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P/N 400361-00 manual SM-EZMotion Module User Guide
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Install
Error codes
Motor Feedback to Unidrive SP Connection Diagram
Configuring an Application
Connecting the PC to the SM-EZMotion Module
Diagnostics
Modbus Setup Window
Profile Command Complete
View Current Errors
Tuning View
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SM-EZMotion
Module User Guide
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Contents
P/N Revision A1 Date July 3 Control Techniques Drives, Inc
User Guide
SM-EZMotion Module
Page
SM-EZMotion Module User Guide
Control Techniques Drives, Inc. 2003 All rights reserved Part Number
Customer Support
Document Conventions
General Warning
Safety Instructions
Reference Materials
Qualified Person
Page
Safety of Machinery
Safety
Safety Information
Considerations
viii
SM-EZ Motion Module Reference
2 Installation
Table of Contents
Safety Considerations
3 PowerTools Pro Configuration Software
7 Configuring an Application
6 How I/O Works
10 Starting and Stopping Programs
8 How User Programs Work
9 Starting and Stopping Motion
Drive Parameters Used by SM-EZMotion Module
Diagnostics
Parameter Descriptions
Creating a Custom Motor File
1.1 Introduction
1.3.1 Features
1 Introduction
1.3 Development Software
Programming
SM-EZMotion Module User Guide
2.5 Connecting Motor Encoder Feedback to the Unidrive SP
2 Installation
2.1 Mechanical Installation
Figure 2 Connection Diagram
EZ or UM Motor
Figure 3 Motor Feedback to Unidrive SP Connection Diagram
NT, MG, or MH Motor
SIBAA-xxx Cable
2.6 Simple Servo Motor Phasing Test
tunEx trips
SM-EZMotion Module User Guide
3.3 How PowerTools Pro is Organized
Configuration Software
3.2 Installing PowerTools Pro
3.2.1 From the Power CD
3.3.1.1 File
3.3.1.2 Edit
3.3.1.3 Device
Figure 11 Options Menu
3.3.1.4 Options
Figure 10 Device Menu
Figure 15 PowerTools Preferences
Figure 12 Modbus Setup Window
Figure 13 Com Port and Baud Rate Setup
3.3.1.5 Tools
View Menu
Figure 17 Flash Upgrade Window
3.3.1.6 View
3.3.1.5.3 Flash Upgrade
3.3.1.8 Help
3.3.2 Tool Bar
3.3.1.7 Window
3.3.2.1 New
3.3.2.6 Download
3.3.2.14 View Current Errors
3.3.2.5 Upload
3.3.2.7 Send to RAM
3.3.2.22 Help Contents
3.3.2.15 Clear Errors
3.3.2.20 Global Where Am I?
3.3.3 Hierarchy
3.3.6 Status Bar
3.3.4 View
3.3.5 View Tabs
4.4 Uploading and Downloading using PowerTools Pro
4.2 Connecting the PC to the SM-EZMotion Module
4.3 Configuring Communications in PowerTools Pro
Figure 22 Modbus Setup
4.4.3.2 Downloading
4.4.1 Uploading
4.4.2 Downloading
4.4.3.1 Uploading
4.4.5 PowerTools Pro Operation Preferences
Figure 27 Update to RAM flowchart
4.4.4 Updating to RAM
4.4.5.2 Upload Group
Figure 28 PowerTools Pro Operation Preferences Window
4.4.5.1 Download Group
4.4.5.3 Upload Non-Volatile Memory NVM Group
Figure 31 Upload Failure - File Protected By User message
4.4.6 Secure Downloading
Figure 30 Secure File Download
Figure 29 Secure File - Save As Window
SM-EZMotion Module User Guide
5 How Motion
Figure 32 Jog Profile Diagram
Works
5.1 Introduction
Figure 34 \Home to Marker Profile Specified Offset
5.3.2 Home to Sensor
5.3.3 Home to Sensor then Marker
Figure 35 Home to Sensor Profile Calculated Offset
5.4.1 Absolute Index
5.4 Index
5.3.4 If On Sensor Options
5.3.4.2 Go Forward To Next Sensor
5.4.3.1 Registration to Sensor
5.4.2 Incremental Index
5.4.3 Registration Index
Figure 41 Absolute Index Profile Example
5.4.6 Timed Index
5.4.4 Rotary Plus Index
5.4.5 Rotary Minus Index
Figure 47 Registration to Sensor Profile Offset
5.6 Motion Timebase Realtime vs. Synchronized
Figure 51 Gear Acceleration Diagram
5.5 Gear
Figure 50 Timed Index Profile
Synchronized
5.7 Summing Multiple Profiles
Realtime
Two Indexes
SM-EZMotion Module User Guide
