223 | Emerson FM-3 specification

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

223

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 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 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 Characteristic Length Characteristic DistanceDecimal Places Scaling Velocity Group Enable Separate Distance Units Check BoxScaled Distance Name Velocity Distance Units Scale Factor 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 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 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 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 User Variables View NameDecimal 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 Setup Group AssignmentsAssignments 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 Analog Inputs View User UnitsDecimal 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 View Home NumberHome Reference Acceleration VelocityDeceleration If on sensor... Group 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.#.Command In Progress Index.#.Command CompleteIndex.#.AtVel Index.#.Decelerating 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 Motion Stop from a Program Stopping MotionMotionStop for an Assignment Example Program 0 Running on Task Modbus View Network Group 112 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 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 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 Motion Modifiers Using LastGear Stop Gear.Initiate Adding and Deleting Programs PowerTools Menu Bar MethodToolbar Icon Method Adding a Program Run Anytime Programs Right Click MethodDeleting 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 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 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.DriveOK Fault.FaultedFault.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 Starting 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 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 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 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 Variable ViewWindows, Microsoft FM-3 Programming Module Reference Manual 272 Index Symbols 274 275 FM-3 Programming Module Reference Manual 276