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Emerson FM-3 manual Sensor, Marker

Models: FM-3

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FM-3 Programming Module Reference Manual

PowerTools Pro allows selection of one of three different Home References: Sensor, Marker, or Sensor and Marker.

Sensor

Selecting Sensor means the rising edge of the Home Sensor input function is used to establish the home reference position.

Figure 7: Sensor Home Reference Position

Marker

Selecting Marker means the rising edge of the motor’s encoder marker channel is used to establish the reference position.

Figure 8: Marker Home Reference Position

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Image 24

Emerson FM-3 manual Sensor, Marker

Contents

Reference Manual Page FM-3 Page Customer Support 952Website and Email Technical Support 952 995-8033 or 800Training Services 952 995-8000 or 800 Customer Service Sales 952 995-8000 or 800Document Conventions Application Engineering 952 995-8000 or 800EN EN Only This RepresentsSafety Instructions Reference MaterialsGeneral Warning Qualified PersonSafety Precautions Setup, Commissioning and MaintenanceSafety of Machinery EnclosureViii Table of Contents Parameter Descriptions 143 Installation 183 Tuning ProceduresProgramming 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 Keypad Interface Hierarchy ViewOperational Overview Parameter Screens PBus GroupHow Motion Works How Jogging WorksHow Home Works Home Sequence Establishing a Home Reference PositionSensor MarkerAccuracy and Repeatability Sensor and MarkerHome Offset Calculated Home Offset, Peak Velocity Not Reached End of Home Position Specified Home Offset, Greater than Calculated OffsetHome Examples Home Limit DistanceExample 1 Linear Application Home Sequence SensorExample 2 Rotary Application Home Sensor and Marker then Offset, ExampleHow Indexes Work Index Motion SequenceIndexes View Absolute vs. Incremental Absolute IndexesAbsolute Index Incremental Indexes Incremental IndexIndexes 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 Options/Preferences/Ptools Operation Download SectionUpload Section Secure Downloading Upload Non-Volatile Memory NVM SectionBrake Operation Brake Release Brake ActivateBrake Disengaged Setup View Identification GroupConfiguration Group Drive Encoder Output GroupUpdate Rate Group Positive Direction GroupSwitching Frequency Group Status Online Tab Online OnlyMotor Position Group Motor Velocity GroupControl Loop Group Master Feedback Group Torque GroupInformation Tab Online Only Drive Information GroupModule Information Group User Units View Distance GroupUnits Name Characteristic Distance Characteristic LengthDecimal Places ScalingEnable Separate Distance Units Check Box Velocity GroupScaled Distance Name Velocity Distance Units Scale FactorAcceleration Group Time Scale List BoxSeparate Distance Units Example Master Units View Master Units ViewEncoder Setup Group Master Position Setup GroupMaster Distance Units Master Velocity UnitsMaster Acceleration Units Enable Check Box Master Position FilterSamples Settings Group Enable Feedforward Check BoxPosition View Limits Group Rotary Group Software Travel LimitsSoftware Travel Limit + Software Travel LimitOnline Tab not shown Velocity View FeedRate OverrideFeedRate Decel/Accel ExamplesRamps View Acceleration TypeRamps Group Stop DecelerationFeedhold Decel/Accel Travel Limit DecelTorque View Torque LevelPeak 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 Group Power Up CountPower Up Time Total Power UpPLS View PLS ViewNumber of PLS Points SourceOn Point Off PointRotary Enable Rollover PointSetup NVM View Setup NVM ViewUser Variables View NameDecimal Using Variables in a Program Adding and Deleting VariablesOnline Tab not shown Initial ValueUser Bits View Adding and Deleting User Bits User 32-bit Bit Register and User Bit Masking Bit Mask Result stored in each bitConfiguring the User Bit Mask Register User Bits Read/Write ProcessUser Bits Mask View Setup Group AssignmentsAssignments View Creating An Assignment Assignments ViewDeleting An Assignment Drag and Drop MethodAssign Button Method Delete Button MethodAssignment Polarity Tying a Source to a DestinationUser Level Only Show AssignedAssignments that Automatically Use Position Capture Polarity Button MethodSelector View Destinations that use captured dataSelector View Assignment View Example Input Lines View DebounceOutput Lines View NamesAnalog Inputs View User UnitsDecimal Read Max/Min Voltage Settings BandwidthMaximum Value Maximum VoltageMotion Group Jog View Jog NumberJog Name Time BaseJog Sources and Destinations Jog VelocityJog Acceleration Jog DecelerationDestinations Jog.