6.2 SM-EZMotion Module I/O
6 How I/O Works
6.1 I/O Scan
6.3 Unidrive SP I/O
SM-EZMotion Module User Guide
7.2 Define Hardware
7 Configuring an Application
7.1 Introduction
7.2.1 Drive/Encoder View
7.2.2.3 SM-I/O Plus Module View
7.2.2.2 SM-EZMotion Module View
7.2.2.4 SM-Universal Encoder Plus Module View
7.2.2.5 SM-Resolver Module View
7.2.2.8 Applications Plus Module View
7.2.3 Unidrive SP Parameters View
7.2.2.6 SM-DeviceNet Module View
7.2.2.7 SM-Profibus DP Module View
Figure 64 SP Menu Initialization View
7.3 Configure Setup Parameters
7.2.4 SP Menu Initialization View
Figure 63 Initialization File Example
Figure 66 User Units View
7.3.1 Setup View
7.3.2 User Units View
Trajectory Update Rate
7.3.3 Master Units Setup View
Figure 67 Master Setup View
Master Distance Units Scaling
Master Position Filter Enable
Enable Feedforward
Master Position Filter Samples
7.3.4 Position View
Position View
Figure 70 Ramps View
7.3.5 Velocity View
7.3.6 Ramps View
Feedrate Override
Figure 71 Torque View
7.3.8 Tuning View
7.3.7 Current View
Feedhold Decel/Accel
7.3.9 Errors View
Errors View
Power Up
Rotary Enable
7.3.10 PLS View
PLS View
Time Before Trip
7.3.12 Capture View
7.3.11 Setup NVM View
Figure 75 Setup NVM View
Figure 76 Capture View
Capture Sources and Destinations
Figure 78 Capture Timing Diagram
Figure 77 Capture Object
Sources
7.3.13 Queues View
Queues View
7.3.14 User Variables View
Queue Object and Components Diagram
Figure 80 Queue Block Diagram
Figure 82 User Variables View
Using User Variables in a Program
7.3.15 User Bits View
User Bits View
Using User Bits in a Program
Figure 86 User Bits View Mask Tab
Figure 84 Writing to the User Bit Register
Figure 85 User Bit Read/Write Process
Configuring the User Bit Mask Register
Figure 87 Assignments View
7.4 Configure I/O
7.4.1 Assignments View
Deleting An Assignment Delete Button Method
This could cause motion to initiate on loss of I/O Power
Assign Button Method
Right Click Method
Figure 88 Drive I/O Setup View
7.4.2 SP I/O Setup View
7.4.3 EZ Motion I/O Setup View
Figure 89 Module I/O Setup View
Figure 92 Selector Assignments Example
7.5 Define Motion Profiles
7.5.1 Jog View
Jog.Select0
Jog.PlusActivate
Jog.MinusActivate
Motion
Figure 96 Home View
7.5.2 Home View
Figure 95 Jog Select Usage
Acceleration
7.5.3 Index View
Index View
Enable Index PLS
Figure 99 Timed Index Profile Diagram
Figure 98 Index View with Timed Index Selected
A user program cannot compound into a Timed
PLS On Point
Destinations
Window End
Index Sources and Destinations Sources
7.6.1 Program View
7.6 Create User Programs
7.5.4 Gearing View
Figure 100 Gearing View
Figure 101 Program View
SM-EZMotion Module User Guide
Programs Work
Program Parameters Program Toolbar Code Window Red Dot Error Bar
8 How User
8.1 Program Window Components
8.3.1 Undo
8.2.4 Run Anytime Enable
8.3 Program Toolbar
8.3.2 Redo
8.3.9 Red Dot Help
8.3.14 Program Where Am I?
8.3.16 Disable/Enable Error Check
8.3.10 Drag In Operands
8.4.1.1 If/Then/EndIf
8.4 Program Instruction List
8.4.1 Program Flow Instructions
8.4.1.2 Else
8.4.1.6 Wait For Time
8.4.1.4 Do While/Loop
8.4.1.5 Wait For
8.4.1.7 Call Program
8.4.1.10 Label
8.4.1.8 End
8.4.1.9 Formula
8.4.1.11 GoTo
8.4.2.2 Dwell For MasterDist
8.4.2 Motion Instructions
8.4.2.1 Dwell For Time
8.4.2.3 Index.Initiate
8.4.2.7 Jog.PlusInitiate
8.4.2.5 Home.Initiate
8.4.2.6 Jog.Stop
8.4.2.8 Jog.MinusInitiate
8.4.3.2 Using Last
8.5 Red Dot Error Bar
8.4.3.1 Using Capture
8.4.3 Motion Modifier Instructions
Figure 106 Program View
8.6 Program Code Window
8.7 Program Multi-tasking
Drag & Drop Method
Program Blocking
Figure 107 Time Slicing Diagram
Figure 108 Time Slicing Diagram Task 0 blocked
t = Control Loop Update
Figure 109 Multitasking Flow Chart
Switch to Next Task
Process Task End Of Update?
