitiateIndex Number Index ViewIndex Name IndexTypeDistance/Position Timed Indexes Time Checkbox Enabled Timed Index Profiles Enable Index PLSPLS Off Point PLS On PointRegistration Parameters Index.AnyCommandComplete Index Sources and DestinationsIndex.#.Accelerating Index.#.Command In Progress Index.#.Command CompleteIndex.#.AtVel Index.#.DeceleratingPowerTools Menu Bar Method Adding and Deleting IndexesToolbar Icon Method Deleting an Index Right Click MethodGearing View 108 Stopping Gearing Motion Initiating Gearing MotionMotion Stop from a Program Stopping MotionMotionStop for an Assignment Example Program 0 Running on TaskModbus View Network Group112 DeviceNet View Profibus ViewEthernet View FM-3 Programming Module Reference Manual 114 Programming Program Toolbar Icons Previous Book Mark Next Book MarkDelete All Book Marks Red Dot HelpDisable Error Check Program Where Am I?Drag In Variables Lock ProgramProgram Instruction Types ProgramsProgram Flow Instructions If/Then/EndifFor Count/Next ElseWait For Do While/LoopCall Program Wait For TimeFormula EndBit Bit OrLabel Motion Instructions GoToDwell For Time Index.Initiate Dwell for Master DistComplex Velocity Profile Index.CompoundInitiateIndex Velocity Profile with Drive Outputs Home.InitiateJog.Stop Jog.PlusInitiateJog.MinusInitiate Motion Modifiers Using LastGear Stop Gear.InitiateAdding and Deleting Programs PowerTools Menu Bar MethodToolbar Icon Method Adding a ProgramRun Anytime Programs Right Click MethodDeleting a Program 133 Example Programs Resetting Faults in Run Anytime ProgramsOut and Return Simple Out and Return More ComplexElevator 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 Playback140 141 FM-3 Programming Module Reference Manual 142 AbsolutePositionValid AcceleratingAccelType AccelUnits.Decimal AccelUnits.TimeScaleAtVel CommandingMotion ClearFollowingErrorBrake.Activate Brake.DisengagedDistUnits.CharacteristicLength DistUnits.CharacteristicDistDecelerating DefineHomeDistUnits.Decimal DriveEnableStatusDistUnits.Name DriveAmbientTempDriveInput.#.DebounceTime DriveInput.#.ForceEnableDriveInput.#.Force DriveInput.#.NameDriveOutputEncoder.ScalingEnable DriveOutput.#.ForceEnableFault.DriveFaultsBitmap DriveOutput.#.NameFault.DriveOK Fault.FaultedFault.ModuleFaultsBitmap Fault.#.Active Fault.ResetFault.#.Counts FeedforwardsEnableFeedRateDeactivate FeedholdDecelTimeFeedRateOverride FoldbackActiveFollowingErrorEnable FollowingErrorFollowingErrorLimit FoldbackRMSGear.CommandInProgrees Gear.CommandCompleteGear.Activate Gear.AtVelHome.#.Accel Home.AnyCommandCompleteHome.#.CommandInProgress Home.#.CommandCompleteHome.#.Accelerating Home.#.AtVelHome.#.Decelerating Home.#.LimitDistEnableHome.#.EndPosn Home.#.InitiateHome.#.OnSensorAction Home.#.OffsetTypeHome.#.Reference Home.#.SensorTriggerIndex.ResetProfileLimited Index.AnyCommandCompleteHome.#.TimeBase Home.#.VelIndex.#.Accel Index.#.CommandCompleteIndex.#.Accelerating Index.#.AnalogLimitTypeIndex.#.CompoundInitiate Index.#.CommandInProgressIndex.#.Decel Index.#.DeceleratingIndex.#.Initiate Index.#.PLSEnableIndex.#.LimitDistHit Index.#.NameIndex.#.PLSStatus Index.#.RegistrationWindowEnableIndex.#.RegistrationOffset Index.#.RegistrationTypeIndex.#.SensorTrigger Index.#.TimedIndexEnableIndex.#.TimeBase Index.#.VelInPosn Jog.AnyCommandCompleteInPosnTime InPosnWindowJog.Select0 Jog.#.CommandCompleteJog.Stop Jog.#.AccelJog.#.Decel Jog.#.CommandInProgressJog.#.Decelerating Jog.#.MinusInitiateLineVoltage ModuleInput.#.ForceEnableModbus.BaudRate Modbus.ModbusIdModuleInput.#.Name ModuleOutput.#.ForceEnableModuleInput.#.Raw ModuleInput.#.StatusMotorType MotionStopName PLS.#.DirectionPLS.#.PLSEnable PLS EnablePLS Rollover Enable PLS.#.RotaryRolloverEnablePosnErrorIntegralEnable PosnCommandPLS.#.RotaryRolloverPosn PLS.#.SourcePowerStageEnabled PosnErrorIntegralTimeConstantPowerUpCount PowerUpTimeRotaryRolloverEnable PowerUpTimeTotalProgram.AnyComplete Program.