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Emerson FM-3 manual Motion Group

Models: FM-3

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Setting Up Parameters

Motion Group

All motion parameters related to Jogs, Homes, Indexes and Gearing are located in the Motion hierarchy group.

Motion views will use units that correspond to Realtime or Synchronized motion. This choice is made on each motion view. The units are customized in the Setup Group: Realtime units are defined on the User Units View, and Synchronized units are defined on both the User Units View and the Master Units View.

Each of the motion views, when online, have an Online tab that displays feedback information and provides buttons to initiate motion.

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Emerson FM-3 manual Motion Group

Contents

Reference Manual Page FM-3 Page Technical Support 952 995-8033 or 800 Customer Support952 Website and EmailApplication Engineering 952 995-8000 or 800 Training Services 952 995-8000 or 800Customer Service Sales 952 995-8000 or 800 Document ConventionsThis Represents EN EN OnlyQualified Person Safety InstructionsReference Materials General WarningEnclosure Safety PrecautionsSetup, Commissioning and Maintenance Safety of MachineryViii Table of Contents Quick Start Parameter Descriptions 143 Installation 183Tuning Procedures Programming 115Diagnostics and Troubleshooting 225 Specifications 249Glossary 265 Index 273 Xii Introduction FM-3 Programming Module Reference Manual PowerTools Pro Setup Software FeaturesSoftware Interface Hierarchy View Keypad InterfaceOperational Overview PBus Group Parameter ScreensHow Jogging Works How Motion WorksHow Home Works Establishing a Home Reference Position Home SequenceMarker SensorSensor and Marker Accuracy and RepeatabilityHome Offset Calculated Home Offset, Peak Velocity Not Reached Specified Home Offset, Greater than Calculated Offset End of Home PositionHome Examples Home Limit DistanceExample 1 Linear Application Sensor Home SequenceHome Sensor and Marker then Offset, Example Example 2 Rotary ApplicationIndex Motion Sequence How Indexes WorkIndexes View Absolute vs. Incremental Absolute IndexesAbsolute Index Incremental Index Incremental IndexesIndexes 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 Download Section Options/Preferences/Ptools OperationUpload Section Upload Non-Volatile Memory NVM Section Secure DownloadingBrake Operation Brake Release Brake ActivateBrake Disengaged Identification Group Setup ViewDrive Encoder Output Group Configuration GroupPositive Direction Group Update Rate GroupStatus Online Tab Online Only Switching Frequency GroupMotor Position Group Motor Velocity GroupControl Loop Group Torque Group Master Feedback GroupInformation Tab Online Only Drive Information GroupModule Information Group User Units View Distance GroupUnits Name Scaling Characteristic DistanceCharacteristic Length Decimal PlacesVelocity Distance Units Scale Factor Enable Separate Distance Units Check BoxVelocity Group Scaled Distance NameAcceleration Group Time Scale List BoxSeparate Distance Units Example Master Units View Master Units ViewMaster Position Setup Group Encoder 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 Limit +Online Tab not shown FeedRate Override Velocity ViewExamples FeedRate Decel/AccelAcceleration Type Ramps ViewTravel Limit Decel Ramps GroupStop Deceleration Feedhold Decel/AccelTorque Level Torque ViewPeak 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 Total Power Up Power Up GroupPower Up Count Power Up TimePLS View PLS ViewOff Point Number of PLS PointsSource On PointRollover Point Rotary EnableSetup NVM View Setup NVM ViewUser Variables View NameDecimal Initial Value Using Variables in a ProgramAdding and Deleting Variables Online Tab not shownUser Bits View Adding and Deleting User Bits Bit Mask Result stored in each bit User 32-bit Bit Register and User Bit MaskingUser Bits Read/Write Process Configuring the User Bit Mask RegisterUser Bits Mask View Setup Group AssignmentsAssignments View Assignments View Creating An AssignmentDelete Button Method Deleting An AssignmentDrag and Drop Method Assign Button MethodTying a Source to a Destination Assignment PolarityPolarity Button Method User LevelOnly Show Assigned Assignments that Automatically Use Position CaptureDestinations that use captured data Selector ViewSelector View Assignment View Example Debounce Input Lines ViewNames Output Lines ViewAnalog Inputs View User UnitsDecimal Maximum Voltage Read Max/Min Voltage SettingsBandwidth Maximum ValueMotion Group Time Base Jog ViewJog Number Jog NameJog Deceleration Jog Sources and DestinationsJog Velocity Jog AccelerationJog.MinusActivate DestinationsJog.