9.1.1 From Assignments
9 Starting and Stopping Motion
9.1 Starting Motion
9.1.1.1 Jog.PlusActivate
9.1.1.6 Gear.Activate
9.1.2 From Programs
9.1.1.5 Index.#.Initiate
9.1.2.1 Jog.#.PlusInitiate
1000 RPM
Figure 111 Compound Index Example
Figure 112 Compound Index Example
500 RPM
9.2.1 From Assignments
9.1.3 From PowerTools Pro
9.2 Stopping Motion
9.2.2 From Programs
9.2.2.3 Stop
9.2.3 From PowerTools Pro
9.2.2.2 Gear.Stop
9.2.2.4 Feedhold
SM-EZMotion Module User Guide
10 Starting and Stopping Programs
10.1.3 From PowerTools Pro
10.2.3 From PowerTools Pro
10.1 Starting Programs
SM-EZMotion Module User Guide
10.2.3.2 Stop All - Program Toolbar
again
11 Parameter
Descriptions
BrakeOverloadAccumulator
Captured.#.CapturedMasterPosHomed
DefineHome
EZInput Force
FeedRateOverride
Gear.DecelEnable
Home.#.Initiate
Index Profile Limited
Index.#.Initiate
Index.#.TimeBase
Jog.#.Accel
Master Axis Feedback Selector
SM-EZMotion Module Temperature
ModuleTemperature
MasterAxis.SpeedFeedbackSelector
PLS.#.OnPosn
SM-EZMotion Power Up Time
SM-EZMotion Power Up Count
PowerUpCount
PowerUpTime
Program.AnyComplete
Queue.#.QueueExit
Slot 3 Error Status
Slot 2 Error Status
Slot2.ErrorStatus
Slot3.ErrorStatus
SlotX Encoder Type
SlotX Encoder Supply Voltage
SlotX.EncoderSupplyVoltage
SlotX.EncoderType
SlotX IO Status
Enable Software Travel Limits
SoftwareTravelLimitEnable
SlotX.IO.#.In
Software Travel Limit Minus Active
Unidrive SP Software Version
Unidrive SP Software Sub-Version
SPDrive.SoftwareSubVersion
SPDrive.SoftwareVersion
Unidrive SP Power Up Time - Hrs.Min
SP Menu Error Status
SPMenu.ErrorStatus
SPPowerUpTimeHoursMinutes
SPPowerUpTimeYearsDays
TotalPowerUpTime
Time Scale
Velocity Loop Bandwidth
VelocityLoopBandwidth
VelocityUnits.TimeScale
12.1 Description
12.2 Chart
12 Drive Parameters Used by SM-EZMotion Module
Menu
Menu
Menu
Menu
Menu
Menu
Menu
Menu
x.02 - Option Software Version
12.3 SM-EZMotion Module Setup Parameters
x.01 - Option ID Code
4 = Gear Active 5 = Dwell Active 6 = Home Active
0 = Not Active 1 = Active 2 = Processing Home
0 = Not Active 1 = Stop Active 2 = Index Active 3 = Jog Active
Task 3 Status
x.50 - Option Module Error Status
13 Diagnostics
13.1 Errors and Error Codes
Program Error - Call Stack Overflow
SM-EZMotion Module User Guide
Diagnostics
13.3.1 Watch Window
13.3 PowerTools Pro
13.2 Analog Outputs
Figure 113 Analog Output Example
Figure 115 Select Drive Parameters Window
13.3.2 Errors View
Figure 114 Watch Window Example
Figure 117 PowerTools Pro Status Bar
13.3.4 Where Am I?
Figure 116 SM-EZMotion Error Pop-Up Window
13.3.3 Status Bar
Figure 119 Status Online Tab
13.4 Clearing SLX.dF trip after installing SM-EZMotion module
13.5 Clearing the SM-EZMotion module memory
Saving the Drive Parameters
SM-EZMotion Module User Guide
Header Information Motor Definition Information
14 Creating a Custom Motor File
Figure 120 Example .ddf file
DDF File Parameter
thermalTimeConstant
encoderPhaseAngle
maxOperatingSpeed
Verification and Checkout
SM-EZMotion Module User Guide
15 Glossary
Global Where Am
PowerTools Pro
SM-EZMotion Module User Guide
16 Index
Page
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Phone 952 995-8000 or 800 Fax 952 Technical Support
12005 Technology Drive Eden Prairie, Minnesota U.S.A Customer Service
Control Techniques Drives, Inc Division of EMERSON Co
Phone 952 995-8033 or 800 Fax 952