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Emerson FM-3 manual Home Sequence, Sensor

Models: FM-3

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FM-3 Programming Module Reference Manual

Home Sequence

1.If on sensor then back off (if enabled)

2.Search for sensor

3.Search for marker

4.Go to offset (2.0 Revs)

5.Set feedback position equal to End of Home Position

Velocity
+ 100	+ 100
Back off
Sensor
	Time
- 100
Sensor	Marker

Figure 17: Home Velocity Profile

Start of Home	1
Start of Home
	Back Off Sensor

2

MarkerSensor

Home Move

4
Offset Move	5
	5

Final Position = End of Home Position

2.0 Revs

Offset

Figure 18: Home Move Sequence

16

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Emerson FM-3 manual Home Sequence, Sensor

Contents

Reference Manual Page FM-3 Page Website and Email Customer Support952 Technical Support 952 995-8033 or 800Document Conventions Training Services 952 995-8000 or 800Customer Service Sales 952 995-8000 or 800 Application Engineering 952 995-8000 or 800EN EN Only This RepresentsGeneral Warning Safety InstructionsReference Materials Qualified PersonSafety of Machinery Safety PrecautionsSetup, Commissioning and Maintenance EnclosureViii Table of Contents Programming 115 Parameter Descriptions 143 Installation 183Tuning Procedures 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 Decimal Places Characteristic DistanceCharacteristic Length ScalingScaled Distance Name Enable Separate Distance Units Check BoxVelocity Group 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 Software Travel Limit + Rotary GroupSoftware Travel Limits Software Travel LimitOnline Tab not shown Velocity View FeedRate OverrideFeedRate Decel/Accel ExamplesRamps View Acceleration TypeFeedhold Decel/Accel Ramps GroupStop Deceleration 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 Time Power Up GroupPower Up Count Total Power UpPLS View PLS ViewOn Point Number of PLS PointsSource Off PointRotary Enable Rollover PointSetup NVM View Setup NVM ViewUser Variables View NameDecimal Online Tab not shown Using Variables in a ProgramAdding and Deleting Variables 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 ViewAssign Button Method Deleting An AssignmentDrag and Drop Method Delete Button MethodAssignment Polarity Tying a Source to a DestinationAssignments that Automatically Use Position Capture User LevelOnly Show Assigned Polarity Button MethodSelector View Destinations that use captured dataSelector View Assignment View Example Input Lines View DebounceOutput Lines View NamesAnalog Inputs View User UnitsDecimal Maximum Value Read Max/Min Voltage SettingsBandwidth Maximum VoltageMotion Group Jog Name Jog ViewJog Number Time BaseJog Acceleration Jog Sources and DestinationsJog Velocity Jog DecelerationJog.PlusActivate DestinationsJog.#.Decelerating Jog.MinusActivateJog Select Details FM-3 Programming Module Reference Manual Home View Home NumberHome Reference Deceleration VelocityAcceleration 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.#.AtVel Index.#.Command CompleteIndex.#.Command In Progress Index.#.DeceleratingPowerTools Menu Bar Method Adding and Deleting IndexesToolbar Icon Method Right Click Method Deleting an IndexGearing View 108 Initiating Gearing Motion Stopping Gearing MotionMotionStop for an Assignment Stopping MotionMotion Stop from a Program 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 Delete All Book Marks Next Book MarkPrevious Book Mark Red Dot HelpDrag In Variables Program Where Am I?Disable Error Check Lock ProgramProgram Flow Instructions ProgramsProgram Instruction Types 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 Gear Stop Using LastMotion Modifiers Gear.InitiateToolbar Icon Method PowerTools Menu Bar MethodAdding and Deleting Programs Adding a ProgramRun Anytime Programs Right Click MethodDeleting a Program 133 Out and Return Simple Resetting Faults in Run Anytime ProgramsExample Programs 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 Brake.Activate ClearFollowingErrorCommandingMotion Brake.DisengagedDecelerating DistUnits.CharacteristicDistDistUnits.CharacteristicLength DefineHomeDistUnits.Name DriveEnableStatusDistUnits.Decimal DriveAmbientTempDriveInput.#.Force DriveInput.#.ForceEnableDriveInput.#.DebounceTime DriveInput.#.NameFault.DriveFaultsBitmap DriveOutput.#.ForceEnableDriveOutputEncoder.ScalingEnable DriveOutput.#.NameFault.DriveOK Fault.FaultedFault.ModuleFaultsBitmap Fault.#.Counts Fault.ResetFault.