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Emerson P/N 400361-00 Safety Instructions, Reference Materials, General Warning, Qualified Person

Models: P/N 400361-00

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Safety Instructions

General Warning

Failure to follow safe installation guidelines can cause death or serious injury. The voltages used in the product can cause severe electric shock and/or burns and could be lethal. Extreme care is necessary at all times when working with or adjacent to the product. The installation must comply with all relevant safety legislation in the country of use.

Qualified Person

For the purpose of this manual and product, a “qualified person” is one who is familiar with the installation, construction and operation of the equipment and the hazards involved. In addition, this individual has the following qualifications:

•Is trained and authorized to energize, de-energize, clear and ground and tag circuits and equipment in accordance with established safety practices.

•Is trained in the proper care and use of protective equipment in accordance with established safety practices.

•Is trained in rendering first aid.

Reference Materials

The following related manuals and user guides may be useful with your particular system.

•Unidrive SP User Guide

•Unidrive SP Advanced User Guide

•SM-I/O Plus User Guide

•SM-DeviceNet User Guide

•SM-Profibus DP Ussr Guide

•SM-INTERBUS User Guide

•SM-CANOpen User Guide

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Emerson P/N 400361-00 Safety Instructions, Reference Materials, General Warning, Qualified Person, SM-CANOpen 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 Qualified Person Safety InstructionsReference Materials General WarningPage Considerations SafetySafety Information Safety of MachinerySM-EZ Motion Module Reference viii3 PowerTools Pro Configuration Software Table of ContentsSafety Considerations 2 Installation6 How I/O Works 7 Configuring an Application9 Starting and Stopping Motion 8 How User Programs Work10 Starting and Stopping Programs Creating a Custom Motor File DiagnosticsParameter Descriptions Drive Parameters Used by SM-EZMotion Module1.3 Development Software 1.3.1 Features1 Introduction 1.1 IntroductionSM-EZMotion Module User Guide ProgrammingFigure 2 Connection Diagram 2 Installation2.1 Mechanical Installation 2.5 Connecting Motor Encoder Feedback to the Unidrive SPSIBAA-xxx Cable Figure 3 Motor Feedback to Unidrive SP Connection DiagramNT, MG, or MH Motor EZ or UM MotortunEx trips 2.6 Simple Servo Motor Phasing TestSM-EZMotion Module User Guide 3.2.1 From the Power CD Configuration Software3.2 Installing PowerTools Pro 3.3 How PowerTools Pro is Organized3.3.1.2 Edit 3.3.1.1 File3.3.1.3 Device Figure 10 Device Menu 3.3.1.4 OptionsFigure 11 Options Menu 3.3.1.5 Tools Figure 12 Modbus Setup WindowFigure 13 Com Port and Baud Rate Setup Figure 15 PowerTools Preferences3.3.1.5.3 Flash Upgrade Figure 17 Flash Upgrade Window3.3.1.6 View View Menu3.3.2.1 New 3.3.2 Tool Bar3.3.1.7 Window 3.3.1.8 Help3.3.2.7 Send to RAM 3.3.2.14 View Current Errors3.3.2.5 Upload 3.3.2.6 Download3.3.3 Hierarchy 3.3.2.15 Clear Errors3.3.2.20 Global Where Am I? 3.3.2.22 Help Contents3.3.5 View Tabs 3.3.4 View3.3.6 Status Bar Figure 22 Modbus Setup 4.2 Connecting the PC to the SM-EZMotion Module4.3 Configuring Communications in PowerTools Pro 4.4 Uploading and Downloading using PowerTools Pro4.4.3.1 Uploading 4.4.1 Uploading4.4.2 Downloading 4.4.3.2 Downloading4.4.4 Updating to RAM Figure 27 Update to RAM flowchart4.4.5 PowerTools Pro Operation Preferences 4.4.5.3 Upload Non-Volatile Memory NVM Group Figure 28 