#.Decelerating Jog.PlusActivateJog Select Details FM-3 Programming Module Reference Manual Home View Home NumberHome Reference If on sensor... Group VelocityAcceleration DecelerationLimitDistEnable Limit DistanceSpecified Offset Radio Button Home Sources and Destinations Home.#.SensorTrigger Home.#.InitiateIndex Number Index ViewIndex Name IndexTypeDistance/Position Timed Indexes Time Checkbox Enabled Timed Index Profiles Enable Index PLSPLS Off Point PLS On PointRegistration Parameters Index.AnyCommandComplete Index Sources and DestinationsIndex.#.Accelerating Index.#.Decelerating Index.#.Command CompleteIndex.#.Command In Progress Index.#.AtVelPowerTools Menu Bar Method Adding and Deleting IndexesToolbar Icon Method Deleting an Index Right Click MethodGearing View 108 Stopping Gearing Motion Initiating Gearing MotionExample Program 0 Running on Task Stopping MotionMotion Stop from a Program MotionStop for an AssignmentModbus View Network Group112 DeviceNet View Profibus ViewEthernet View FM-3 Programming Module Reference Manual 114 Programming Program Toolbar Icons Red Dot Help Next Book MarkPrevious Book Mark Delete All Book MarksLock Program Program Where Am I?Disable Error Check Drag In VariablesIf/Then/Endif ProgramsProgram Instruction Types Program Flow InstructionsFor Count/Next ElseWait For Do While/LoopCall Program Wait For TimeFormula EndBit Bit OrLabel Motion Instructions GoToDwell For Time Index.Initiate Dwell for Master DistComplex Velocity Profile Index.CompoundInitiateIndex Velocity Profile with Drive Outputs Home.InitiateJog.Stop Jog.PlusInitiateJog.MinusInitiate Gear.Initiate Using LastMotion Modifiers Gear StopAdding a Program PowerTools Menu Bar MethodAdding and Deleting Programs Toolbar Icon MethodRun Anytime Programs Right Click MethodDeleting a Program 133 Out and Return More Complex Resetting Faults in Run Anytime ProgramsExample Programs Out and Return SimpleElevator 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 Learn Program Program Sequence Learn and Playback140 141 FM-3 Programming Module Reference Manual 142 AbsolutePositionValid AcceleratingAccelType AccelUnits.Decimal AccelUnits.TimeScaleAtVel Brake.Disengaged ClearFollowingErrorCommandingMotion Brake.ActivateDefineHome DistUnits.CharacteristicDistDistUnits.CharacteristicLength DeceleratingDriveAmbientTemp DriveEnableStatusDistUnits.Decimal DistUnits.NameDriveInput.#.Name DriveInput.#.ForceEnableDriveInput.#.DebounceTime DriveInput.#.ForceDriveOutput.#.Name DriveOutput.#.ForceEnableDriveOutputEncoder.ScalingEnable Fault.DriveFaultsBitmapFault.DriveOK Fault.FaultedFault.ModuleFaultsBitmap FeedforwardsEnable Fault.ResetFault.#.Active Fault.#.CountsFoldbackActive FeedholdDecelTimeFeedRateDeactivate FeedRateOverrideFoldbackRMS FollowingErrorFollowingErrorEnable FollowingErrorLimitGear.AtVel Gear.CommandCompleteGear.CommandInProgrees Gear.ActivateHome.#.Accel Home.AnyCommandCompleteHome.#.AtVel Home.#.CommandCompleteHome.#.CommandInProgress Home.#.AcceleratingHome.#.Initiate Home.#.LimitDistEnableHome.#.Decelerating Home.#.EndPosnHome.#.SensorTrigger Home.#.OffsetTypeHome.#.OnSensorAction Home.#.ReferenceHome.#.Vel Index.AnyCommandCompleteIndex.ResetProfileLimited Home.#.TimeBaseIndex.#.AnalogLimitType Index.#.CommandCompleteIndex.#.Accel Index.#.AcceleratingIndex.#.Decelerating Index.#.CommandInProgressIndex.#.CompoundInitiate Index.#.DecelIndex.#.Name Index.#.PLSEnableIndex.#.Initiate Index.#.LimitDistHitIndex.#.RegistrationType Index.#.RegistrationWindowEnableIndex.#.PLSStatus Index.#.RegistrationOffsetIndex.#.Vel Index.#.TimedIndexEnableIndex.#.SensorTrigger Index.#.TimeBaseInPosnWindow Jog.AnyCommandCompleteInPosn InPosnTimeJog.#.Accel Jog.#.CommandCompleteJog.Select0 Jog.StopJog.#.MinusInitiate Jog.#.CommandInProgressJog.#.Decel Jog.#.DeceleratingModbus.ModbusId ModuleInput.#.ForceEnableLineVoltage Modbus.BaudRateModuleInput.#.Status ModuleOutput.#.ForceEnableModuleInput.