Manuals
/
Emerson
/
Computer Equipment
/
Computer Hardware
Emerson
P/N 400361-00 manual
Models:
P/N 400361-00
1
151
152
152
Download
152 pages
17.97 Kb
145
146
147
148
149
150
151
152
<
>
Install
Error codes
Jog Profile Diagram
Configuring an Application
Diagnostics
Modbus Setup Window
Profile Command Complete
View Current Errors
Tuning View
encoderPhaseAngle
Page 151
Image 151
Page 150
Page 152
Page 151
Image 151
Page 150
Page 152
Contents
SM-EZMotion Module
User Guide
P/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
Qualified Person
Safety Instructions
Reference Materials
General Warning
Page
Considerations
Safety
Safety Information
Safety of Machinery
SM-EZ Motion Module Reference
viii
3 PowerTools Pro Configuration Software
Table of Contents
Safety Considerations
2 Installation
6 How I/O Works
7 Configuring an Application
9 Starting and Stopping Motion
8 How User Programs Work
10 Starting and Stopping Programs
Creating a Custom Motor File
Diagnostics
Parameter Descriptions
Drive Parameters Used by SM-EZMotion Module
1.3 Development Software
1.3.1 Features
1 Introduction
1.1 Introduction
SM-EZMotion Module User Guide
Programming
Figure 2 Connection Diagram
2 Installation
2.1 Mechanical Installation
2.5 Connecting Motor Encoder Feedback to the Unidrive SP
SIBAA-xxx Cable
Figure 3 Motor Feedback to Unidrive SP Connection Diagram
NT, MG, or MH Motor
EZ or UM Motor
tunEx trips
2.6 Simple Servo Motor Phasing Test
SM-EZMotion Module User Guide
3.2.1 From the Power CD
Configuration Software
3.2 Installing PowerTools Pro
3.3 How PowerTools Pro is Organized
3.3.1.2 Edit
3.3.1.1 File
3.3.1.3 Device
Figure 10 Device Menu
3.3.1.4 Options
Figure 11 Options Menu
3.3.1.5 Tools
Figure 12 Modbus Setup Window
Figure 13 Com Port and Baud Rate Setup
Figure 15 PowerTools Preferences
3.3.1.5.3 Flash Upgrade
Figure 17 Flash Upgrade Window
3.3.1.6 View
View Menu
3.3.2.1 New
3.3.2 Tool Bar
3.3.1.7 Window
3.3.1.8 Help
3.3.2.7 Send to RAM
3.3.2.14 View Current Errors
3.3.2.5 Upload
3.3.2.6 Download
3.3.3 Hierarchy
3.3.2.15 Clear Errors
3.3.2.20 Global Where Am I?
3.3.2.22 Help Contents
3.3.5 View Tabs
3.3.4 View
3.3.6 Status Bar
Figure 22 Modbus Setup
4.2 Connecting the PC to the SM-EZMotion Module
4.3 Configuring Communications in PowerTools Pro
4.4 Uploading and Downloading using PowerTools Pro
4.4.3.1 Uploading
4.4.1 Uploading
4.4.2 Downloading
4.4.3.2 Downloading
4.4.4 Updating to RAM
Figure 27 Update to RAM flowchart
4.4.5 PowerTools Pro Operation Preferences
4.4.5.3 Upload Non-Volatile Memory NVM Group
Figure 28 PowerTools Pro Operation Preferences Window
4.4.5.1 Download Group
4.4.5.2 Upload Group
Figure 29 Secure File - Save As Window
4.4.6 Secure Downloading
Figure 30 Secure File Download
Figure 31 Upload Failure - File Protected By User message
SM-EZMotion Module User Guide
5.1 Introduction
Figure 32 Jog Profile Diagram
Works
5 How Motion
Figure 35 Home to Sensor Profile Calculated Offset
5.3.2 Home to Sensor
5.3.3 Home to Sensor then Marker
Figure 34 \Home to Marker Profile Specified Offset
5.3.4.2 Go Forward To Next Sensor
5.4 Index
5.3.4 If On Sensor Options
5.4.1 Absolute Index
Figure 41 Absolute Index Profile Example
5.4.2 Incremental Index
5.4.3 Registration Index
5.4.3.1 Registration to Sensor
Figure 47 Registration to Sensor Profile Offset
5.4.4 Rotary Plus Index
5.4.5 Rotary Minus Index
5.4.6 Timed Index
Figure 50 Timed Index Profile
Figure 51 Gear Acceleration Diagram
5.5 Gear
5.6 Motion Timebase Realtime vs. Synchronized
Realtime
5.7 Summing Multiple Profiles
Synchronized
SM-EZMotion Module User Guide
Two Indexes
6.3 Unidrive SP I/O
6 How I/O Works
6.1 I/O Scan
6.2 SM-EZMotion Module I/O