#.DeceleratingJog.PlusActivate Jog.MinusActivateJog Select Details FM-3 Programming Module Reference Manual Home View Home NumberHome Reference Velocity AccelerationDeceleration If on sensor... GroupLimitDistEnable Limit DistanceSpecified Offset Radio Button Home Sources and Destinations Home.#.Initiate Home.#.SensorTriggerIndex View Index NumberIndex Name IndexTypeDistance/Position Timed Indexes Time Checkbox Enabled Enable Index PLS Timed Index ProfilesPLS On Point PLS Off PointRegistration Parameters Index.AnyCommandComplete Index Sources and DestinationsIndex.#.Accelerating Index.#.Command Complete Index.#.Command In ProgressIndex.#.AtVel Index.#.DeceleratingPowerTools Menu Bar Method Adding and Deleting IndexesToolbar Icon Method Right Click Method Deleting an IndexGearing View 108 Initiating Gearing Motion Stopping Gearing MotionStopping Motion Motion Stop from a ProgramMotionStop for an Assignment Example Program 0 Running on TaskNetwork Group Modbus View112 DeviceNet View Profibus ViewEthernet View FM-3 Programming Module Reference Manual 114 Programming Program Toolbar Icons Next Book Mark Previous Book MarkDelete All Book Marks Red Dot HelpProgram Where Am I? Disable Error CheckDrag In Variables Lock ProgramPrograms Program Instruction TypesProgram Flow Instructions If/Then/EndifElse For Count/NextDo While/Loop Wait ForWait For Time Call ProgramEnd FormulaBit Bit OrLabel Motion Instructions GoToDwell For Time Dwell for Master Dist Index.InitiateIndex.CompoundInitiate Complex Velocity ProfileHome.Initiate Index Velocity Profile with Drive OutputsJog.Stop Jog.PlusInitiateJog.MinusInitiate Using Last Motion ModifiersGear Stop Gear.InitiatePowerTools Menu Bar Method Adding and Deleting ProgramsToolbar Icon Method Adding a ProgramRun Anytime Programs Right Click MethodDeleting a Program 133 Resetting Faults in Run Anytime Programs Example 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 Sequence Learn and Playback Learn Program Program140 141 FM-3 Programming Module Reference Manual 142 AbsolutePositionValid AcceleratingAccelType AccelUnits.Decimal AccelUnits.TimeScaleAtVel ClearFollowingError CommandingMotionBrake.Activate Brake.DisengagedDistUnits.CharacteristicDist DistUnits.CharacteristicLengthDecelerating DefineHomeDriveEnableStatus DistUnits.DecimalDistUnits.Name DriveAmbientTempDriveInput.#.ForceEnable DriveInput.#.DebounceTimeDriveInput.#.Force DriveInput.#.NameDriveOutput.#.ForceEnable DriveOutputEncoder.ScalingEnableFault.DriveFaultsBitmap DriveOutput.#.NameFault.DriveOK Fault.FaultedFault.ModuleFaultsBitmap Fault.Reset Fault.#.ActiveFault.#.Counts FeedforwardsEnableFeedholdDecelTime FeedRateDeactivateFeedRateOverride FoldbackActiveFollowingError FollowingErrorEnableFollowingErrorLimit FoldbackRMSGear.CommandComplete Gear.CommandInProgreesGear.Activate Gear.AtVelHome.AnyCommandComplete Home.#.AccelHome.#.CommandComplete Home.#.CommandInProgressHome.#.Accelerating Home.#.AtVelHome.#.LimitDistEnable Home.#.DeceleratingHome.#.EndPosn Home.#.InitiateHome.#.OffsetType Home.#.OnSensorActionHome.#.Reference Home.#.SensorTriggerIndex.AnyCommandComplete Index.ResetProfileLimitedHome.#.TimeBase Home.#.VelIndex.#.CommandComplete Index.#.AccelIndex.#.Accelerating Index.#.AnalogLimitTypeIndex.#.CommandInProgress Index.#.CompoundInitiateIndex.#.Decel Index.#.DeceleratingIndex.#.PLSEnable Index.#.InitiateIndex.#.LimitDistHit Index.#.NameIndex.#.RegistrationWindowEnable Index.#.PLSStatusIndex.#.RegistrationOffset Index.#.RegistrationTypeIndex.#.TimedIndexEnable Index.#.SensorTriggerIndex.#.TimeBase Index.#.VelJog.AnyCommandComplete InPosnInPosnTime InPosnWindowJog.#.CommandComplete Jog.Select0Jog.Stop Jog.#.AccelJog.#.CommandInProgress Jog.#.DecelJog.#.Decelerating Jog.#.MinusInitiateModuleInput.#.ForceEnable LineVoltageModbus.BaudRate Modbus.ModbusIdModuleOutput.#.ForceEnable ModuleInput.#.NameModuleInput.#.Raw ModuleInput.