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manual FM-3 Programming Module Reference Manual 276
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Specifications
Characteristic Distance
Install
Error codes
Cable Diagrams
Dimension
Configuration Group
Fault.Reset
Diagnostic Display
PowerTools Pro Setup Software
Page 290
Image 290
FM-3
Programming Module Reference Manual
276
Page 289
Page 291
Page 290
Image 290
Page 289
Page 291
Contents
Reference Manual
Page
FM-3
Page
Website and Email
Customer Support
952
Technical Support 952 995-8033 or 800
Document Conventions
Training Services 952 995-8000 or 800
Customer Service Sales 952 995-8000 or 800
Application Engineering 952 995-8000 or 800
EN EN Only
This Represents
General Warning
Safety Instructions
Reference Materials
Qualified Person
Safety of Machinery
Safety Precautions
Setup, Commissioning and Maintenance
Enclosure
Viii
Table of Contents
Programming 115
Parameter Descriptions 143 Installation 183
Tuning Procedures
Quick Start
Glossary 265 Index 273
Diagnostics and Troubleshooting 225
Specifications 249
Xii
Introduction
FM-3 Programming Module Reference Manual
Software Interface
PowerTools Pro Setup Software
Features
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
Example 1 Linear Application
Home Examples
Home Limit Distance
Home Sequence
Sensor
Example 2 Rotary Application
Home Sensor and Marker then Offset, Example
How Indexes Work
Index Motion Sequence
Indexes View
Absolute Index
Absolute vs. Incremental
Absolute Indexes
Incremental Indexes
Incremental Index
Rotary Plus and Rotary Minus Indexes
Indexes with Rotary Rollover Enabled
Registration Index
Downloading
How Communications Work
Uploading
Downloading
NVM Options for Uploading and Downloading
Uploading
Updating to RAM
Options/Preferences/Ptools Operation
Download Section
Upload Section
Secure Downloading
Upload Non-Volatile Memory NVM Section
Brake Operation
Brake Disengaged
Brake Release
Brake Activate
Setup View
Identification Group
Configuration Group
Drive Encoder Output Group
Update Rate Group
Positive Direction Group
Switching Frequency Group
Status Online Tab Online Only
Control Loop Group
Motor Position Group
Motor Velocity Group
Master Feedback Group
Torque Group
Module Information Group
Information Tab Online Only
Drive Information Group
Units Name
User Units View
Distance Group
Decimal Places
Characteristic Distance
Characteristic Length
Scaling
Scaled Distance Name
Enable Separate Distance Units Check Box
Velocity Group
Velocity Distance Units Scale Factor
Separate Distance Units Example
Acceleration Group
Time Scale List Box
Master Units View
Master Units View
Encoder Setup Group
Master Position Setup Group
Master Acceleration Units
Master Distance Units
Master Velocity Units
Samples
Enable Check Box
Master Position Filter
Position View
Settings Group
Enable Feedforward Check Box
Limits Group
Software Travel Limit +
Rotary Group
Software 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 Group
Stop Deceleration
Travel Limit Decel
Torque View
Torque Level
Torque Limit
Peak Torque
Online Status Tab
Inertia Ratio
Tuning View
Load Group
Low Pass Filter Group
Tuning Group
Position Error Integral Group
Time Constant
Active Faults Window
Faults View
Active Faults Group
Power Up Time
Power Up Group
Power Up Count
Total Power Up
PLS View
PLS View
On Point
Number of PLS Points
Source
Off Point
Rotary Enable
Rollover Point
Setup NVM View
Setup NVM View
Decimal
User Variables View
Name
Online Tab not shown
Using Variables in a Program
Adding 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 View
Setup Group
Assignments
Creating An Assignment
Assignments View
Assign Button Method
Deleting An Assignment
Drag and Drop Method
Delete Button Method