SM-EZMotion Module User Guide
7.2.1 Drive/Encoder View
7 Configuring an Application
7.1 Introduction
7.2 Define Hardware
7.2.2.5 SM-Resolver Module View
7.2.2.2 SM-EZMotion Module View
7.2.2.4 SM-Universal Encoder Plus Module View
7.2.2.3 SM-I/O Plus Module View
7.2.2.7 SM-Profibus DP Module View
7.2.3 Unidrive SP Parameters View
7.2.2.6 SM-DeviceNet Module View
7.2.2.8 Applications Plus Module View
Figure 63 Initialization File Example
7.3 Configure Setup Parameters
7.2.4 SP Menu Initialization View
Figure 64 SP Menu Initialization View
Trajectory Update Rate
7.3.1 Setup View
7.3.2 User Units View
Figure 66 User Units View
Figure 67 Master Setup View
7.3.3 Master Units Setup View
Master Position Filter Samples
Master Position Filter Enable
Enable Feedforward
Master Distance Units Scaling
Position View
7.3.4 Position View
Feedrate Override
7.3.5 Velocity View
7.3.6 Ramps View
Figure 70 Ramps View
Feedhold Decel/Accel
7.3.8 Tuning View
7.3.7 Current View
Figure 71 Torque View
Errors View
7.3.9 Errors View
Power Up
Time Before Trip
7.3.10 PLS View
PLS View
Rotary Enable
Figure 76 Capture View
7.3.11 Setup NVM View
Figure 75 Setup NVM View
7.3.12 Capture View
Sources
Figure 78 Capture Timing Diagram
Figure 77 Capture Object
Capture Sources and Destinations
Queues View
7.3.13 Queues View
Figure 82 User Variables View
Queue Object and Components Diagram
Figure 80 Queue Block Diagram
7.3.14 User Variables View
Using User Bits in a Program
7.3.15 User Bits View
User Bits View
Using User Variables in a Program
Configuring the User Bit Mask Register
Figure 84 Writing to the User Bit Register
Figure 85 User Bit Read/Write Process
Figure 86 User Bits View Mask Tab
7.4.1 Assignments View
7.4 Configure I/O
Figure 87 Assignments View
Right Click Method
This could cause motion to initiate on loss of I/O Power
Assign Button Method
Deleting An Assignment Delete Button Method
Figure 89 Module I/O Setup View
7.4.2 SP I/O Setup View
7.4.3 EZ Motion I/O Setup View
Figure 88 Drive I/O Setup View
7.5.1 Jog View
7.5 Define Motion Profiles
Figure 92 Selector Assignments Example
Motion
Jog.PlusActivate
Jog.MinusActivate
Jog.Select0
Figure 95 Jog Select Usage
7.5.2 Home View
Figure 96 Home View
Acceleration
Index View
7.5.3 Index View
A user program cannot compound into a Timed
Figure 99 Timed Index Profile Diagram
Figure 98 Index View with Timed Index Selected
Enable Index PLS
PLS On Point
Index Sources and Destinations Sources
Window End
Destinations
Figure 100 Gearing View
7.6 Create User Programs
7.5.4 Gearing View
7.6.1 Program View
SM-EZMotion Module User Guide
Figure 101 Program View
8.1 Program Window Components
Program Parameters Program Toolbar Code Window Red Dot Error Bar
8 How User
Programs Work
8.3.2 Redo
8.2.4 Run Anytime Enable
8.3 Program Toolbar
8.3.1 Undo
8.3.10 Drag In Operands
8.3.14 Program Where Am I?
8.3.16 Disable/Enable Error Check
8.3.9 Red Dot Help
8.4.1.2 Else
8.4 Program Instruction List
8.4.1 Program Flow Instructions
8.4.1.1 If/Then/EndIf
8.4.1.7 Call Program
8.4.1.4 Do While/Loop
8.4.1.5 Wait For
8.4.1.6 Wait For Time
8.4.1.11 GoTo
8.4.1.8 End
8.4.1.9 Formula
8.4.1.10 Label
8.4.2.3 Index.Initiate
8.4.2 Motion Instructions
8.4.2.1 Dwell For Time
8.4.2.2 Dwell For MasterDist
8.4.2.8 Jog.MinusInitiate
8.4.2.5 Home.Initiate
8.4.2.6 Jog.Stop
8.4.2.7 Jog.PlusInitiate
8.4.3 Motion Modifier Instructions
8.5 Red Dot Error Bar
8.4.3.1 Using Capture
8.4.3.2 Using Last
Drag & Drop Method
8.6 Program Code Window
8.7 Program Multi-tasking
Figure 106 Program View
Figure 108 Time Slicing Diagram Task 0 blocked
Figure 107 Time Slicing Diagram
Program Blocking
Process Task End Of Update?