#.StatusMotionStop MotorTypeName PLS.#.DirectionPLS Enable PLS.#.PLSEnablePLS Rollover Enable PLS.#.RotaryRolloverEnablePosnCommand PosnErrorIntegralEnablePLS.#.RotaryRolloverPosn PLS.#.SourcePosnErrorIntegralTimeConstant PowerStageEnabledPowerUpCount PowerUpTimePowerUpTimeTotal RotaryRolloverEnableProgram.AnyComplete Program.#.InitiateShuntPowerRMS Selector.SelectLinesUsedSelector.#.Select Selector.#.SelectionSoftwareTravelLimitEnable SoftwareTravelLimitMinusActiveSoftwareTravelLimitMinusPosn SoftwareTravelLimitPlusActiveTorqueCommand TorqueCommandLimitedStartUp StopTravelLimitDisable TorqueLevelTorqueLevelActive TorqueLimitTorqueLimitEnable TravelLimitMinusActivateTravelLimitMinusActive TravelLimitPlusActivateVelCommand TorqueUnits.PercentContinuousCurrentTorqueUnits.Torque Var.Var#.DecimalVelocityUnits.Decimal VelocityUnits.DistVelScaleVelocityUnits.Name VelocityUnits.ScalingFlagFM-3 Programming Module Reference Manual 182 Basic Installation Notes Mechanical InstallationModbus Communications Grip the FM On each side LCDSoftware Installation PC System ConfigurationPreparing for PowerTools Pro Installation Installing PowerTools ProStarting and Exiting PowerTools If You Need Help with InstallationStarting the Software Accessing Help To display Help in PowerTools, do one of the followingOpening a New File Exiting the Software188 Basic Setup Steps Opening a New Configuration WindowEnter All Setup Data General Setup View190 User Units View Master Units View Position ViewVelocity View Ramps ViewTuning View Torque ViewMaking Assignments PLS View196 Setting Up Motion Parameters Jog SetupHome Setup Index Setup Home Setup View200 201 Creating a Program 203 204 Example Application Start Up Example SystemEnable Following Error Enable this checkbox Making Assignments 208 209 210 211 212 Tuning Procedures PID vs. State-SpaceTuning Procedure Initial settingsTuning steps General Tuning Hints Fully Optimized LevelTuning Parameters Inertia RatioFriction Response FeedforwardsDetermining Tuning Parameter Values Line Voltage EN OnlyInitial Test Settings Procedure for Determining FrictionDetermining Friction Consider the following before determining the FrictionDetermining Inertia Ratio Rpmh RpmlInertia Measurement Procedure Consider the following before determining the inertiaRamp Units Conversion Conversion Formula223 FM-3 Programming Module Reference Manual 224 Diagnostics and Troubleshooting Diagnostic DisplayFault Codes 227 Fault Descriptions Watchdog TimerPower Up Test Flash InvalidFM-3 Fault Invalid ConfigurationPower Module High DC BusRMS Shunt Power Max Following ErrorEncoder State Encoder HardwareFM-3 Specific Fault Descriptions Isr Ovr Traj FltDrv Syn WatchdgMtr Tmp DvOvrTmpInv Parm Inv NVM Pwr On FlwErrAnalog Outputs Analog Output Scale units Diagnostic Analog Output Test Points Diagnostic Output Test Points237 Drive Faults Error MessagesResetting Faults Viewing Active Drive FaultsNon-Programming Error Messages Error The maximum limit of Instances is reachedProgramming Error Messages Error Your Application is not valid to downloadError a FM3 number’s mantissa must be between -2147483647 FYI Your Application hasError Can only compare,,etc numeric results Error Couldnt find named VariableError Couldnt find named Variable from Text Error Program Instance does not ExistError Syntax error encountered Error Text Strings are limited to 12 charactersError The destination variable does not accept Data Error The destination variable is Read Only243 Error This instance does not exist Error This is not a fully qualified variableError This variable cannot be assigned a selection value Error This variable type cannot be assigned a valueOnline Status Indicators Watch Window246 Global Where Am I Button Motion StatusFM-3 Programming Module Reference Manual 248 Specifications Dimensions and Clearances250 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 Amplifier AxisBaud Rate Check BoxConfiguration DestinationDialog Box DIN RailGlobal Where Am FirmwareFlash Flash FileInput Function Input LineJog Least Significant BitOption Button Opto-isolatedOutput Function Output LinePowerTools Pro Radio ButtonSerial Port Travel LimitVariable ViewWindows, Microsoft FM-3 Programming Module Reference Manual 272 Symbols Index274 275 FM-3 Programming Module Reference Manual 276