Time Constant | Emerson FM-3 specification

FM-3 Programming Module Reference Manual

Time Constant

Position Error Integral is a control term, which can be used to compensate for the continuous torque required to hold a vertical load against gravity. It is also useful in low speed applications, which have high friction.

The user configures this control term using the “Position Error Integral Time Constant” parameter. This parameter determines how quickly the drive will correct for in-position following error. The time constant is in milliseconds and defines how long it will take to decrease the following error to 37 percent of the original value. In certain circumstances the value actually used by the drive will be greater than the value specified here.

Min Time Constant = 1000/Response

For example, with “Response” set to 50, the minimum time constant value is 1000/50 = 20 msec.

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Emerson FM-3 manual Time Constant

Contents

Reference Manual Page FM-3 Page Customer Support 952Website and Email Technical Support 952 995-8033 or 800 Training Services 952 995-8000 or 800 Customer Service Sales 952 995-8000 or 800Document Conventions Application Engineering 952 995-8000 or 800 EN EN Only This Represents Safety Instructions Reference MaterialsGeneral Warning Qualified Person Safety Precautions Setup, Commissioning and MaintenanceSafety of Machinery Enclosure Viii Table of Contents Parameter Descriptions 143 Installation 183 Tuning ProceduresProgramming 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 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 Home Examples Home Limit DistanceExample 1 Linear Application Home Sequence Sensor Example 2 Rotary Application Home Sensor and Marker then Offset, Example How Indexes Work Index Motion Sequence Indexes View Absolute vs. Incremental Absolute IndexesAbsolute Index Incremental Indexes Incremental Index 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 Options/Preferences/Ptools Operation Download Section Upload Section Secure Downloading Upload Non-Volatile Memory NVM Section Brake Operation Brake Release Brake ActivateBrake Disengaged Setup View Identification Group Configuration Group Drive Encoder Output Group Update Rate Group Positive Direction Group Switching Frequency Group Status Online Tab Online Only Motor Position Group Motor Velocity GroupControl Loop Group Master Feedback Group Torque Group Information Tab Online Only Drive Information GroupModule Information Group User Units View Distance GroupUnits Name Characteristic Distance Characteristic LengthDecimal Places Scaling Enable Separate Distance Units Check Box Velocity GroupScaled Distance Name Velocity Distance Units Scale Factor Acceleration Group Time Scale List BoxSeparate Distance Units Example Master Units View Master Units View Encoder Setup Group Master Position 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 Rotary Group Software Travel LimitsSoftware Travel Limit + Software Travel Limit Online Tab not shown Velocity View FeedRate Override FeedRate Decel/Accel Examples Ramps View Acceleration Type Ramps Group Stop DecelerationFeedhold Decel/Accel Travel Limit Decel Torque View Torque Level 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 Group Power Up CountPower Up Time Total Power Up PLS View PLS View Number of PLS Points SourceOn Point Off Point Rotary Enable Rollover Point Setup NVM View Setup NVM View User Variables View NameDecimal Using Variables in a Program Adding and Deleting VariablesOnline Tab not shown 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 Setup Group AssignmentsAssignments View Creating An Assignment Assignments View Deleting An Assignment Drag and Drop MethodAssign Button Method Delete Button Method Assignment Polarity Tying a Source to a Destination User Level Only Show AssignedAssignments that Automatically Use Position Capture Polarity Button Method Selector View Destinations that use captured data Selector View Assignment View Example Input Lines View Debounce Output Lines View Names Analog Inputs View User UnitsDecimal Read Max/Min Voltage Settings BandwidthMaximum Value Maximum Voltage Motion Group Jog View Jog NumberJog Name Time Base Jog Sources and Destinations Jog VelocityJog Acceleration Jog Deceleration Destinations Jog.