Manuals / Emerson / Computer Equipment / Computer Hardware

Emerson P/N 400361-00 manual User Guide, SM-EZMotion Module

Models: P/N 400361-00

1 152

Download 152 pages 17.97 Kb

Page 1

Image 1

SM-EZMotion Module

User Guide

P/N 400361-00

Revision: A1

Date: July 3, 2003

Page 1

Image 1

Emerson P/N 400361-00 manual User Guide, SM-EZMotion Module, P/N Revision A1 Date July 3 Control Techniques Drives, Inc

Contents

SM-EZMotion Module User GuideP/N Revision A1 Date July 3 Control Techniques Drives, Inc Page SM-EZMotion Module User Guide Control Techniques Drives, Inc. 2003 All rights reserved Part Number Customer Support Document Conventions Reference Materials Safety InstructionsGeneral Warning Qualified PersonPage Safety Information SafetySafety of Machinery ConsiderationsSM-EZ Motion Module Reference viiiSafety Considerations Table of Contents2 Installation 3 PowerTools Pro Configuration Software6 How I/O Works 7 Configuring an Application9 Starting and Stopping Motion 8 How User Programs Work10 Starting and Stopping Programs Parameter Descriptions DiagnosticsDrive Parameters Used by SM-EZMotion Module Creating a Custom Motor File1 Introduction 1.3.1 Features1.1 Introduction 1.3 Development SoftwareSM-EZMotion Module User Guide Programming2.1 Mechanical Installation 2 Installation2.5 Connecting Motor Encoder Feedback to the Unidrive SP Figure 2 Connection DiagramNT, MG, or MH Motor Figure 3 Motor Feedback to Unidrive SP Connection DiagramEZ or UM Motor SIBAA-xxx CabletunEx trips 2.6 Simple Servo Motor Phasing TestSM-EZMotion Module User Guide 3.2 Installing PowerTools Pro Configuration Software3.3 How PowerTools Pro is Organized 3.2.1 From the Power CD3.3.1.2 Edit 3.3.1.1 File3.3.1.3 Device Figure 10 Device Menu 3.3.1.4 OptionsFigure 11 Options Menu Figure 13 Com Port and Baud Rate Setup Figure 12 Modbus Setup WindowFigure 15 PowerTools Preferences 3.3.1.5 Tools3.3.1.6 View Figure 17 Flash Upgrade WindowView Menu 3.3.1.5.3 Flash Upgrade3.3.1.7 Window 3.3.2 Tool Bar3.3.1.8 Help 3.3.2.1 New3.3.2.5 Upload 3.3.2.14 View Current Errors3.3.2.6 Download 3.3.2.7 Send to RAM3.3.2.20 Global Where Am I? 3.3.2.15 Clear Errors3.3.2.22 Help Contents 3.3.3 Hierarchy3.3.5 View Tabs 3.3.4 View3.3.6 Status Bar 4.3 Configuring Communications in PowerTools Pro 4.2 Connecting the PC to the SM-EZMotion Module4.4 Uploading and Downloading using PowerTools Pro Figure 22 Modbus Setup4.4.2 Downloading 4.4.1 Uploading4.4.3.2 Downloading 4.4.3.1 Uploading4.4.4 Updating to RAM Figure 27 Update to RAM flowchart4.4.5 PowerTools Pro Operation Preferences 4.4.5.1 Download Group Figure 28 PowerTools Pro Operation Preferences Window4.4.5.2 Upload Group 4.4.5.3 Upload Non-Volatile Memory NVM GroupFigure 30 Secure File Download 4.4.6 Secure DownloadingFigure 31 Upload Failure - File Protected By User message Figure 29 Secure File - Save As WindowSM-EZMotion Module User Guide Works Figure 32 Jog Profile Diagram5 How Motion 5.1 Introduction5.3.3 Home to Sensor then Marker 5.3.2 Home to SensorFigure 34 \Home to Marker Profile Specified Offset Figure 35 Home to Sensor Profile Calculated Offset5.3.4 If On Sensor Options 5.4 Index5.4.1 Absolute Index 5.3.4.2 Go Forward To Next Sensor5.4.3 Registration Index 5.4.2 Incremental Index5.4.3.1 Registration to Sensor Figure 41 Absolute Index Profile Example5.4.5 Rotary Minus Index 5.4.4 Rotary Plus Index5.4.6 Timed Index Figure 47 Registration to Sensor Profile Offset5.5 Gear Figure 51 Gear Acceleration Diagram5.6 Motion Timebase Realtime vs. Synchronized Figure 50 Timed Index