VelocityLoopBandwidth, Time Scale | Emerson P/N 400361-00 guide

Velocity Loop Bandwidth

VelocityLoopBandwidth

The Velocity Loop Bandwidth parameter is the theoretical bandwidth of the velocity controller (how fast the system can respond to change in velocity command). The value of this parameter depends heavily on the correct values for the motor data, particularly the Motor Rotor Inertia and the Motor Current Constant (Ke). Units for this parameter are Hz.

Time Scale

VelocityUnits.TimeScale

Velocity time scale can be set to user units per second or user units per minute, used for all real-time velocities throughout the PowerTools Pro software.

110

www.emersonct.com

SM-EZMotion Module User Guide

Page 124

Image 124

Emerson P/N 400361-00 manual VelocityLoopBandwidth, Time Scale, VelocityUnits.TimeScale

Contents

SM-EZMotion Module Page SM-EZMotion Module User Guide Page Training Services 952 995-8000 or 800 952Website and Email Technical Support 952 995-8033 or 800 Customer Service Sales 952 995-8000 or 800 Document Conventions General Warning Qualified PersonPage Safety Information Safety of MachineryGeneral Information Drive software version Viii SM-EZ Motion Module Reference Table of Contents How I/O Works Configuring an ApplicationSM-EZMotion Module Technical Manual Starting and Stopping Motion How User Programs WorkStarting and Stopping Programs Creating a Custom Motor File 125 Glossary 129 Index 133 Diagnostics 117Xii Features IntroductionDevelopment Software SM-EZMotion Module for Unidrive SPPage Mechanical Installation Connecting Motor Encoder Feedback to the Unidrive SPSlot Selection Electrical Connections EZ or UM Motor Simple Servo Motor Phasing Test TunEx trips SM-EZMotion Module User Guide Installing PowerTools Pro How PowerTools Pro is OrganizedFrom the Power CD From the Web File Edit Device Options Ptools Operation ToolsUser Levels View Tool Bar View Current Errors UploadDownload Send to RAM Hierarchy View Tabs ViewStatus Bar Connecting the PC to the SM-EZMotion Module Configuring Communications in PowerTools ProUploading and Downloading using PowerTools Pro Communications Protocol Uploading DownloadingDownloading Uploading PowerTools Pro Operation Preferences Updating to RAM Upload Group Download GroupUpload Non-Volatile Memory NVM Group Secure Downloading Always bypass NVM upload SM-EZMotion Module User Guide Jog HomeHome to Marker How Motion Works Home to Sensor Home to Sensor then Marker Index If On Sensor OptionsAbsolute Index Go Forward To Next Sensor Registration Index Incremental IndexRegistration to Sensor Rotary Minus Index Rotary Plus IndexTimed Index Gear Motion Timebase Realtime vs. Synchronized Realtime Summing Multiple ProfilesSynchronized Two Indexes I/O Scan SM-EZMotion Module I/OUnidrive SP I/O SM-I/O Plus Module I/O SM-EZMotion Module User Guide Configuring an Application Define HardwareDrive/Encoder View Slot # View SM-EZMotion Module View SM-Universal Encoder Plus Module ViewSM-I/O Plus Module View SM-Resolver Module View To the view the menu parameters, PowerTools Pro must Unidrive SP Parameters ViewSM-DeviceNet Module View Applications Plus Module View SP Menu Initialization View Configure Setup ParametersControl Button Get Menu Values Setup View User Units View Master Units Setup View Master Position Filter Enable Enable FeedforwardMaster Distance Units Scaling Master Position Filter Samples Position View Velocity View Ramps View Tuning View Current View Errors View Power Up Module Power Up CountModule Power Up Time Drive Power Up Time PLS View Setup NVM View Capture View Capture Sources and Destinations SourcesDestinations Sources That Can Accurately Capture Data Queues View User Variables View Queue Object User Bits View Configuring the User Bit Mask Register Writing to the User Bit Register Configure I/O Assignments ViewAssignments View Creating An Assignment Assign Button Method Deleting An Assignment Delete Button MethodRight Click Method Assignment Polarity EZ Motion I/O Setup View SP I/O Setup ViewSelector View Jog View Define Motion ProfilesJog Number Jog Name Time BaseJog Velocity Jog Acceleration Switch that is active Home ViewHome Number Home Reference Limit Distance LimitDistEnable AccelerationDeceleration If on sensor... Group Index View Enable Index PLS Index View with Timed Index