#.DeceleratingJog.PlusActivate Jog.MinusActivate Jog Select Details FM-3 Programming Module Reference Manual Home View Home NumberHome Reference Velocity AccelerationDeceleration If on sensor... Group LimitDistEnable Limit DistanceSpecified Offset Radio Button Home Sources and Destinations Home.#.Initiate Home.#.SensorTrigger Index View Index Number Index Name IndexTypeDistance/Position Timed Indexes Time Checkbox Enabled Enable Index PLS Timed Index Profiles PLS On Point PLS Off Point Registration Parameters Index.AnyCommandComplete Index Sources and DestinationsIndex.#.Accelerating Index.#.Command Complete Index.#.Command In ProgressIndex.#.AtVel Index.#.Decelerating PowerTools Menu Bar Method Adding and Deleting IndexesToolbar Icon Method Right Click Method Deleting an Index Gearing View 108 Initiating Gearing Motion Stopping Gearing Motion Stopping Motion Motion Stop from a ProgramMotionStop for an Assignment Example Program 0 Running on Task Network Group Modbus View 112 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 Help Program Where Am I? Disable Error CheckDrag In Variables Lock Program Programs Program Instruction TypesProgram Flow Instructions If/Then/Endif Else For Count/Next Do While/Loop Wait For Wait For Time Call Program End Formula Bit Bit OrLabel Motion Instructions GoToDwell For Time Dwell for Master Dist Index.Initiate Index.CompoundInitiate Complex Velocity Profile Home.Initiate Index Velocity Profile with Drive Outputs Jog.Stop Jog.PlusInitiateJog.MinusInitiate Using Last Motion ModifiersGear Stop Gear.Initiate PowerTools Menu Bar Method Adding and Deleting ProgramsToolbar Icon Method Adding a Program Run Anytime Programs Right Click MethodDeleting a Program 133 Resetting Faults in Run Anytime Programs Example 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 Sequence Learn and Playback Learn Program Program 140 141 FM-3 Programming Module Reference Manual 142 AbsolutePositionValid AcceleratingAccelType AccelUnits.Decimal AccelUnits.TimeScaleAtVel ClearFollowingError CommandingMotionBrake.Activate Brake.Disengaged DistUnits.CharacteristicDist DistUnits.CharacteristicLengthDecelerating DefineHome DriveEnableStatus DistUnits.DecimalDistUnits.Name DriveAmbientTemp DriveInput.#.ForceEnable DriveInput.#.DebounceTimeDriveInput.#.Force DriveInput.#.Name DriveOutput.#.ForceEnable DriveOutputEncoder.ScalingEnableFault.DriveFaultsBitmap DriveOutput.#.Name Fault.DriveOK Fault.FaultedFault.ModuleFaultsBitmap Fault.Reset Fault.#.ActiveFault.#.Counts FeedforwardsEnable FeedholdDecelTime FeedRateDeactivateFeedRateOverride FoldbackActive FollowingError FollowingErrorEnableFollowingErrorLimit FoldbackRMS Gear.CommandComplete Gear.CommandInProgreesGear.Activate Gear.AtVel Home.AnyCommandComplete Home.#.Accel Home.#.CommandComplete Home.#.CommandInProgressHome.#.Accelerating Home.#.AtVel Home.#.LimitDistEnable Home.#.DeceleratingHome.#.EndPosn Home.#.Initiate Home.#.OffsetType Home.#.OnSensorActionHome.#.Reference Home.#.SensorTrigger Index.AnyCommandComplete Index.ResetProfileLimitedHome.#.TimeBase Home.#.Vel Index.#.CommandComplete Index.#.AccelIndex.#.Accelerating Index.#.AnalogLimitType Index.#.CommandInProgress Index.#.CompoundInitiateIndex.#.Decel Index.#.Decelerating Index.#.PLSEnable Index.#.InitiateIndex.