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Emerson P/N 400361-00 manual Multitasking Flow Chart, Switch to Next Task, t = Control Loop Update

Models: P/N 400361-00

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Figure 109: Multitasking Flow Chart

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SM-EZMotion Module User Guide

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Emerson P/N 400361-00 Multitasking Flow Chart, Switch to Next Task, t = Control Loop Update, Messages, Process, Waiting?

Contents

User Guide SM-EZMotion ModuleP/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 General Warning Safety InstructionsReference Materials Qualified PersonPage Safety of Machinery SafetySafety Information Considerationsviii SM-EZ Motion Module Reference2 Installation Table of ContentsSafety Considerations 3 PowerTools Pro Configuration Software7 Configuring an Application 6 How I/O Works8 How User Programs Work 9 Starting and Stopping Motion10 Starting and Stopping Programs Drive Parameters Used by SM-EZMotion Module DiagnosticsParameter Descriptions Creating a Custom Motor File1.1 Introduction 1.3.1 Features1 Introduction 1.3 Development SoftwareProgramming SM-EZMotion Module User Guide2.5 Connecting Motor Encoder Feedback to the Unidrive SP 2 Installation2.1 Mechanical Installation Figure 2 Connection DiagramEZ or UM Motor Figure 3 Motor Feedback to Unidrive SP Connection DiagramNT, MG, or MH Motor SIBAA-xxx Cable2.6 Simple Servo Motor Phasing Test tunEx tripsSM-EZMotion Module User Guide 3.3 How PowerTools Pro is Organized Configuration Software3.2 Installing PowerTools Pro 3.2.1 From the Power CD3.3.1.1 File 3.3.1.2 Edit3.3.1.3 Device 3.3.1.4 Options Figure 10 Device MenuFigure 11 Options Menu Figure 15 PowerTools Preferences Figure 12 Modbus Setup WindowFigure 13 Com Port and Baud Rate Setup 3.3.1.5 ToolsView Menu Figure 17 Flash Upgrade Window3.3.1.6 View 3.3.1.5.3 Flash Upgrade3.3.1.8 Help 3.3.2 Tool Bar3.3.1.7 Window 3.3.2.1 New3.3.2.6 Download 3.3.2.14 View Current Errors3.3.2.5 Upload 3.3.2.7 Send to RAM3.3.2.22 Help Contents 3.3.2.15 Clear Errors3.3.2.20 Global Where Am I? 3.3.3 Hierarchy3.3.4 View 3.3.5 View Tabs3.3.6 Status Bar 4.4 Uploading and Downloading using PowerTools Pro 4.2 Connecting the PC to the SM-EZMotion Module4.3 Configuring Communications in PowerTools Pro Figure 22 Modbus Setup4.4.3.2 Downloading 4.4.1 Uploading4.4.2 Downloading 4.4.3.1 UploadingFigure 27 Update to RAM flowchart 4.4.4 Updating to RAM4.4.5 PowerTools Pro Operation Preferences 4.4.5.2 Upload Group Figure 28 PowerTools Pro Operation Preferences Window4.4.5.1 Download Group 4.4.5.3 Upload Non-Volatile Memory NVM GroupFigure 31 Upload Failure - File Protected By User message 4.4.6 Secure DownloadingFigure 30 Secure File Download Figure 29 Secure File - Save As WindowSM-EZMotion Module User Guide 5 How Motion Figure 32 Jog Profile DiagramWorks 5.1 IntroductionFigure 34 \Home to Marker Profile Specified Offset 5.3.2 Home to Sensor5.3.3 Home to Sensor then Marker Figure 35 Home to Sensor Profile Calculated Offset5.4.1 Absolute Index 5.4 Index5.3.4 If On Sensor Options 5.3.4.2 Go Forward To Next Sensor5.4.3.1 Registration to Sensor 5.4.2 Incremental Index5.4.3 Registration Index Figure 41 Absolute Index Profile Example5.4.6 Timed Index 5.4.4 Rotary Plus Index5.4.5 Rotary Minus Index Figure 47 Registration to Sensor Profile Offset5.6 Motion Timebase Realtime vs. Synchronized Figure 51 Gear Acceleration