PowerTools Pro Operation Preferences Window4.4.5.1 Download Group 4.4.5.2 Upload GroupFigure 29 Secure File - Save As Window 4.4.6 Secure DownloadingFigure 30 Secure File Download Figure 31 Upload Failure - File Protected By User messageSM-EZMotion Module User Guide 5.1 Introduction Figure 32 Jog Profile DiagramWorks 5 How MotionFigure 35 Home to Sensor Profile Calculated Offset 5.3.2 Home to Sensor5.3.3 Home to Sensor then Marker Figure 34 \Home to Marker Profile Specified Offset5.3.4.2 Go Forward To Next Sensor 5.4 Index5.3.4 If On Sensor Options 5.4.1 Absolute IndexFigure 41 Absolute Index Profile Example 5.4.2 Incremental Index5.4.3 Registration Index 5.4.3.1 Registration to SensorFigure 47 Registration to Sensor Profile Offset 5.4.4 Rotary Plus Index5.4.5 Rotary Minus Index 5.4.6 Timed IndexFigure 50 Timed Index Profile Figure 51 Gear Acceleration Diagram5.5 Gear 5.6 Motion Timebase Realtime vs. SynchronizedRealtime 5.7 Summing Multiple ProfilesSynchronized SM-EZMotion Module User Guide Two Indexes6.3 Unidrive SP I/O 6 How I/O Works6.1 I/O Scan 6.2 SM-EZMotion Module I/OSM-EZMotion Module User Guide 7.2.1 Drive/Encoder View 7 Configuring an Application7.1 Introduction 7.2 Define Hardware7.2.2.5 SM-Resolver Module View 7.2.2.2 SM-EZMotion Module View7.2.2.4 SM-Universal Encoder Plus Module View 7.2.2.3 SM-I/O Plus Module View7.2.2.7 SM-Profibus DP Module View 7.2.3 Unidrive SP Parameters View7.2.2.6 SM-DeviceNet Module View 7.2.2.8 Applications Plus Module ViewFigure 63 Initialization File Example 7.3 Configure Setup Parameters7.2.4 SP Menu Initialization View Figure 64 SP Menu Initialization ViewTrajectory Update Rate 7.3.1 Setup View7.3.2 User Units View Figure 66 User Units ViewFigure 67 Master Setup View 7.3.3 Master Units Setup ViewMaster Position Filter Samples Master Position Filter EnableEnable Feedforward Master Distance Units ScalingPosition View 7.3.4 Position ViewFeedrate Override 7.3.5 Velocity View7.3.6 Ramps View Figure 70 Ramps ViewFeedhold Decel/Accel 7.3.8 Tuning View7.3.7 Current View Figure 71 Torque ViewErrors View 7.3.9 Errors ViewPower Up Time Before Trip 7.3.10 PLS ViewPLS View Rotary EnableFigure 76 Capture View 7.3.11 Setup NVM ViewFigure 75 Setup NVM View 7.3.12 Capture ViewSources Figure 78 Capture Timing DiagramFigure 77 Capture Object Capture Sources and DestinationsQueues View 7.3.13 Queues ViewFigure 82 User Variables View Queue Object and Components DiagramFigure 80 Queue Block Diagram 7.3.14 User Variables ViewUsing User Bits in a Program 7.3.15 User Bits ViewUser Bits View Using User Variables in a ProgramConfiguring the User Bit Mask Register Figure 84 Writing to the User Bit RegisterFigure 85 User Bit Read/Write Process Figure 86 User Bits View Mask Tab7.4.1 Assignments View 7.4 Configure I/OFigure 87 Assignments View Right Click Method This could cause motion to initiate on loss of I/O PowerAssign Button Method Deleting An Assignment Delete Button MethodFigure 89 Module I/O Setup View 7.4.2 SP I/O Setup View7.4.3 EZ Motion I/O Setup View Figure 88 Drive I/O Setup View7.5.1 Jog View 7.5 Define Motion ProfilesFigure 92 Selector Assignments Example Motion Jog.PlusActivateJog.MinusActivate Jog.Select0Figure 95 Jog Select Usage 7.5.2 Home ViewFigure 96 Home View Acceleration Index View 7.5.3 Index ViewA user program cannot compound into a Timed Figure 99 Timed Index Profile DiagramFigure 98 Index View with Timed Index Selected Enable Index PLSPLS On Point Index Sources and Destinations Sources Window EndDestinations Figure 100 Gearing View 7.6 Create User Programs7.5.4 Gearing View 7.6.1 Program ViewSM-EZMotion Module User Guide Figure 101 Program View8.1 Program Window Components