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Emerson FM-3 manual End of Home Position, Specified Home Offset, Greater than Calculated Offset

Models: FM-3

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FM-3 Programming Module Reference Manual

Two examples below show operation when the specified offset is greater or less than the calculated offset. This causes the axis to continue on at speed before decelerating and stopping at the offset position, or backing up after the home sensor.

Specified

Offset

Figure 14: Specified Home Offset, Greater than Calculated Offset

Specified

Offset

Figure 15: Specified Home Offset, Backup Required

End of Home Position

The End of Home Position (End Posn) defines the home position in relation to the machine’s coordinate system. At the completion of the home, the value of the End of Home Position is put into the command position.

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Emerson FM-3 manual End of Home Position, Specified Home Offset, Greater than Calculated Offset

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 StartSpecifications 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 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 Limit Distance Home ExamplesExample 1 Linear Application Home Sequence SensorExample 2 Rotary Application Home Sensor and Marker then Offset, ExampleHow Indexes Work Index Motion SequenceIndexes View Absolute Indexes Absolute vs. IncrementalAbsolute Index Incremental Indexes Incremental IndexRegistration 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 SectionUpload Section Secure Downloading Upload Non-Volatile Memory NVM SectionBrake Operation Brake Activate Brake ReleaseBrake Disengaged Setup View Identification GroupConfiguration Group Drive Encoder Output GroupUpdate Rate Group Positive Direction GroupSwitching Frequency Group Status Online Tab Online OnlyMotor Velocity Group Motor Position GroupControl Loop Group Master Feedback Group Torque GroupDrive Information Group Information Tab Online OnlyModule Information Group Distance Group User Units ViewUnits Name Characteristic Distance Characteristic LengthDecimal Places ScalingEnable Separate Distance Units Check Box Velocity GroupScaled Distance Name Velocity Distance Units Scale FactorTime Scale List Box Acceleration GroupSeparate Distance Units Example Master Units View Master Units ViewEncoder Setup Group Master Position Setup GroupMaster Velocity Units Master Distance UnitsMaster Acceleration Units Master Position Filter Enable Check BoxSamples Enable Feedforward Check Box Settings GroupPosition 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 LevelOnline 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 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 ViewName User Variables ViewDecimal 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 Assignments Setup GroupAssignments 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 NamesUser Units Analog Inputs ViewDecimal 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 Number Home ViewHome Reference Velocity AccelerationDeceleration If on sensor... GroupLimit Distance LimitDistEnableSpecified Offset Radio Button Home Sources and Destinations Home.#.Initiate Home.#.SensorTriggerIndex View Index NumberIndexType Index NameDistance/Position Timed Indexes Time Checkbox Enabled Enable Index PLS Timed Index ProfilesPLS On Point PLS Off PointRegistration Parameters Index Sources and Destinations Index.AnyCommandCompleteIndex.#.Accelerating Index.#.Command Complete Index.#.Command In ProgressIndex.#.AtVel Index.#.DeceleratingAdding and Deleting Indexes PowerTools Menu Bar MethodToolbar 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 Profibus View DeviceNet 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 Or BitLabel GoTo Motion InstructionsDwell For Time Dwell for Master Dist Index.InitiateIndex.CompoundInitiate Complex Velocity ProfileHome.Initiate Index Velocity Profile with Drive OutputsJog.PlusInitiate Jog.StopJog.MinusInitiate Using Last Motion ModifiersGear Stop Gear.InitiatePowerTools Menu Bar Method Adding and Deleting ProgramsToolbar Icon Method Adding a ProgramRight Click Method Run Anytime ProgramsDeleting a Program 133 Resetting Faults in Run Anytime Programs Example ProgramsOut and Return Simple Out and Return More ComplexElevator 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 Program140 141 FM-3 Programming Module Reference Manual 142 Accelerating AbsolutePositionValidAccelType AccelUnits.TimeScale AccelUnits.DecimalAtVel 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.Faulted Fault.DriveOKFault.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 ProIf You Need Help with Installation Starting and Exiting PowerToolsStarting 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-SpaceInitial settings Tuning ProcedureTuning steps General Tuning Hints Fully Optimized LevelInertia Ratio Tuning ParametersFriction 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 LimitView VariableWindows, Microsoft FM-3 Programming Module Reference Manual 272 Symbols Index274 275 FM-3 Programming Module Reference Manual 276