Assignment Polarity
Tying a Source to a Destination
Assignments that Automatically Use Position Capture
User Level
Only 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
Decimal
Analog Inputs View
User Units
Maximum Value
Read Max/Min Voltage Settings
Bandwidth
Maximum Voltage
Motion Group
Jog Name
Jog View
Jog Number
Time Base
Jog Acceleration
Jog Sources and Destinations
Jog Velocity
Jog Deceleration
Jog.PlusActivate
Destinations
Jog.#.Decelerating
Jog.MinusActivate
Jog Select Details
FM-3 Programming Module Reference Manual
Home Reference
Home View
Home Number
Deceleration
Velocity
Acceleration
If on sensor... Group
Specified Offset Radio Button
LimitDistEnable
Limit Distance
Home Sources and Destinations
Home.#.Initiate
Home.#.SensorTrigger
Index View
Index Number
Distance/Position
Index Name
IndexType
Timed Indexes
Time Checkbox Enabled
Enable Index PLS
Timed Index Profiles
PLS On Point
PLS Off Point
Registration Parameters
Index.#.Accelerating
Index.AnyCommandComplete
Index Sources and Destinations
Index.#.AtVel
Index.#.Command Complete
Index.#.Command In Progress
Index.#.Decelerating
Toolbar Icon Method
PowerTools Menu Bar Method
Adding and Deleting Indexes
Right Click Method
Deleting an Index
Gearing View
108
Initiating Gearing Motion
Stopping Gearing Motion
MotionStop for an Assignment
Stopping Motion
Motion Stop from a Program
Example Program 0 Running on Task
Network Group
Modbus View
112
Ethernet View
DeviceNet View
Profibus View
FM-3 Programming Module Reference Manual 114
Programming
Program Toolbar Icons
Delete All Book Marks
Next Book Mark
Previous Book Mark
Red Dot Help
Drag In Variables
Program Where Am I?
Disable Error Check
Lock Program
Program Flow Instructions
Programs
Program Instruction Types
If/Then/Endif
Else
For Count/Next
Do While/Loop
Wait For
Wait For Time
Call Program
End
Formula
Label
Bit
Bit Or
Dwell For Time
Motion Instructions
GoTo
Dwell for Master Dist
Index.Initiate
Index.CompoundInitiate
Complex Velocity Profile
Home.Initiate
Index Velocity Profile with Drive Outputs
Jog.MinusInitiate
Jog.Stop
Jog.PlusInitiate
Gear Stop
Using Last
Motion Modifiers
Gear.Initiate
Toolbar Icon Method
PowerTools Menu Bar Method
Adding and Deleting Programs
Adding a Program
Deleting a Program
Run Anytime Programs
Right Click Method
133
Out and Return Simple
Resetting Faults in Run Anytime Programs
Example Programs
Out and Return More Complex
Elevator Accumulator with 100 Stop Positions
Flying Cutoff/Shear
Simple Jogging within a Program
Rotary Table with Calibrated Stop Positions
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
AccelType
AbsolutePositionValid
Accelerating
AtVel
AccelUnits.Decimal
AccelUnits.TimeScale
Brake.Activate
ClearFollowingError
CommandingMotion
Brake.Disengaged
Decelerating
DistUnits.CharacteristicDist
DistUnits.CharacteristicLength
DefineHome
DistUnits.Name
DriveEnableStatus
DistUnits.Decimal
DriveAmbientTemp
DriveInput.#.Force
DriveInput.#.ForceEnable
DriveInput.#.DebounceTime
DriveInput.#.Name
Fault.DriveFaultsBitmap
DriveOutput.#.ForceEnable
DriveOutputEncoder.ScalingEnable
DriveOutput.#.Name
Fault.ModuleFaultsBitmap
Fault.DriveOK
Fault.Faulted
Fault.#.Counts
Fault.Reset
Fault.#.Active
FeedforwardsEnable
FeedRateOverride
FeedholdDecelTime
FeedRateDeactivate
FoldbackActive
FollowingErrorLimit
FollowingError
FollowingErrorEnable
FoldbackRMS
Gear.Activate
Gear.CommandComplete
Gear.CommandInProgrees
Gear.AtVel
Home.AnyCommandComplete
Home.#.Accel
Home.#.Accelerating
Home.#.CommandComplete
Home.#.CommandInProgress
Home.#.AtVel
Home.#.EndPosn
Home.#.LimitDistEnable
Home.#.Decelerating
Home.#.Initiate
Home.#.Reference
Home.#.OffsetType
Home.#.OnSensorAction
Home.#.SensorTrigger
Home.#.TimeBase
Index.AnyCommandComplete