Program Parameters Program Toolbar Code Window Red Dot Error Bar8 How User Programs Work8.3.2 Redo 8.2.4 Run Anytime Enable8.3 Program Toolbar 8.3.1 Undo8.3.10 Drag In Operands 8.3.14 Program Where Am I?8.3.16 Disable/Enable Error Check 8.3.9 Red Dot Help8.4.1.2 Else 8.4 Program Instruction List8.4.1 Program Flow Instructions 8.4.1.1 If/Then/EndIf8.4.1.7 Call Program 8.4.1.4 Do While/Loop8.4.1.5 Wait For 8.4.1.6 Wait For Time8.4.1.11 GoTo 8.4.1.8 End8.4.1.9 Formula 8.4.1.10 Label8.4.2.3 Index.Initiate 8.4.2 Motion Instructions8.4.2.1 Dwell For Time 8.4.2.2 Dwell For MasterDist8.4.2.8 Jog.MinusInitiate 8.4.2.5 Home.Initiate8.4.2.6 Jog.Stop 8.4.2.7 Jog.PlusInitiate8.4.3 Motion Modifier Instructions 8.5 Red Dot Error Bar8.4.3.1 Using Capture 8.4.3.2 Using LastDrag & Drop Method 8.6 Program Code Window8.7 Program Multi-tasking Figure 106 Program ViewFigure 108 Time Slicing Diagram Task 0 blocked Figure 107 Time Slicing DiagramProgram Blocking Process Task End Of Update? Figure 109 Multitasking Flow ChartSwitch to Next Task t = Control Loop Update9.1.1.1 Jog.PlusActivate 9 Starting and Stopping Motion9.1 Starting Motion 9.1.1 From Assignments9.1.2.1 Jog.#.PlusInitiate 9.1.2 From Programs9.1.1.5 Index.#.Initiate 9.1.1.6 Gear.Activate500 RPM Figure 111 Compound Index ExampleFigure 112 Compound Index Example 1000 RPM9.2.2 From Programs 9.1.3 From PowerTools Pro9.2 Stopping Motion 9.2.1 From Assignments9.2.2.4 Feedhold 9.2.3 From PowerTools Pro9.2.2.2 Gear.Stop 9.2.2.3 StopSM-EZMotion Module User Guide 10.1 Starting Programs 10.1.3 From PowerTools Pro10.2.3 From PowerTools Pro 10 Starting and Stopping 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 MasterAxis.SpeedFeedbackSelector SM-EZMotion Module TemperatureModuleTemperature Master Axis Feedback SelectorPLS.#.OnPosn PowerUpTime SM-EZMotion Power Up CountPowerUpCount SM-EZMotion Power Up TimeProgram.AnyComplete Queue.#.QueueExit Slot3.ErrorStatus Slot 2 Error StatusSlot2.ErrorStatus Slot 3 Error StatusSlotX.EncoderType SlotX Encoder Supply VoltageSlotX.EncoderSupplyVoltage SlotX Encoder TypeSlotX.IO.#.In Enable Software Travel LimitsSoftwareTravelLimitEnable SlotX IO StatusSoftware Travel Limit Minus Active SPDrive.SoftwareVersion Unidrive SP Software Sub-VersionSPDrive.SoftwareSubVersion Unidrive SP Software VersionSPPowerUpTimeHoursMinutes SP Menu Error StatusSPMenu.ErrorStatus Unidrive SP Power Up Time - Hrs.MinSPPowerUpTimeYearsDays TotalPowerUpTime VelocityUnits.TimeScale Velocity Loop BandwidthVelocityLoopBandwidth Time Scale12 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 Task 3 Status 0 = Not Active 1 = Active 2 = Processing Home0 = Not Active 1 = Stop Active 2 = Index Active 3 = Jog Active 4 = Gear Active 5 = Dwell Active 6 = Home Activex.50 - Option Module Error Status 13.1 Errors and Error Codes 13 DiagnosticsSM-EZMotion Module User Guide Program Error - Call Stack OverflowDiagnostics Figure 113 Analog Output Example 13.3 PowerTools Pro13.2 Analog Outputs 13.3.1 Watch WindowFigure 114 Watch Window Example 13.3.2 Errors ViewFigure 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 BarSaving the Drive Parameters 13.4 Clearing SLX.dF trip after installing SM-EZMotion module13.5 Clearing the SM-EZMotion module memory Figure 119 Status Online TabSM-EZMotion Module User Guide Figure 120 Example .ddf file 14 Creating a Custom Motor FileHeader Information Motor Definition Information DDF File Parameter Verification and Checkout encoderPhaseAnglemaxOperatingSpeed thermalTimeConstantSM-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 ServiceControl Techniques Drives, Inc Division of EMERSON Co Phone 952 995-8000 or 800 Fax 952 Technical Support