Figure 109 Multitasking Flow Chart
Switch to Next Task
t = Control Loop Update
9.1.1.1 Jog.PlusActivate
9 Starting and Stopping Motion
9.1 Starting Motion
9.1.1 From Assignments
9.1.2.1 Jog.#.PlusInitiate
9.1.2 From Programs
9.1.1.5 Index.#.Initiate
9.1.1.6 Gear.Activate
500 RPM
Figure 111 Compound Index Example
Figure 112 Compound Index Example
1000 RPM
9.2.2 From Programs
9.1.3 From PowerTools Pro
9.2 Stopping Motion
9.2.1 From Assignments
9.2.2.4 Feedhold
9.2.3 From PowerTools Pro
9.2.2.2 Gear.Stop
9.2.2.3 Stop
SM-EZMotion Module User Guide
10.1 Starting Programs
10.1.3 From PowerTools Pro
10.2.3 From PowerTools Pro
10 Starting and Stopping Programs
again
10.2.3.2 Stop All - Program Toolbar
SM-EZMotion Module User Guide
Descriptions
11 Parameter
BrakeOverloadAccumulator
Captured.#.CapturedMasterPosHomed
DefineHome
EZInput Force
FeedRateOverride
Gear.DecelEnable
Home.#.Initiate
Index Profile Limited
Index.#.Initiate
Index.#.TimeBase
Jog.#.Accel
ModuleSerialNumber
Master Axis Feedback Selector
MasterAxis.SpeedFeedbackSelector
Module Serial Number
PLS.#.OnPosn
PowerUpTime
SM-EZMotion Power Up Count
PowerUpCount
SM-EZMotion Power Up Time
Program.AnyComplete
Queue.#.QueueExit
Slot3.ErrorStatus
Slot 2 Error Status
Slot2.ErrorStatus
Slot 3 Error Status
SlotX.EncoderType
SlotX Encoder Supply Voltage
SlotX.EncoderSupplyVoltage
SlotX Encoder Type
SlotX.IO.#.In
Enable Software Travel Limits
SoftwareTravelLimitEnable
SlotX IO Status
Software Travel Limit Minus Active
SPDrive.SoftwareVersion
Unidrive SP Software Sub-Version
SPDrive.SoftwareSubVersion
Unidrive SP Software Version
SPPowerUpTimeHoursMinutes
SP Menu Error Status
SPMenu.ErrorStatus
Unidrive SP Power Up Time - Hrs.Min
SPPowerUpTimeYearsDays
TotalPowerUpTime
VelocityUnits.TimeScale
Velocity Loop Bandwidth
VelocityLoopBandwidth
Time Scale
12 Drive Parameters Used by SM-EZMotion Module
12.2 Chart
12.1 Description
Menu
Menu
Menu
Menu
Menu
Menu
Menu
Menu
x.01 - Option ID Code
12.3 SM-EZMotion Module Setup Parameters
x.02 - Option Software Version
Task 3 Status
0 = Not Active 1 = Active 2 = Processing Home
0 = Not Active 1 = Stop Active 2 = Index Active 3 = Jog Active
4 = Gear Active 5 = Dwell Active 6 = Home Active
x.50 - Option Module Error Status
13.1 Errors and Error Codes
13 Diagnostics
SM-EZMotion Module User Guide
Program Error - Call Stack Overflow
Diagnostics
Figure 113 Analog Output Example
13.3 PowerTools Pro
13.2 Analog Outputs
13.3.1 Watch Window
Figure 114 Watch Window Example
13.3.2 Errors View
Figure 115 Select Drive Parameters Window
13.3.3 Status Bar
13.3.4 Where Am I?
Figure 116 SM-EZMotion Error Pop-Up Window
Figure 117 PowerTools Pro Status Bar
Saving the Drive Parameters
13.4 Clearing SLX.dF trip after installing SM-EZMotion module
13.5 Clearing the SM-EZMotion module memory
Figure 119 Status Online Tab
SM-EZMotion Module User Guide
Figure 120 Example .ddf file
14 Creating a Custom Motor File
Header Information Motor Definition Information
DDF File Parameter
Verification and Checkout
encoderPhaseAngle
maxOperatingSpeed
thermalTimeConstant
SM-EZMotion Module User Guide
15 Glossary
Global Where Am
PowerTools Pro
SM-EZMotion Module User Guide
16 Index
Page
Page
Page
Page
Phone 952 995-8033 or 800 Fax 952
12005 Technology Drive Eden Prairie, Minnesota U.S.A Customer Service
Control Techniques Drives, Inc Division of EMERSON Co
Phone 952 995-8000 or 800 Fax 952 Technical Support