Reference Manual | Emerson P/N 400518-02 instruction

Epsilon EP-I Indexing Drive and FM-2 Indexing Module

Reference Manual

P/N 400518-02

Revision: A1

Date: December 22, 2006

© Control Techniques Americas LLC 2006

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Emerson P/N 400518-02 manual Reference Manual

Contents

Reference Manual Page Page Page Customer Support Document Conventions Customer Service Sales 952 995-8000 or 800Epsilon Only Reference Materials Safety InstructionsGeneral Warning Qualified PersonPage Setup, Commissioning and Maintenance Safety ConsiderationsSafety of Machinery Enclosure General warning Identification of Safety Information Table of Contents Diagnostics and Troubleshooting 109 Tuning ProceduresOptions and Accessories Specifications 143 Epsilon Indexing Drives IntroductionFM-2 Indexing Module FM-2 Indexing Module Feature Location Graph View Setting Up ParametersData Capture Group Data Group Timing Group Configuration Group Setup ViewIdentification Group Motor View Switching Frequency Group FM-2 onlyDrive Encoder Output Group Positive Direction Group Use Motor Data From .ddf File Check box Motor Type List Box Motor Parameters Column Values from Drive Column Apply to Config. Button Run Auto-Tune Button User Defined Motor Name Conflict Dialog Box Save .ddf Values Button Create new motor entry In .ddf File Existing Motor Names List BoxOverwrite existing .ddf file motor entry Retain existing Motor Parameters without saving to .ddf Distance Group User Units ViewVelocity Group Time Scale Group Position ViewAcceleration Group Index In Position Group Rotary Group Following Error GroupOnline Tab Motor Position Group Encoder Position Following ErrorPulse Input Posn Limits Group Velocity ViewTrigger Group Online Tab Velocity Group Ramps View Settings GroupTorque View Ramps Group Online Tab Torque Group Tuning Group Tuning ViewLoad Group Low Pass Filter Group Position Error Integral Group Alternate Mode Selection Alternate Mode View Fault Enable Group Faults ViewLow DC Bus Fault Enable Encoder State Fault Enable Input Lines View SetupInput Function Window Active Off Check Box Debounce Text box Input Line WindowAttached Function Outputs View ConfigurationOutput Function Window Output Lines Window Active Off Check Box Analog Inputs ViewBandwidth Analog Full Scale Jog View Analog Outputs ViewAnalog Outputs Group Jog Fast Velocity Jog VelocityAcceleration Deceleration Home Type Home ViewHome Reference Chain to Index Index # View Index Type Index NumberDistance/Position/Limit Distance Registration Tab Index Count GroupCalculations Tab Chain Tab Index View Chain Tab Compound Indexes Status View Pulse Input Posn Position CommandStatus Online Tab Position Group Drive Status Group Time Group ID Group Channel 1 Data CaptureTrigger Graphical Plot Page User Interface Operational OverviewHow Motion Works How Jogging Works Jog and Jog Fast Velocity Jog Input FunctionsJog Acceleration and Deceleration Operational Overview How Home Works One Side Home Standard Home Initiate Home Standard Home Sequence Initiate Home One Side Home Sequence Accuracy and Repeatability Establishing a Home Reference PositionMarker Standard Home only Sensor and Marker Standard Home only Sensor and Marker Position Home Offset Specified Home Offset Example 1 Calculated Offset Home Offset ExamplesExample 2 Specified Offset, Greater than Calculated Offset Specified Offset Screen Home Limit Distance End of Home PositionMoving Off Sensor Before Homing Example 3 Specified Offset, Back up Required Gear Reducer External Home Sensor Input Functions Home Input and Output FunctionsOutput Functions Home Limit Distance Hit Home ExamplesAbsolute Position Valid Example 1 Linear Application Example 2 Rotary Application Home Screen, Sensor and Marker Selected Gear Reducer Complete Motion Sequence How Indexes Work Absolute vs. Incremental Index TypeAbsolute Indexes Absolute Index Registration Indexes Incremental IndexesRotary Plus and Rotary Minus Indexes Incremental Index Index Parameters Indexes with Rotary Rollover EnabledDistance/Position Index Count Calculations Tab How Chaining Works When this index is complete thenChaining Parameters Global Chain Count Index Input and Output FunctionsInputs Registration Sensor OutputsRun Next Index Repeat Current Index End of Chaining Count ExamplesEnd of Index Motion Index In Position Example 1 Index1 is chained to Index2 with a Chain Count Alternate Mode Screen Pulse Mode How