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

Models: P/N 400361-00

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•Programming

PowerTools Pro will run on Windows 98, NT, 2000, and XP operating systems.

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SM-EZMotion Module User Guide

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

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 Safety Instructions Reference MaterialsGeneral Warning Qualified PersonPage Safety Safety InformationSafety of Machinery Considerationsviii SM-EZ Motion Module ReferenceTable of Contents Safety Considerations2 Installation 3 PowerTools Pro Configuration Software7 Configuring an Application 6 How I/O Works9 Starting and Stopping Motion 8 How User Programs Work10 Starting and Stopping Programs Diagnostics Parameter DescriptionsDrive Parameters Used by SM-EZMotion Module Creating a Custom Motor File1.3.1 Features 1 Introduction1.1 Introduction 1.3 Development SoftwareProgramming SM-EZMotion Module User Guide2 Installation 2.1 Mechanical Installation2.5 Connecting Motor Encoder Feedback to the Unidrive SP Figure 2 Connection DiagramFigure 3 Motor Feedback to Unidrive SP Connection Diagram NT, MG, or MH MotorEZ or UM Motor SIBAA-xxx Cable2.6 Simple Servo Motor Phasing Test tunEx tripsSM-EZMotion Module User Guide Configuration Software 3.2 Installing PowerTools Pro3.3 How PowerTools Pro is Organized 3.2.1 From the Power CD3.3.1.1 File 3.3.1.2 Edit3.3.1.3 Device Figure 10 Device Menu 3.3.1.4 OptionsFigure 11 Options Menu Figure 12 Modbus Setup Window Figure 13 Com Port and Baud Rate SetupFigure 15 PowerTools Preferences 3.3.1.5 ToolsFigure 17 Flash Upgrade Window 3.3.1.6 ViewView Menu 3.3.1.5.3 Flash Upgrade3.3.2 Tool Bar 3.3.1.7 Window3.3.1.8 Help 3.3.2.1 New3.3.2.14 View Current Errors 3.3.2.5 Upload3.3.2.6 Download 3.3.2.7 Send to RAM3.3.2.15 Clear Errors 3.3.2.20 Global Where Am I?3.3.2.22 Help Contents 3.3.3 Hierarchy3.3.5 View Tabs 3.3.4 View3.3.6 Status Bar 4.2 Connecting the PC to the SM-EZMotion Module 4.3 Configuring Communications in PowerTools Pro4.4 Uploading and Downloading using PowerTools Pro Figure 22 Modbus Setup4.4.1 Uploading 4.4.2 Downloading4.4.3.2 Downloading 4.4.3.1 Uploading4.4.4 Updating to RAM Figure 27 Update to RAM flowchart4.4.5 PowerTools Pro Operation Preferences Figure 28 PowerTools Pro Operation Preferences Window 4.4.5.1 Download Group4.4.5.2 Upload Group 4.4.5.3 Upload Non-Volatile Memory NVM Group4.4.6 Secure Downloading Figure 30 Secure File DownloadFigure 31 Upload Failure - File Protected By User message Figure 29 Secure File - Save As WindowSM-EZMotion Module User Guide Figure 32 Jog Profile Diagram Works5 How Motion 5.1 Introduction5.3.2 Home to Sensor 5.3.3 Home to Sensor then MarkerFigure 34 \Home to Marker Profile Specified Offset Figure 35 Home to Sensor Profile Calculated Offset5.4 Index 5.3.4 If On Sensor Options5.4.1 Absolute Index 5.3.4.2 Go Forward To Next Sensor5.4.2 Incremental Index 5.4.3 Registration Index5.4.3.1 Registration to Sensor Figure 41 Absolute Index Profile Example5.4.4 Rotary Plus Index 5.4.5 Rotary Minus Index5.4.6 Timed Index Figure 47 Registration to Sensor Profile OffsetFigure 51 Gear Acceleration Diagram 5.5 Gear5.6 Motion Timebase Realtime vs. Synchronized