#.InitiateSelector.SelectLinesUsed ShuntPowerRMSSelector.#.Select Selector.#.SelectionSoftwareTravelLimitMinusActive SoftwareTravelLimitEnableSoftwareTravelLimitMinusPosn SoftwareTravelLimitPlusActiveTorqueCommandLimited TorqueCommandStartUp StopTorqueLevel TravelLimitDisableTorqueLevelActive TorqueLimitTravelLimitMinusActivate TorqueLimitEnableTravelLimitMinusActive TravelLimitPlusActivateTorqueUnits.PercentContinuousCurrent VelCommandTorqueUnits.Torque Var.Var#.DecimalVelocityUnits.DistVelScale VelocityUnits.DecimalVelocityUnits.Name VelocityUnits.ScalingFlagFM-3 Programming Module Reference Manual 182 Mechanical Installation Basic Installation NotesGrip the FM On each side LCD Modbus CommunicationsPC System Configuration Software InstallationPreparing for PowerTools Pro Installation Installing PowerTools ProStarting and Exiting PowerTools If You Need Help with InstallationStarting the Software To display Help in PowerTools, do one of the following Accessing HelpOpening a New File Exiting the Software188 Opening a New Configuration Window Basic Setup StepsEnter All Setup Data General Setup View190 User Units View Position View Master Units ViewRamps View Velocity ViewTorque View Tuning ViewPLS View Making Assignments196 Jog Setup Setting Up Motion ParametersHome Setup Home Setup View Index Setup200 201 Creating a Program 203 204 Example System Example Application Start UpEnable Following Error Enable this checkbox Making Assignments 208 209 210 211 212 PID vs. State-Space Tuning ProceduresTuning Procedure Initial settingsTuning steps Fully Optimized Level General Tuning HintsTuning Parameters Inertia RatioFriction Feedforwards ResponseLine Voltage EN Only Determining Tuning Parameter ValuesProcedure for Determining Friction Initial Test SettingsDetermining Friction Consider the following before determining the FrictionRpmh Rpml Determining Inertia RatioConsider the following before determining the inertia Inertia Measurement ProcedureConversion Formula Ramp Units Conversion223 FM-3 Programming Module Reference Manual 224 Diagnostic Display Diagnostics and TroubleshootingFault Codes 227 Watchdog Timer Fault DescriptionsPower Up Test Flash InvalidInvalid Configuration FM-3 FaultPower Module High DC BusMax Following Error RMS Shunt PowerEncoder State Encoder HardwareFM-3 Specific Fault Descriptions Traj Flt Isr OvrDrv Syn WatchdgDvOvrTmp Mtr TmpInv Parm Inv NVM Pwr On FlwErrAnalog Outputs Analog Output Scale units Diagnostic Output Test Points Diagnostic Analog Output Test Points237 Error Messages Drive FaultsResetting Faults Viewing Active Drive FaultsError The maximum limit of Instances is reached Non-Programming Error MessagesError Your Application is not valid to download Programming Error MessagesError a FM3 number’s mantissa must be between -2147483647 FYI Your Application hasError Couldnt find named Variable Error Can only compare,,etc numeric resultsError Couldnt find named Variable from Text Error Program Instance does not ExistError Text Strings are limited to 12 characters Error Syntax error encounteredError The destination variable does not accept Data Error The destination variable is Read Only243 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 valueWatch Window Online Status Indicators246 Motion Status Global Where Am I ButtonFM-3 Programming Module Reference Manual 248 Dimensions and Clearances Specifications250 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 BoxDestination ConfigurationDialog Box DIN RailFirmware Global Where AmFlash Flash FileInput Line Input FunctionJog Least Significant BitOpto-isolated Option ButtonOutput Function Output LineRadio Button PowerTools ProSerial Port Travel LimitVariable ViewWindows, Microsoft FM-3 Programming Module Reference Manual 272 Index Symbols274 275 FM-3 Programming Module Reference Manual 276