Diagram5.5 Gear Figure 50 Timed Index Profile5.7 Summing Multiple Profiles RealtimeSynchronized Two Indexes SM-EZMotion Module User Guide6.2 SM-EZMotion Module I/O 6 How I/O Works6.1 I/O Scan 6.3 Unidrive SP I/OSM-EZMotion Module User Guide 7.2 Define Hardware 7 Configuring an Application7.1 Introduction 7.2.1 Drive/Encoder View7.2.2.3 SM-I/O Plus Module View 7.2.2.2 SM-EZMotion Module View7.2.2.4 SM-Universal Encoder Plus Module View 7.2.2.5 SM-Resolver Module View7.2.2.8 Applications Plus Module View 7.2.3 Unidrive SP Parameters View7.2.2.6 SM-DeviceNet Module View 7.2.2.7 SM-Profibus DP Module ViewFigure 64 SP Menu Initialization View 7.3 Configure Setup Parameters7.2.4 SP Menu Initialization View Figure 63 Initialization File ExampleFigure 66 User Units View 7.3.1 Setup View7.3.2 User Units View Trajectory Update Rate7.3.3 Master Units Setup View Figure 67 Master Setup ViewMaster Distance Units Scaling Master Position Filter EnableEnable Feedforward Master Position Filter Samples7.3.4 Position View Position ViewFigure 70 Ramps View 7.3.5 Velocity View7.3.6 Ramps View Feedrate OverrideFigure 71 Torque View 7.3.8 Tuning View7.3.7 Current View Feedhold Decel/Accel7.3.9 Errors View Errors ViewPower Up Rotary Enable 7.3.10 PLS ViewPLS View Time Before Trip7.3.12 Capture View 7.3.11 Setup NVM ViewFigure 75 Setup NVM View Figure 76 Capture ViewCapture Sources and Destinations Figure 78 Capture Timing DiagramFigure 77 Capture Object Sources7.3.13 Queues View Queues View7.3.14 User Variables View Queue Object and Components DiagramFigure 80 Queue Block Diagram Figure 82 User Variables ViewUsing User Variables in a Program 7.3.15 User Bits ViewUser Bits View Using User Bits in a ProgramFigure 86 User Bits View Mask Tab Figure 84 Writing to the User Bit RegisterFigure 85 User Bit Read/Write Process Configuring the User Bit Mask Register7.4 Configure I/O 7.4.1 Assignments ViewFigure 87 Assignments View Deleting An Assignment Delete Button Method This could cause motion to initiate on loss of I/O PowerAssign Button Method Right Click MethodFigure 88 Drive I/O Setup View 7.4.2 SP I/O Setup View7.4.3 EZ Motion I/O Setup View Figure 89 Module I/O Setup View7.5 Define Motion Profiles 7.5.1 Jog ViewFigure 92 Selector Assignments Example Jog.Select0 Jog.PlusActivateJog.MinusActivate Motion7.5.2 Home View Figure 95 Jog Select UsageFigure 96 Home View Acceleration 7.5.3 Index View Index ViewEnable Index PLS Figure 99 Timed Index Profile DiagramFigure 98 Index View with Timed Index Selected A user program cannot compound into a TimedPLS On Point Window End Index Sources and Destinations SourcesDestinations 7.6.1 Program View 7.6 Create User Programs7.5.4 Gearing View Figure 100 Gearing ViewFigure 101 Program View SM-EZMotion Module User GuidePrograms Work Program Parameters Program Toolbar Code Window Red Dot Error Bar8 How User 8.1 Program Window Components8.3.1 Undo 8.2.4 Run Anytime Enable8.3 Program Toolbar 8.3.2 Redo8.3.9 Red Dot Help 8.3.14 Program Where Am I?8.3.16 Disable/Enable Error Check 8.3.10 Drag In Operands8.4.1.1 If/Then/EndIf 8.4 Program Instruction List8.4.1 Program Flow Instructions 8.4.1.2 Else8.4.1.6 Wait For Time 8.4.1.4 Do While/Loop8.4.1.5 Wait For 8.4.1.7 Call Program8.4.1.10 Label 8.4.1.8 End8.4.1.9 Formula 8.4.1.11 GoTo8.4.2.2 Dwell For MasterDist 8.4.2 Motion Instructions8.4.2.1 Dwell For Time 8.4.2.3 Index.Initiate8.4.2.7 Jog.PlusInitiate 8.4.2.5 Home.Initiate8.4.2.6 Jog.Stop 8.4.2.8 