Selected Enable Registration Window PLS On PointPLS Off Point Example Window End Index Sources and Destinations Gearing View Create User ProgramsProgram View Program View Program Window Components Program ParametersProgram Name Program Number Program Toolbar Program Where Am I? Disable/Enable Error CheckRed Dot Help Drag In Operands Program Instruction List Program Flow Instructions1.1 If/Then/EndIf Else Do While/Loop Wait ForWait For Time Call Program 1.8 End FormulaLabel GoTo Motion Instructions Dwell For TimeDwell For MasterDist Index.Initiate Home.Initiate 2.6 Jog.Stop2.7 Jog.PlusInitiate 2.8 Jog.MinusInitiate Red Dot Error Bar Motion Modifier Instructions Program Code Window Program Multi-taskingDrag & Drop Method Typing Method Program Blocking Index.0.Initiate Dwell For Time 0.550 sec EZOutput.2 = on Multitasking Flow Chart Tasks are blocked Starting Motion From Assignments From Programs Compound Index Example From PowerTools Pro Stopping Motion Stop All Main Toolbar Profile.#.ProfileStopStop All Program Toolbar SM-EZMotion Module User Guide Starting Programs Stopping ProgramsProgram.#.Initiate Program.#.Stop Again AbsolutePosnValid AcceleratingAccelType AccelUnits.Decimal BrakeResistorAlarm CaptureEnableCaptureReset Capture.#.CapturedPositionCommand ClearFollowingError CommandingMotionCurrentLimitEnable Captured.#.CapturedMasterPosHomed DistUnits.CharacteristicDist DistUnits.CharacteristicLengthDriveEnableStatus Error.Reset EZInput.#.ForceEnable Fault.DriveOKFeedforwardsEnable EZInput.#.Force FollowingError FollowingErrorEnableFollowingErrorLimit Gear.AccelEnable Gear.DecelEnable Gear.RecoveryDistHome.AnyCommandComplete Home.#.CommandComplete Home.#.LimitDistEnable Index.AnyCommandCompleteHome.#.Initiate Home.#.LimitDist Index.ResetProfileLimited Index.#.CommandCompleteIndex.#.CommandInProgress Index.ProfileLimited Index.#.PLSEnable Index.#.RegistrationWindowEnableIndex.#.Initiate Index.#.LimitDistHit Index.#.TimedIndexEnable Jog.AnyCommandCompleteIndex.#.TimeBase Index.#.Vel Jog.#.CommandComplete Jog.#.CommandInProgressJog.#.Accel Jog.#.Accelerating ModuleTemperature MasterAxis.SpeedFeedbackSelectorModuleSerialNumber MotionStop PLS.#.PLSEnable PLS.#.RotaryRolloverEnablePosnCommand PLS.#.OnPosn PowerUpCount PowerUpTimeProfile.#.CommandComplete Profile.#.CommandInProgress Queue.#.QueueCompareEnable Program.AnyComplete Queue SizeProgram.#.Initiate Queue.#.FullLevel RotaryRolloverEnable Slot1.ErrorStatusQueue.#.QueueExit Quene.#.ExitPosition Slot2.ErrorStatus Slot3.ErrorStatusSlotX.EncoderLinesPerRev SlotX.EncoderSimulationDenominator SlotX.EncoderSupplyVoltage SlotX.EncoderTypeSlotX.Input.#.In SlotX.Input.#.Name SoftwareTravelLimitEnable SlotX.IO.#.InSlotX.IO.#.Name SlotX.IO.#.Out SoftwareTravelLimitMinusActive SoftwareTravelLimitMinusPosnSoftwareTravelLimitPlusActive SoftwareTravelLimitPlusPosn SPDrive.SoftwareSubVersion SPDrive.SoftwareVersionSpeedFeedbackSelector SPInput.#.In SPMenu.ErrorStatus SPPowerUpTimeHoursMinutesSPIO.#.Name SPIO.#.Out SPPowerUpTimeYearsDays StackTemperature1SwitchingFrequency SPRelay.#.Name TotalPowerUpTime TravelLimitDisableVelCommand VelocityFeedforwardEnable Time Scale VelocityLoopBandwidthVelocityUnits.TimeScale Chart Description 112 SM-EZMotion Module User Guide Drive Parameters Used by SM-EZMotion Module 113 Option ID Code SM-EZMotion Module Setup ParametersOption Software Version EZOutput.1.Status EZOutput.2.StatusEZInput.1.Status EZInput.2.Status Option Module Error Status Errors and Error Codes Diagnostics 117 118 SM-EZMotion Module User Guide Diagnostics 119 Analog Outputs PowerTools ProWatch Window Watch Window Example Where Am I? Online View Tabs Clearing the SM-EZMotion module memory Clearing SLX.dF trip after installing SM-EZMotion moduleSaving the Drive Parameters 124 SM-EZMotion Module User Guide Editing the Spmotor.ddf File Header SectionRevision NameCount PhaseResistance PhaseInductanceSPMotor Definition Section Motor ID EncoderPhaseAngle MaxOperatingSpeedThermalTimeConstant Verification and Checkout 128 SM-EZMotion Module User Guide Configuration AmplifierAxis Baud Rate Global Where Am Home RoutineHysteresis Inertia PowerTools Pro Radio ButtonSerial Port Travel Limit 132 SM-EZMotion Module User Guide Index Index 133 134 SM-EZMotion Module User Guide Index 135 136 SM-EZMotion Module User Guide