Emerson P/N 400518-02 manual

Reference Manual

P/N 400518-02

Revision: A1

Date: December 22, 2006

Epsilon EP-I Indexing Drive and

FM-2 Indexing Module

Contents

Main Page Page Page Customer Support Document Conventions Epsilon Only Safety Instructions General Warning Qualified Person Reference Materials Page Safety Considerations Safety Precautions Qualified Person Enclosure Setup, Commissioning and Maintenance Identification of Safety Information Table of Contents Safety Considerations vii Introduction 1 Setting Up Parameters 3 Operational Overview 41 Page Introduction Epsilon Indexing Drives FM-2 Indexing Module 2 Front Back Aligning Tabs Figure 2: FM-2 Indexing Module Feature Location Locking Latch Setting Up Parameters Graph View Data Capture Group Timing Group Data Group Setup View Identification Group Axis Axis Address Configuration Group Motor View Motor Type List Box Use Motor Data From .ddf File Check box Motor Parameters Column Encoder Lines/Rev Exponent Encoder Marker Angle Encoder U-track Angle Encoder Reference Motion Values from Drive Column Apply to Config. Button Run Auto-Tune Button Save .ddf Values Button User Defined Motor Name Conflict Dialog Box Existing Motor Names List Box Parameters Not Matching List User Units View Distance Group Units Name Distance Scaling Velocity Group Position View Index In Position Group In Position Following Error Group Following Error Limit Enable Check Box Following Error Limit Rotary Group Rotary Rollover Enable Check Box Page Velocity View Ramps View Ramps Group Limits Group Torque View Settings Group Torque Group Tuning View Load Group Inertia Ratio Friction Tuning Group Low Pass Filter Group Low Pass Filter Enable Check Box Low Pass Frequency Position Error Integral Group Position Error Integral Enable Check Box Page Faults View Fault Enable Group I/O Setup Input Lines View Input Function Window Active Off Check Box Always Active Check Box Input Line Window Debounce Text box Outputs View Output Function Window Output Lines Window Attached Function Configuration Analog Inputs View Analog Outputs View Analog Outputs Group Jog View Page Home View Home Type Home Reference Sensor Marker Index # View Index Number Index Type Distance/Position/Limit Distance Velocity Acceleration Index Count Group Repeat Forever Repeat For Count Repeat while Input Function Active Registration Tab Compound Indexes Status View Status Online Tab Position Group Velocity Group Torque Group Drive Status Group ID Group Time Group Graph View Data Capture Timing Group Sample Rate Trigger Offset Buffer Upload Size Page Page Operational Overview User Interface How Motion Works How Jogging Works Jog Input Functions How Home Works Home Type Standard Home One Side Home Standard Home Sequence 46 One Side Home Sequence Initiate Home The Home function will NOT be initiated when any other motion command is in progress. Establishing a Home Reference Position Sensor Marker (Standard Home only) Sensor and Marker (Standard Home only) Accuracy and Repeatability Home Offset Sensor Min. On Time 50 sec Sensor Page Home Offset Examples Page Page Ba on e V ome Home Input and Output Functions Input Functions Output Functions N T M o t o r Home Examples + - Page Page How Indexes Work Index Type Absolute vs. Incremental Absolute Indexes Incremental Indexes Registration Indexes Rotary Plus and Rotary Minus Indexes Index Parameters Distance/Position Velocity Acceleration Deceleration Registration Tab Calculations Tab How Chaining Works Chaining Parameters When this index is complete then: Global Chain Count Index Input and Output Functions Inputs Outputs Examples 68 When this index is complete then: Stop Chain Count = 1 Figure 68: Example 1 Index1 is chained to Index2 with a Chain Count of 1. Figure 69: Example 2 Index3 is chained to Index4 with a Chain Count of 2. How Alternate Mode Works Alternate Mode Select Analog Torque Mode Analog Torque Settings Group Torque Mode Velocity Limiting Group A FS FST) AZO) ((AI TC Pulse Mode Interpretation Mode Group Pulse/Quadrature Interpretation Pulse Signal Type Differential Source Single Ended Source Differential input is recommended under any of the following conditions: Differential input circuit specifications: Single ended input circuit specifications: Pulse Mode Ratio Setup Group Pulse Mode Acceleration Group Pulse Mode Velocity Group Velocity Group Torque Group Alternate Mode Input and Output Functions Drive Modifiers Encoder Output Scaling Current Foldback RMS Foldback Shunt Operation Epsilon EP-I Shunt Operation External Shunt Operation Shunt Control Analog Inputs View Settings Group Analog Outputs Digital Inputs and Outputs Input Function Active State Input Line Debounce Time Output Line Active State Input Functions Page Output Functions Page How Communications Work Configuring Communication Uploading Downloading Change Path Connection Page Quick Start Page Step 3: Assigning Inputs Step 4: Assigning Outputs Step 5: Setting Up Jogging Step 6: Setting Up the Home Routine Step 7: Setting Up Indexes Online Setup Step 1: Establishing Communications with Drive Page Page Page Tuning Procedures PID vs. State-Space Tuning Procedure Initial Settings Tuning steps No Tuning Basic Level Intermediate Level Fully Optimized Level Page Page Tuning Parameters Inertia Ratio MI Friction Response High Performance Gains Feedforwards Low Pass Filter Group Line Voltage Determining Tuning Parameter Values Initial Test Settings Determining Inertia Ratio Ramp Units Conversion Conversion Formula: 60) (RPSS 10 MPK 107 Tuning Procedures Page Diagnostics and Troubleshooting Diagnostic Display Fault Codes Fault Descriptions Epsilon Only E Series Only E N Diagnostic Analog Output Test Points Page Drive Faults Watch Window Page 118 Error Messages User Defined Motors Commutation Basics Tools Required: Procedure Step 1:Motor Wiring Page Step 2:Motor Feedback Wiring Thermal Switch Interfacing Encoder Logical Interfacing Step 3:Determine Encoder Alignment Reading Encoder Alignment CCW Reference Rotation CW Reference Rotation Establishing a Standard Alignment Dynamic Alignment Method Static Alignment Method Step 4: Determine Motor Parameters Motor Ke Motor Pole Count volutionsSeconds/Re Step 5:Editing the MOTOR.DDF File 60 RPM= RPM VRMS 1000 Ke = Poles Motor of Number 2 Cycles of Number = Header Motor Data Motor Parameter Descriptions Step 6:Configuring the Drive Selecting a User Defined Motor Step 7:Verification and Checkout Rotation Test Torque Test Commutation Accuracy Test Velocity Test Page Page Options and Accessories Epsilon EP Drive Options Epsilon EP FM-2 Indexing Module Options STI-24IO Interface STI-EIO Interface ECI-44 External Connector Interface 142 Figure 119: ECI-44 Signal Connections Specifications 144 Dimensions and Clearances Epsilon EP-I Drive The following table applies to the "A" as shown in the figure below. Drive Model Dimension "A" (shown in inches/mm) EP202/204 2.11 [53.59] EP206 2.82 [71.63] Page Page Cable Diagrams CMDS-XXX Cable CMMS-XXX Cable Page SNCE SNCDD-915 SNCFLI SNCFLOA MOTOR POWER CABLES XTMDS XCMDS XCMDBS MOTOR FEEDBACK CABLES XEFTS PIN 1 Pin 1 XEFCS Pin 1 EFCS Page Glossary Page Page Page Index A D F G