ProfileRealtime 5.7 Summing Multiple ProfilesSynchronized SM-EZMotion Module User Guide Two Indexes6.1 I/O Scan 6 How I/O Works6.2 SM-EZMotion Module I/O 6.3 Unidrive SP I/OSM-EZMotion Module User Guide 7.1 Introduction 7 Configuring an Application7.2 Define Hardware 7.2.1 Drive/Encoder View7.2.2.4 SM-Universal Encoder Plus Module View 7.2.2.2 SM-EZMotion Module View7.2.2.3 SM-I/O Plus Module View 7.2.2.5 SM-Resolver Module View7.2.2.6 SM-DeviceNet Module View 7.2.3 Unidrive SP Parameters View7.2.2.8 Applications Plus Module View 7.2.2.7 SM-Profibus DP Module View7.2.4 SP Menu Initialization View 7.3 Configure Setup ParametersFigure 64 SP Menu Initialization View Figure 63 Initialization File Example7.3.2 User Units View 7.3.1 Setup ViewFigure 66 User Units View Trajectory Update RateFigure 67 Master Setup View 7.3.3 Master Units Setup ViewEnable Feedforward Master Position Filter EnableMaster Distance Units Scaling Master Position Filter SamplesPosition View 7.3.4 Position View7.3.6 Ramps View 7.3.5 Velocity ViewFigure 70 Ramps View Feedrate Override7.3.7 Current View 7.3.8 Tuning ViewFigure 71 Torque View Feedhold Decel/AccelErrors View 7.3.9 Errors ViewPower Up PLS View 7.3.10 PLS ViewRotary Enable Time Before TripFigure 75 Setup NVM View 7.3.11 Setup NVM View7.3.12 Capture View Figure 76 Capture ViewFigure 77 Capture Object Figure 78 Capture Timing DiagramCapture Sources and Destinations SourcesQueues View 7.3.13 Queues ViewFigure 80 Queue Block Diagram Queue Object and Components Diagram7.3.14 User Variables View Figure 82 User Variables ViewUser Bits View 7.3.15 User Bits ViewUsing User Variables in a Program Using User Bits in a ProgramFigure 85 User Bit Read/Write Process Figure 84 Writing to the User Bit RegisterFigure 86 User Bits View Mask Tab Configuring the User Bit Mask Register7.4.1 Assignments View 7.4 Configure I/OFigure 87 Assignments View Assign Button Method This could cause motion to initiate on loss of I/O PowerDeleting An Assignment Delete Button Method Right Click Method7.4.3 EZ Motion I/O Setup View 7.4.2 SP I/O Setup ViewFigure 88 Drive I/O Setup View Figure 89 Module I/O Setup View7.5.1 Jog View 7.5 Define Motion ProfilesFigure 92 Selector Assignments Example Jog.MinusActivate Jog.PlusActivateJog.Select0 MotionFigure 95 Jog Select Usage 7.5.2 Home ViewFigure 96 Home View Acceleration Index View 7.5.3 Index ViewFigure 98 Index View with Timed Index Selected Figure 99 Timed Index Profile DiagramEnable Index PLS A user program cannot compound into a TimedPLS On Point Index Sources and Destinations Sources Window EndDestinations 7.5.4 Gearing View 7.6 Create User Programs7.6.1 Program View Figure 100 Gearing ViewSM-EZMotion Module User Guide Figure 101 Program View8 How User Program Parameters Program Toolbar Code Window Red Dot Error BarPrograms Work 8.1 Program Window Components8.3 Program Toolbar 8.2.4 Run Anytime Enable8.3.1 Undo 8.3.2 Redo8.3.16 Disable/Enable Error Check 8.3.14 Program Where Am I?8.3.9 Red Dot Help 8.3.10 Drag In Operands8.4.1 Program Flow Instructions 8.4 Program Instruction List8.4.1.1 If/Then/EndIf 8.4.1.2 Else8.4.1.5 Wait For 8.4.1.4 Do While/Loop8.4.1.6 Wait For Time 8.4.1.7 Call Program8.4.1.9 Formula 8.4.1.8 End8.4.1.10 Label 8.4.1.11 GoTo8.4.2.1 Dwell For Time 8.4.2 Motion Instructions8.4.2.2 Dwell For MasterDist 8.4.2.3 Index.Initiate8.4.2.6 Jog.Stop 8.4.2.5 Home.Initiate8.4.2.7 Jog.PlusInitiate 8.4.2.8 Jog.MinusInitiate8.4.3.1 Using Capture 8.5 Red Dot Error Bar8.4.3.2 Using Last 8.4.3 Motion Modifier Instructions8.7 Program Multi-tasking 8.6 Program Code WindowFigure 106 Program View Drag & Drop MethodFigure 108 Time Slicing Diagram Task 0 blocked Figure 107 Time Slicing DiagramProgram Blocking Switch to Next Task Figure 109 Multitasking Flow Chartt = Control Loop Update Process Task End Of Update?9.1 Starting Motion 9 Starting and Stopping Motion9.1.1 From Assignments 9.1.1.1 Jog.PlusActivate9.1.1.5 Index.