#.Name ModuleInput.#.RawPLS.#.Direction MotionStopMotorType NamePLS.#.RotaryRolloverEnable PLS EnablePLS.#.PLSEnable PLS Rollover EnablePLS.#.Source PosnCommandPosnErrorIntegralEnable PLS.#.RotaryRolloverPosnPowerUpTime PosnErrorIntegralTimeConstantPowerStageEnabled PowerUpCountProgram.#.Initiate PowerUpTimeTotalRotaryRolloverEnable Program.AnyCompleteSelector.#.Selection ShuntPowerRMSSelector.SelectLinesUsed Selector.#.SelectSoftwareTravelLimitPlusActive SoftwareTravelLimitEnableSoftwareTravelLimitMinusActive SoftwareTravelLimitMinusPosnStop TorqueCommandTorqueCommandLimited StartUpTorqueLimit TravelLimitDisableTorqueLevel TorqueLevelActiveTravelLimitPlusActivate TorqueLimitEnableTravelLimitMinusActivate TravelLimitMinusActiveVar.Var#.Decimal VelCommandTorqueUnits.PercentContinuousCurrent TorqueUnits.TorqueVelocityUnits.ScalingFlag VelocityUnits.DecimalVelocityUnits.DistVelScale VelocityUnits.NameFM-3 Programming Module Reference Manual 182 Mechanical Installation Basic Installation NotesGrip the FM On each side LCD Modbus CommunicationsInstalling PowerTools Pro Software InstallationPC System Configuration Preparing for PowerTools Pro InstallationStarting and Exiting PowerTools If You Need Help with InstallationStarting the Software Exiting the Software Accessing HelpTo display Help in PowerTools, do one of the following Opening a New File188 General Setup View Basic Setup StepsOpening a New Configuration Window Enter All Setup Data190 User Units View Position View Master Units ViewRamps View Velocity ViewTorque View Tuning ViewPLS View Making Assignments196 Jog Setup Setting Up Motion ParametersHome Setup Home Setup View Index Setup200 201 Creating a Program 203 204 Example System Example Application Start UpEnable Following Error Enable this checkbox Making Assignments 208 209 210 211 212 PID vs. State-Space Tuning ProceduresTuning Procedure Initial settingsTuning steps Fully Optimized Level General Tuning HintsTuning Parameters Inertia RatioFriction Feedforwards ResponseLine Voltage EN Only Determining Tuning Parameter ValuesConsider the following before determining the Friction Initial Test SettingsProcedure for Determining Friction Determining FrictionRpmh Rpml Determining Inertia RatioConsider the following before determining the inertia Inertia Measurement ProcedureConversion Formula Ramp Units Conversion223 FM-3 Programming Module Reference Manual 224 Diagnostic Display Diagnostics and TroubleshootingFault Codes 227 Flash Invalid Fault DescriptionsWatchdog Timer Power Up TestHigh DC Bus FM-3 FaultInvalid Configuration Power ModuleEncoder Hardware RMS Shunt PowerMax Following Error Encoder StateFM-3 Specific Fault Descriptions Watchdg Isr OvrTraj Flt Drv SynPwr On FlwErr Mtr TmpDvOvrTmp Inv Parm Inv NVMAnalog Outputs Analog Output Scale units Diagnostic Output Test Points Diagnostic Analog Output Test Points237 Viewing Active Drive Faults Drive FaultsError Messages Resetting FaultsError The maximum limit of Instances is reached Non-Programming Error MessagesFYI Your Application has Programming Error MessagesError Your Application is not valid to download Error a FM3 number’s mantissa must be between -2147483647Error Program Instance does not Exist Error Can only compare,,etc numeric resultsError Couldnt find named Variable Error Couldnt find named Variable from TextError The destination variable is Read Only Error Syntax error encounteredError Text Strings are limited to 12 characters Error The destination variable does not accept Data243 Error This variable type cannot be assigned a value Error This instance does not existError This is not a fully qualified variable Error This variable cannot be assigned a selection valueWatch Window Online Status Indicators246 Motion Status Global Where Am I ButtonFM-3 Programming Module Reference Manual 248 Dimensions and Clearances Specifications250 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 Check Box AmplifierAxis Baud RateDIN Rail ConfigurationDestination Dialog BoxFlash File Global Where AmFirmware FlashLeast Significant Bit Input FunctionInput Line JogOutput Line Option ButtonOpto-isolated Output FunctionTravel Limit PowerTools ProRadio Button Serial PortVariable ViewWindows, Microsoft FM-3 Programming Module Reference Manual 272 Index Symbols274 275 FM-3 Programming Module Reference Manual 276