Index.ResetProfileLimited
Home.#.Vel
Index.#.Accelerating
Index.#.CommandComplete
Index.#.Accel
Index.#.AnalogLimitType
Index.#.Decel
Index.#.CommandInProgress
Index.#.CompoundInitiate
Index.#.Decelerating
Index.#.LimitDistHit
Index.#.PLSEnable
Index.#.Initiate
Index.#.Name
Index.#.RegistrationOffset
Index.#.RegistrationWindowEnable
Index.#.PLSStatus
Index.#.RegistrationType
Index.#.TimeBase
Index.#.TimedIndexEnable
Index.#.SensorTrigger
Index.#.Vel
InPosnTime
Jog.AnyCommandComplete
InPosn
InPosnWindow
Jog.Stop
Jog.#.CommandComplete
Jog.Select0
Jog.#.Accel
Jog.#.Decelerating
Jog.#.CommandInProgress
Jog.#.Decel
Jog.#.MinusInitiate
Modbus.BaudRate
ModuleInput.#.ForceEnable
LineVoltage
Modbus.ModbusId
ModuleInput.#.Raw
ModuleOutput.#.ForceEnable
ModuleInput.#.Name
ModuleInput.#.Status
Name
MotionStop
MotorType
PLS.#.Direction
PLS Rollover Enable
PLS Enable
PLS.#.PLSEnable
PLS.#.RotaryRolloverEnable
PLS.#.RotaryRolloverPosn
PosnCommand
PosnErrorIntegralEnable
PLS.#.Source
PowerUpCount
PosnErrorIntegralTimeConstant
PowerStageEnabled
PowerUpTime
Program.AnyComplete
PowerUpTimeTotal
RotaryRolloverEnable
Program.#.Initiate
Selector.#.Select
ShuntPowerRMS
Selector.SelectLinesUsed
Selector.#.Selection
SoftwareTravelLimitMinusPosn
SoftwareTravelLimitEnable
SoftwareTravelLimitMinusActive
SoftwareTravelLimitPlusActive
StartUp
TorqueCommand
TorqueCommandLimited
Stop
TorqueLevelActive
TravelLimitDisable
TorqueLevel
TorqueLimit
TravelLimitMinusActive
TorqueLimitEnable
TravelLimitMinusActivate
TravelLimitPlusActivate
TorqueUnits.Torque
VelCommand
TorqueUnits.PercentContinuousCurrent
Var.Var#.Decimal
VelocityUnits.Name
VelocityUnits.Decimal
VelocityUnits.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 Installation
PC System Configuration
Installing PowerTools Pro
Starting the Software
Starting and Exiting PowerTools
If You Need Help with Installation
Opening a New File
Accessing Help
To display Help in PowerTools, do one of the following
Exiting the Software
188
Enter All Setup Data
Basic Setup Steps
Opening 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
Tuning steps
Tuning Procedure
Initial settings
General Tuning Hints
Fully Optimized Level
Friction
Tuning Parameters
Inertia Ratio
Response
Feedforwards
Determining Tuning Parameter Values
Line Voltage EN Only
Determining Friction
Initial Test Settings
Procedure 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 Descriptions
Watchdog Timer
Flash Invalid
Power Module
FM-3 Fault
Invalid Configuration
High DC Bus
Encoder State
RMS Shunt Power
Max Following Error
Encoder Hardware
FM-3 Specific Fault Descriptions
Drv Syn
Isr Ovr
Traj Flt
Watchdg
Inv Parm Inv NVM
Mtr Tmp
DvOvrTmp
Pwr On FlwErr
Analog Outputs
Analog Output Scale units
Diagnostic Analog Output Test Points
Diagnostic Output Test Points
237
Resetting Faults
Drive Faults
Error 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 Messages
Error Your Application is not valid to download
FYI Your Application has
Error Couldnt find named Variable from Text
Error Can only compare,,etc numeric results
Error Couldnt find named Variable
Error Program Instance does not Exist
Error The destination variable does not accept Data
Error Syntax error encountered
Error 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 exist
Error 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
Amplifier
Axis
Check Box
Dialog Box
Configuration
Destination
DIN Rail
Flash
Global Where Am
Firmware
Flash File
Jog
Input Function
Input Line
Least Significant Bit
Output Function
Option Button
Opto-isolated
Output Line
Serial Port
PowerTools Pro
Radio Button
Travel Limit
Windows, Microsoft
Variable
View
FM-3 Programming Module Reference Manual 272
Symbols
Index
274
275
FM-3 Programming Module Reference Manual 276