Figure 50 Timed Index ProfileRealtime 5.7 Summing Multiple ProfilesSynchronized Two Indexes SM-EZMotion Module User Guide6 How I/O Works 6.1 I/O Scan6.2 SM-EZMotion Module I/O 6.3 Unidrive SP I/OSM-EZMotion Module User Guide 7 Configuring an Application 7.1 Introduction7.2 Define Hardware 7.2.1 Drive/Encoder View7.2.2.2 SM-EZMotion Module View 7.2.2.4 SM-Universal Encoder Plus Module View7.2.2.3 SM-I/O Plus Module View 7.2.2.5 SM-Resolver Module View7.2.3 Unidrive SP Parameters View 7.2.2.6 SM-DeviceNet Module View7.2.2.8 Applications Plus Module View 7.2.2.7 SM-Profibus DP Module View7.3 Configure Setup Parameters 7.2.4 SP Menu Initialization ViewFigure 64 SP Menu Initialization View Figure 63 Initialization File Example7.3.1 Setup View 7.3.2 User Units ViewFigure 66 User Units View Trajectory Update Rate7.3.3 Master Units Setup View Figure 67 Master Setup ViewMaster Position Filter Enable Enable FeedforwardMaster Distance Units Scaling Master Position Filter Samples7.3.4 Position View Position View7.3.5 Velocity View 7.3.6 Ramps ViewFigure 70 Ramps View Feedrate Override7.3.8 Tuning View 7.3.7 Current ViewFigure 71 Torque View Feedhold Decel/Accel7.3.9 Errors View Errors ViewPower Up 7.3.10 PLS View PLS ViewRotary Enable Time Before Trip7.3.11 Setup NVM View Figure 75 Setup NVM View7.3.12 Capture View Figure 76 Capture ViewFigure 78 Capture Timing Diagram Figure 77 Capture ObjectCapture Sources and Destinations Sources7.3.13 Queues View Queues ViewQueue Object and Components Diagram Figure 80 Queue Block Diagram7.3.14 User Variables View Figure 82 User Variables View7.3.15 User Bits View User Bits ViewUsing User Variables in a Program Using User Bits in a ProgramFigure 84 Writing to the User Bit Register Figure 85 User Bit Read/Write ProcessFigure 86 User Bits View Mask Tab Configuring the User Bit Mask Register7.4.1 Assignments View 7.4 Configure I/OFigure 87 Assignments View This could cause motion to initiate on loss of I/O Power Assign Button MethodDeleting An Assignment Delete Button Method Right Click Method7.4.2 SP I/O Setup View 7.4.3 EZ Motion 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.PlusActivate Jog.MinusActivateJog.Select0 MotionFigure 95 Jog Select Usage 7.5.2 Home ViewFigure 96 Home View Acceleration 7.5.3 Index View Index ViewFigure 99 Timed Index Profile Diagram Figure 98 Index View with Timed Index SelectedEnable Index PLS A user program cannot compound into a TimedPLS On Point Index Sources and Destinations Sources Window EndDestinations 7.6 Create User Programs 7.5.4 Gearing View7.6.1 Program View Figure 100 Gearing ViewFigure 101 Program View SM-EZMotion Module User GuideProgram Parameters Program Toolbar Code Window Red Dot Error Bar 8 How UserPrograms Work 8.1 Program Window Components8.2.4 Run Anytime Enable 8.3 Program Toolbar8.3.1 Undo 8.3.2 Redo8.3.14 Program Where Am I? 8.3.16 Disable/Enable Error Check8.3.9 Red Dot Help 8.3.10 Drag In Operands8.4 Program Instruction List 8.4.1 Program Flow Instructions8.4.1.1 If/Then/EndIf 8.4.1.2 Else8.4.1.4 Do While/Loop 8.4.1.5 Wait For8.4.1.6 Wait For Time 8.4.1.7 Call Program8.4.1.8 End 8.4.1.9 Formula8.4.1.10 Label 8.4.1.11 GoTo8.4.2 Motion Instructions 8.4.2.1 Dwell For Time8.4.2.2 Dwell For MasterDist 8.4.2.3 Index.Initiate8.4.2.5 Home.Initiate 