#.Initiate 9.1.2 From Programs9.1.1.6 Gear.Activate 9.1.2.1 Jog.#.PlusInitiateFigure 112 Compound Index Example Figure 111 Compound Index Example1000 RPM 500 RPM9.2 Stopping Motion 9.1.3 From PowerTools Pro9.2.1 From Assignments 9.2.2 From Programs9.2.2.2 Gear.Stop 9.2.3 From PowerTools Pro9.2.2.3 Stop 9.2.2.4 FeedholdSM-EZMotion Module User Guide 10.2.3 From PowerTools Pro 10.1.3 From PowerTools Pro10 Starting and Stopping Programs 10.1 Starting Programsagain 10.2.3.2 Stop All - Program ToolbarSM-EZMotion Module User Guide Descriptions 11 ParameterBrakeOverloadAccumulator Captured.#.CapturedMasterPosHomed DefineHome EZInput Force FeedRateOverride Gear.DecelEnable Home.#.Initiate Index Profile Limited Index.#.Initiate Index.#.TimeBase Jog.#.Accel ModuleTemperature SM-EZMotion Module TemperatureMaster Axis Feedback Selector MasterAxis.SpeedFeedbackSelectorPLS.#.OnPosn PowerUpCount SM-EZMotion Power Up CountSM-EZMotion Power Up Time PowerUpTimeProgram.AnyComplete Queue.#.QueueExit Slot2.ErrorStatus Slot 2 Error StatusSlot 3 Error Status Slot3.ErrorStatusSlotX.EncoderSupplyVoltage SlotX Encoder Supply VoltageSlotX Encoder Type SlotX.EncoderTypeSoftwareTravelLimitEnable Enable Software Travel LimitsSlotX IO Status SlotX.IO.#.InSoftware Travel Limit Minus Active SPDrive.SoftwareSubVersion Unidrive SP Software Sub-VersionUnidrive SP Software Version SPDrive.SoftwareVersionSPMenu.ErrorStatus SP Menu Error StatusUnidrive SP Power Up Time - Hrs.Min SPPowerUpTimeHoursMinutesSPPowerUpTimeYearsDays TotalPowerUpTime VelocityLoopBandwidth Velocity Loop BandwidthTime Scale VelocityUnits.TimeScale12 Drive Parameters Used by SM-EZMotion Module 12.2 Chart12.1 Description Menu MenuMenu MenuMenu MenuMenu Menux.01 - Option ID Code 12.3 SM-EZMotion Module Setup Parametersx.02 - Option Software Version 0 = Not Active 1 = Stop Active 2 = Index Active 3 = Jog Active 0 = Not Active 1 = Active 2 = Processing Home4 = Gear Active 5 = Dwell Active 6 = Home Active Task 3 Statusx.50 - Option Module Error Status 13.1 Errors and Error Codes 13 DiagnosticsSM-EZMotion Module User Guide Program Error - Call Stack OverflowDiagnostics 13.2 Analog Outputs 13.3 PowerTools Pro13.3.1 Watch Window Figure 113 Analog Output ExampleFigure 114 Watch Window Example 13.3.2 Errors ViewFigure 115 Select Drive Parameters Window Figure 116 SM-EZMotion Error Pop-Up Window 13.3.4 Where Am I?Figure 117 PowerTools Pro Status Bar 13.3.3 Status Bar13.5 Clearing the SM-EZMotion module memory 13.4 Clearing SLX.dF trip after installing SM-EZMotion moduleFigure 119 Status Online Tab Saving the Drive ParametersSM-EZMotion Module User Guide Figure 120 Example .ddf file 14 Creating a Custom Motor FileHeader Information Motor Definition Information DDF File Parameter maxOperatingSpeed encoderPhaseAnglethermalTimeConstant Verification and CheckoutSM-EZMotion Module User Guide 15 Glossary Global Where Am PowerTools Pro SM-EZMotion Module User Guide 16 Index Page Page Page Page Control Techniques Drives, Inc Division of EMERSON Co 12005 Technology Drive Eden Prairie, Minnesota U.S.A Customer ServicePhone 952 995-8000 or 800 Fax 952 Technical Support Phone 952 995-8033 or 800 Fax 952