#.Active FeedforwardsEnableFeedRateOverride FeedholdDecelTimeFeedRateDeactivate FoldbackActiveFollowingErrorLimit FollowingErrorFollowingErrorEnable FoldbackRMSGear.Activate Gear.CommandCompleteGear.CommandInProgrees Gear.AtVelHome.AnyCommandComplete Home.#.AccelHome.#.Accelerating Home.#.CommandCompleteHome.#.CommandInProgress Home.#.AtVelHome.#.EndPosn Home.#.LimitDistEnableHome.#.Decelerating Home.#.InitiateHome.#.Reference Home.#.OffsetTypeHome.#.OnSensorAction Home.#.SensorTriggerHome.#.TimeBase Index.AnyCommandCompleteIndex.ResetProfileLimited Home.#.VelIndex.#.Accelerating Index.#.CommandCompleteIndex.#.Accel Index.#.AnalogLimitTypeIndex.#.Decel Index.#.CommandInProgressIndex.#.CompoundInitiate Index.#.DeceleratingIndex.#.LimitDistHit Index.#.PLSEnableIndex.#.Initiate Index.#.NameIndex.#.RegistrationOffset Index.#.RegistrationWindowEnableIndex.#.PLSStatus Index.#.RegistrationTypeIndex.#.TimeBase Index.#.TimedIndexEnableIndex.#.SensorTrigger Index.#.VelInPosnTime Jog.AnyCommandCompleteInPosn InPosnWindowJog.Stop Jog.#.CommandCompleteJog.Select0 Jog.#.AccelJog.#.Decelerating Jog.#.CommandInProgressJog.#.Decel Jog.#.MinusInitiateModbus.BaudRate ModuleInput.#.ForceEnableLineVoltage Modbus.ModbusIdModuleInput.#.Raw ModuleOutput.#.ForceEnableModuleInput.#.Name ModuleInput.#.StatusName MotionStopMotorType PLS.#.DirectionPLS Rollover Enable PLS EnablePLS.#.PLSEnable PLS.#.RotaryRolloverEnablePLS.#.RotaryRolloverPosn PosnCommandPosnErrorIntegralEnable PLS.#.SourcePowerUpCount PosnErrorIntegralTimeConstantPowerStageEnabled PowerUpTimeProgram.AnyComplete PowerUpTimeTotalRotaryRolloverEnable Program.#.InitiateSelector.#.Select ShuntPowerRMSSelector.SelectLinesUsed Selector.#.SelectionSoftwareTravelLimitMinusPosn SoftwareTravelLimitEnableSoftwareTravelLimitMinusActive SoftwareTravelLimitPlusActiveStartUp TorqueCommandTorqueCommandLimited StopTorqueLevelActive TravelLimitDisableTorqueLevel TorqueLimitTravelLimitMinusActive TorqueLimitEnableTravelLimitMinusActivate TravelLimitPlusActivateTorqueUnits.Torque VelCommandTorqueUnits.PercentContinuousCurrent Var.Var#.DecimalVelocityUnits.Name VelocityUnits.DecimalVelocityUnits.DistVelScale VelocityUnits.ScalingFlagFM-3 Programming Module Reference Manual 182 Basic Installation Notes Mechanical InstallationModbus Communications Grip the FM On each side LCDPreparing for PowerTools Pro Installation Software InstallationPC System Configuration Installing PowerTools ProStarting and Exiting PowerTools If You Need Help with InstallationStarting the Software Opening a New File Accessing HelpTo display Help in PowerTools, do one of the following Exiting the Software188 Enter All Setup Data Basic Setup StepsOpening a New Configuration Window 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 OnlyDetermining Friction Initial Test SettingsProcedure for Determining 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 Power Up Test Fault DescriptionsWatchdog Timer Flash InvalidPower Module FM-3 FaultInvalid Configuration High DC BusEncoder State RMS Shunt PowerMax Following Error Encoder HardwareFM-3 Specific Fault Descriptions Drv Syn Isr OvrTraj Flt WatchdgInv Parm Inv NVM Mtr TmpDvOvrTmp Pwr On FlwErrAnalog Outputs Analog Output Scale units Diagnostic Analog Output Test Points Diagnostic Output Test Points237 Resetting Faults Drive FaultsError Messages Viewing Active Drive FaultsNon-Programming Error Messages Error The maximum limit of Instances is reachedError a FM3 number’s mantissa must be between -2147483647 Programming Error MessagesError Your Application is not valid to download FYI Your Application hasError Couldnt find named Variable from Text Error Can only compare,,etc numeric resultsError Couldnt find named Variable Error Program Instance does not ExistError The destination variable does not accept Data Error Syntax error encounteredError Text Strings are limited to 12 characters Error The destination variable is Read Only243 Error This variable cannot be assigned a selection value Error This instance does not existError This is not a fully qualified variable 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 Baud Rate AmplifierAxis Check BoxDialog Box ConfigurationDestination DIN RailFlash Global Where AmFirmware Flash FileJog Input FunctionInput Line Least Significant BitOutput Function Option ButtonOpto-isolated Output LineSerial Port PowerTools ProRadio Button Travel LimitVariable ViewWindows, Microsoft FM-3 Programming Module Reference Manual 272 Symbols Index274 275 FM-3 Programming Module Reference Manual 276