#.LimitDistHit Index.#.Name Index.#.RegistrationWindowEnable Index.#.PLSStatusIndex.#.RegistrationOffset Index.#.RegistrationType Index.#.TimedIndexEnable Index.#.SensorTriggerIndex.#.TimeBase Index.#.Vel Jog.AnyCommandComplete InPosnInPosnTime InPosnWindow Jog.#.CommandComplete Jog.Select0Jog.Stop Jog.#.Accel Jog.#.CommandInProgress Jog.#.DecelJog.#.Decelerating Jog.#.MinusInitiate ModuleInput.#.ForceEnable LineVoltageModbus.BaudRate Modbus.ModbusId ModuleOutput.#.ForceEnable ModuleInput.#.NameModuleInput.#.Raw ModuleInput.#.Status MotionStop MotorTypeName PLS.#.Direction PLS Enable PLS.#.PLSEnablePLS Rollover Enable PLS.#.RotaryRolloverEnable PosnCommand PosnErrorIntegralEnablePLS.#.RotaryRolloverPosn PLS.#.Source PosnErrorIntegralTimeConstant PowerStageEnabledPowerUpCount PowerUpTime PowerUpTimeTotal RotaryRolloverEnableProgram.AnyComplete Program.#.Initiate ShuntPowerRMS Selector.SelectLinesUsedSelector.#.Select Selector.#.Selection SoftwareTravelLimitEnable SoftwareTravelLimitMinusActiveSoftwareTravelLimitMinusPosn SoftwareTravelLimitPlusActive TorqueCommand TorqueCommandLimitedStartUp Stop TravelLimitDisable TorqueLevelTorqueLevelActive TorqueLimit TorqueLimitEnable TravelLimitMinusActivateTravelLimitMinusActive TravelLimitPlusActivate VelCommand TorqueUnits.PercentContinuousCurrentTorqueUnits.Torque Var.Var#.Decimal VelocityUnits.Decimal VelocityUnits.DistVelScaleVelocityUnits.Name VelocityUnits.ScalingFlag FM-3 Programming Module Reference Manual 182 Basic Installation Notes Mechanical Installation Modbus Communications Grip the FM On each side LCD Software Installation PC System ConfigurationPreparing for PowerTools Pro Installation Installing PowerTools Pro Starting 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 Software 188 Basic Setup Steps Opening a New Configuration WindowEnter All Setup Data 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 Procedure Initial settingsTuning steps General Tuning Hints Fully Optimized Level Tuning Parameters Inertia RatioFriction Response Feedforwards Determining Tuning Parameter Values Line Voltage EN Only Initial Test Settings Procedure for Determining FrictionDetermining 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 Fault Descriptions Watchdog TimerPower Up Test Flash Invalid FM-3 Fault Invalid ConfigurationPower Module High DC Bus RMS Shunt Power Max Following ErrorEncoder State Encoder Hardware FM-3 Specific Fault Descriptions Isr Ovr Traj FltDrv Syn Watchdg Mtr Tmp DvOvrTmpInv Parm Inv NVM Pwr On FlwErr Analog Outputs Analog Output Scale units Diagnostic Analog Output Test Points Diagnostic Output Test Points 237 Drive Faults Error MessagesResetting Faults Viewing Active Drive Faults Non-Programming Error Messages Error The maximum limit of Instances is reached Programming Error Messages Error Your Application is not valid to downloadError a FM3 number’s mantissa must be between -2147483647 FYI Your Application has Error Can only compare,,etc numeric results Error Couldnt find named VariableError Couldnt find named Variable from Text Error Program Instance does not Exist Error Syntax error encountered Error Text Strings are limited to 12 charactersError The destination variable does not accept Data Error The destination variable is Read Only 243 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 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 Amplifier AxisBaud Rate Check Box Configuration DestinationDialog Box DIN Rail Global Where Am FirmwareFlash Flash File Input Function Input LineJog Least Significant Bit Option Button Opto-isolatedOutput Function Output Line PowerTools Pro Radio ButtonSerial Port Travel Limit Variable ViewWindows, Microsoft FM-3 Programming Module Reference Manual 272 Symbols Index 274 275 FM-3 Programming Module Reference Manual 276