Alternate Mode Works Analog Torque Mode Alternate Mode SelectAnalog Velocity Mode Analog Input Group Torque Mode Velocity Limiting Group Analog Torque Settings Group Interpretation Mode Group Pulse ModePulse/Pulse Interpretation Pulse/Direction Interpretation Pulse/Quadrature Interpretation Pulse Signal Type Single ended input circuit specifications Differential input circuit specificationsDifferential Source Single Ended Source Pulse Mode Acceleration Group Pulse Mode Ratio Setup GroupPulse Mode Velocity Group Distance Recovery Group Alternate Mode Input and Output FunctionsVelocity Group Torque Group Encoder Output Scaling Drive ModifiersCurrent Foldback +/- Travel Limits Brake Operation Shunt OperationRMS Foldback Epsilon EP-I Brake Release Analog OutputsBrake Control Brake Digital Inputs and Outputs Default Analog Output SourceAnalog Output Offset units Analog Output Scale units Input Line Debounce Time Input Function Active StateOutput Line Active State Input Lines Forced On and Forced Off Brake Control Input FunctionsBrake Release Index Select 0 through Jog + ResetJog Jog Fast Output Functions Power Module System Ready MDS Only Over Temperature Current Limit Active MDS OnlyPower Stage Enabled + and In Motion How Communications Work Configuring CommunicationUploading Change Path Connection Downloading Change Path Dialog Box Opening an Offline Configuration Window Offline SetupEntering General Drive Setup Information Quick Start Entering Identification Parameters Entering Configuration ParametersEntering Positive Direction Selections Assigning Outputs Assigning InputsTo assign an Input Function to an Input line To make an Input Function Active Off To assign an Output Function to an Output Line Setting Up JoggingTo unassign an Output Function from an Output Line To make an Output Function Active Off Jogging Parameter Set-up Setting Up the Home Routine Index View Setup Setting Up Indexes Establishing Communications with Drive Online Setup Opening an Online Configuration Window Downloading the Configuration File Printing the Configuration File Saving the Configuration FileDisconnecting Communications Operation VerificationPage Tuning Procedure Tuning ProceduresInitial Settings PID vs. State-Space General Tuning Hints Tuning steps 101 102 Inertia Ratio Tuning ParametersFriction Response Feedforwards High Performance GainsLine Voltage Initial Test Settings Determining Tuning Parameter ValuesInertia Measurement Procedure Determining Inertia Ratio Conversion Formula Ramp Units Conversion 107 Page Diagnostic Display Diagnostics and Troubleshooting Display Fault Action to Reset Bridge Disabled Fault Codes Fault Descriptions EN E Series Only Max Following Error Diagnostic Analog Output Test PointsAll On 114 Faults View Drive FaultsResetting Faults Viewing Active Drive Faults Watch Window Select Parameters Window Watch Window Select Defaults Restore Selections ButtonClear All Button Save Selections Button Problem/Message Cause Solution Error Messages Motor Wiring ProcedureUser Defined Motors Commutation Basics 120 Encoder Electrical Interfacing Motor Feedback Wiring Thermal Switch Interfacing Encoder Logical Interfacing Phase Plot of a and B Encoder Channels Reading Encoder Alignment Determine Encoder AlignmentCCW Reference Rotation EUA = 90 + ⎜ tu CW Reference Rotation Dynamic Alignment Method Establishing a Standard Alignment Static Alignment Method Determine Motor Parameters Motor Pole Count Editing the MOTOR.DDF File Motor Data Header Motor Poles Motor Parameter DescriptionsMotor Encoder Lines Per Revolution Motor Encoder Marker Angle Configuring the Drive Selecting a User Defined Motor Verification and Checkout CW Rotation of the Motor Rotation Test Commutation Accuracy Test Torque TestVelocity Test 135 Page Epsilon EP Drive Options Options and Accessories OIT-EN-232-XXX or OIT-EN-485-XXX FM-2 Indexing Module Options STI-24IO Interface Dimensions of the STI-24IO Board STI-EIO Interface Dimensions of STI-EIO Board Dimensions of ECI-44 ECI-44 External Connector Interface 142 FM-2 Specifications SpecificationsDrive overload protection Epsilon EP-I Drive Dimensions and Clearances FM-2 Module Dimensions FM-2 Dimensions and Clearances TPL = Power Dissipation Calculation CMDS-XXX Cable Cable DiagramsCMMS-XXX Cable ESA-SP-485 Snce SNCDD-915 Sncfli Sncfloa Xtmds Motor Power Cables Xcmdbs Xcmds Xefts Motor Feedback Cables Xefcs Efcs Page Glossary LED EMC NVM ModbusNTC PID RMS RAMROM RPM Index 164