8.4.2.6 Jog.Stop8.4.2.7 Jog.PlusInitiate 8.4.2.8 Jog.MinusInitiate8.5 Red Dot Error Bar 8.4.3.1 Using Capture8.4.3.2 Using Last 8.4.3 Motion Modifier Instructions8.6 Program Code Window 8.7 Program Multi-taskingFigure 106 Program View Drag & Drop MethodFigure 108 Time Slicing Diagram Task 0 blocked Figure 107 Time Slicing DiagramProgram Blocking Figure 109 Multitasking Flow Chart Switch to Next Taskt = Control Loop Update Process Task End Of Update?9 Starting and Stopping Motion 9.1 Starting Motion9.1.1 From Assignments 9.1.1.1 Jog.PlusActivate9.1.2 From Programs 9.1.1.5 Index.#.Initiate9.1.1.6 Gear.Activate 9.1.2.1 Jog.#.PlusInitiateFigure 111 Compound Index Example Figure 112 Compound Index Example1000 RPM 500 RPM9.1.3 From PowerTools Pro 9.2 Stopping Motion9.2.1 From Assignments 9.2.2 From Programs9.2.3 From PowerTools Pro 9.2.2.2 Gear.Stop9.2.2.3 Stop 9.2.2.4 FeedholdSM-EZMotion Module User Guide 10.1.3 From PowerTools Pro 10.2.3 From PowerTools Pro10 Starting and Stopping Programs 10.1 Starting Programsagain 10.2.3.2 Stop All - Program ToolbarSM-EZMotion Module User Guide 11 Parameter DescriptionsBrakeOverloadAccumulator Captured.#.CapturedMasterPosHomed DefineHome EZInput Force FeedRateOverride Gear.DecelEnable Home.#.Initiate Index Profile Limited Index.#.Initiate Index.#.TimeBase Jog.#.Accel SM-EZMotion Module Temperature ModuleTemperatureMaster Axis Feedback Selector MasterAxis.SpeedFeedbackSelectorPLS.#.OnPosn SM-EZMotion Power Up Count PowerUpCountSM-EZMotion Power Up Time PowerUpTimeProgram.AnyComplete Queue.#.QueueExit Slot 2 Error Status Slot2.ErrorStatusSlot 3 Error Status Slot3.ErrorStatusSlotX Encoder Supply Voltage SlotX.EncoderSupplyVoltageSlotX Encoder Type SlotX.EncoderTypeEnable Software Travel Limits SoftwareTravelLimitEnableSlotX IO Status SlotX.IO.#.InSoftware Travel Limit Minus Active Unidrive SP Software Sub-Version SPDrive.SoftwareSubVersionUnidrive SP Software Version SPDrive.SoftwareVersionSP Menu Error Status SPMenu.ErrorStatusUnidrive SP Power Up Time - Hrs.Min SPPowerUpTimeHoursMinutesSPPowerUpTimeYearsDays TotalPowerUpTime Velocity Loop Bandwidth VelocityLoopBandwidthTime 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 = Active 2 = Processing Home 0 = Not Active 1 = Stop Active 2 = Index Active 3 = Jog Active4 = Gear Active 5 = Dwell Active 6 = Home Active Task 3 Statusx.50 - Option Module Error Status 13 Diagnostics 13.1 Errors and Error CodesProgram Error - Call Stack Overflow SM-EZMotion Module User GuideDiagnostics 13.3 PowerTools Pro 13.2 Analog Outputs13.3.1 Watch Window Figure 113 Analog Output ExampleFigure 114 Watch Window Example 13.3.2 Errors ViewFigure 115 Select Drive Parameters Window 13.3.4 Where Am I? Figure 116 SM-EZMotion Error Pop-Up WindowFigure 117 PowerTools Pro Status Bar 13.3.3 Status Bar13.4 Clearing SLX.dF trip after installing SM-EZMotion module 13.5 Clearing the SM-EZMotion module memoryFigure 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 encoderPhaseAngle maxOperatingSpeedthermalTimeConstant 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 12005 Technology Drive Eden Prairie, Minnesota U.S.A Customer Service Control Techniques Drives, Inc Division of EMERSON CoPhone 952 995-8000 or 800 Fax 952 Technical Support Phone 952 995-8033 or 800 Fax 952