Jog.MinusInitiate8.4.3.2 Using Last 8.5 Red Dot Error Bar8.4.3.1 Using Capture 8.4.3 Motion Modifier InstructionsFigure 106 Program View 8.6 Program Code Window8.7 Program Multi-tasking Drag & Drop MethodFigure 107 Time Slicing Diagram Figure 108 Time Slicing Diagram Task 0 blockedProgram Blocking t = Control Loop Update Figure 109 Multitasking Flow ChartSwitch to Next Task Process Task End Of Update?9.1.1 From Assignments 9 Starting and Stopping Motion9.1 Starting Motion 9.1.1.1 Jog.PlusActivate9.1.1.6 Gear.Activate 9.1.2 From Programs9.1.1.5 Index.#.Initiate 9.1.2.1 Jog.#.PlusInitiate1000 RPM Figure 111 Compound Index ExampleFigure 112 Compound Index Example 500 RPM9.2.1 From Assignments 9.1.3 From PowerTools Pro9.2 Stopping Motion 9.2.2 From Programs9.2.2.3 Stop 9.2.3 From PowerTools Pro9.2.2.2 Gear.Stop 9.2.2.4 FeedholdSM-EZMotion Module User Guide 10 Starting and Stopping Programs 10.1.3 From PowerTools Pro10.2.3 From PowerTools Pro 10.1 Starting Programs10.2.3.2 Stop All - Program Toolbar againSM-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 Master Axis Feedback Selector SM-EZMotion Module TemperatureModuleTemperature MasterAxis.SpeedFeedbackSelectorPLS.#.OnPosn SM-EZMotion Power Up Time SM-EZMotion Power Up CountPowerUpCount PowerUpTimeProgram.AnyComplete Queue.#.QueueExit Slot 3 Error Status Slot 2 Error StatusSlot2.ErrorStatus Slot3.ErrorStatusSlotX Encoder Type SlotX Encoder Supply VoltageSlotX.EncoderSupplyVoltage SlotX.EncoderTypeSlotX IO Status Enable Software Travel LimitsSoftwareTravelLimitEnable SlotX.IO.#.InSoftware Travel Limit Minus Active Unidrive SP Software Version Unidrive SP Software Sub-VersionSPDrive.SoftwareSubVersion SPDrive.SoftwareVersionUnidrive SP Power Up Time - Hrs.Min SP Menu Error StatusSPMenu.ErrorStatus SPPowerUpTimeHoursMinutesSPPowerUpTimeYearsDays TotalPowerUpTime Time Scale Velocity Loop BandwidthVelocityLoopBandwidth VelocityUnits.TimeScale12.2 Chart 12 Drive Parameters Used by SM-EZMotion Module12.1 Description Menu MenuMenu MenuMenu MenuMenu Menu12.3 SM-EZMotion Module Setup Parameters x.01 - Option ID Codex.02 - Option Software Version 4 = Gear Active 5 = Dwell Active 6 = Home Active 0 = Not Active 1 = Active 2 = Processing Home0 = Not Active 1 = Stop Active 2 = Index Active 3 = Jog 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 13.3.1 Watch Window 13.3 PowerTools Pro13.2 Analog Outputs Figure 113 Analog Output Example13.3.2 Errors View Figure 114 Watch Window ExampleFigure 115 Select Drive Parameters Window Figure 117 PowerTools Pro Status Bar 13.3.4 Where Am I?Figure 116 SM-EZMotion Error Pop-Up Window 13.3.3 Status BarFigure 119 Status Online Tab 13.4 Clearing SLX.dF trip after installing SM-EZMotion module13.5 Clearing the SM-EZMotion module memory Saving the Drive ParametersSM-EZMotion Module User Guide 14 Creating a Custom Motor File Figure 120 Example .ddf fileHeader Information Motor Definition Information DDF File Parameter thermalTimeConstant encoderPhaseAnglemaxOperatingSpeed 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 Phone 952 995-8000 or 800 Fax 952 Technical Support 12005 Technology Drive Eden Prairie, Minnesota U.S.A Customer ServiceControl Techniques Drives, Inc Division of EMERSON Co Phone 952 995-8033 or 800 Fax 952

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t = 0

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Waiting?

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Task No

Figure 109: Multitasking Flow Chart