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

Figure 97: Inertia Setting (5) Response

3.Position Error Integral

The difference in motion when this parameter is disabled and enabled can be observed in the following graphs. The first graph shows motion with the position error integral turned off. The second graph shows motion with the position error integral enabled and the time constant set for 20ms. Note the settling time difference of the two indexes.

Figure 98:

PEI = off

Figure 99:

PEI = on

Feedforwards gain can be enabled if the performance requirements are very demanding. However, when using them make sure the Inertia Ratio and Friction values are an accurate representation of the load. Otherwise, the system performance can actually be degraded or stability will suffer. Enabling Feedforwards makes the system less tolerant of inertia or friction variations during operation.

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Contents

Reference Manual Page Page Page Customer Support Customer Service Sales 952 995-8000 or 800 Document ConventionsEpsilon Only General Warning Safety InstructionsReference Materials Qualified PersonPage Safety of Machinery Safety ConsiderationsSetup, Commissioning and Maintenance Enclosure Identification of Safety Information General warning Table of Contents Options and Accessories Tuning ProceduresDiagnostics and Troubleshooting 109 Specifications 143 Introduction Epsilon Indexing DrivesFM-2 Indexing Module FM-2 Indexing Module Feature Location Setting Up Parameters Graph ViewData Capture Group Timing Group Data Group Setup View Configuration GroupIdentification Group Drive Encoder Output Group Switching Frequency Group FM-2 onlyMotor View Positive Direction Group Motor Type List Box Use Motor Data From .ddf File Check box Motor Parameters Column Apply to Config. Button Values from Drive Column Run Auto-Tune Button Save .ddf Values Button User Defined Motor Name Conflict Dialog Box Overwrite existing .ddf file motor entry Existing Motor Names List BoxCreate new motor entry In .ddf File Retain existing Motor Parameters without saving to .ddf User Units View Distance GroupVelocity Group Acceleration Group Position ViewTime Scale Group Index In Position Group Online Tab Following Error GroupRotary Group Motor Position Group Following Error Encoder PositionPulse Input Posn Trigger Group Velocity ViewLimits Group Online Tab Velocity Group Torque View Settings GroupRamps View Ramps Group Online Tab Torque Group Tuning View Tuning GroupLoad Group Position Error Integral Group Low Pass Filter Group Alternate Mode View Alternate Mode Selection Low DC Bus Fault Enable Faults ViewFault Enable Group Encoder State Fault Enable Input Function Window SetupInput Lines View Active Off Check Box Input Line Window Debounce Text boxAttached Function Output Function Window ConfigurationOutputs View Output Lines Window Bandwidth Analog Inputs ViewActive Off Check Box Analog Full Scale Analog Outputs View Jog ViewAnalog Outputs Group Acceleration Jog VelocityJog Fast Velocity Deceleration Home Reference Home ViewHome Type Chain to Index Index # View Index Number Index TypeDistance/Position/Limit Distance Calculations Tab Index Count GroupRegistration Tab Chain Tab Compound Indexes Index View Chain Tab Status Online Tab Pulse Input Posn Position CommandStatus View Position Group Drive Status Group ID Group Time Group Data Capture Channel 1Trigger Graphical Plot Page How Motion Works Operational OverviewUser Interface How Jogging Works Jog Input Functions Jog and Jog Fast VelocityJog Acceleration and Deceleration How Home Works Operational Overview Standard Home One Side Home Standard Home Sequence Initiate Home One Side Home Sequence Initiate Home Marker Standard Home only Establishing a Home Reference PositionAccuracy and Repeatability Sensor and Marker Standard Home only Home Offset Sensor and Marker Position Specified Home Offset Home Offset Examples Example 1 Calculated OffsetExample 2 Specified Offset, Greater than Calculated Offset Specified Offset Screen Moving Off Sensor Before Homing End of Home PositionHome Limit Distance Example 3 Specified Offset, Back up Required Gear Reducer External Home Sensor Home Input and Output Functions Input FunctionsOutput Functions Absolute Position Valid Home ExamplesHome Limit Distance Hit Example 1 Linear Application Home Screen, Sensor and Marker Selected Example 2 Rotary Application Gear Reducer How Indexes Work Complete Motion Sequence Absolute Indexes Index TypeAbsolute vs. Incremental Absolute Index Rotary Plus and Rotary Minus Indexes Incremental IndexesRegistration Indexes Incremental Index Indexes with Rotary Rollover Enabled Index ParametersDistance/Position Index Count Calculations Tab When this index is complete then How Chaining WorksChaining Parameters Index Input and Output Functions Global Chain CountInputs Run Next Index OutputsRegistration Sensor Repeat Current Index End of Index Motion ExamplesEnd of Chaining Count Index In Position Example 1 Index1 is chained to Index2 with a Chain Count How Alternate Mode Works Alternate Mode Screen Pulse Mode Analog Velocity Mode Alternate Mode SelectAnalog Torque Mode Analog Input Group Analog Torque Settings Group Torque Mode Velocity Limiting Group Pulse/Pulse Interpretation Pulse ModeInterpretation Mode Group Pulse/Direction Interpretation Pulse Signal Type Pulse/Quadrature Interpretation Differential Source Differential input circuit specificationsSingle ended input circuit specifications Single Ended Source Pulse Mode Ratio Setup Group Pulse Mode Acceleration GroupPulse Mode Velocity Group Velocity Group Alternate Mode Input and Output FunctionsDistance Recovery Group Torque Group Current Foldback Drive ModifiersEncoder Output Scaling +/- Travel Limits RMS Foldback Shunt OperationBrake Operation Epsilon EP-I Brake Control Analog OutputsBrake Release Brake Analog Output Offset units Default Analog Output SourceDigital Inputs and Outputs Analog Output Scale units Output Line Active State Input Function Active StateInput Line Debounce Time Input Lines Forced On and Forced Off Brake Release Input FunctionsBrake Control Index Select 0 through Jog ResetJog + Jog Fast Output Functions Power Stage Enabled Over Temperature Current Limit Active MDS OnlyPower Module System Ready MDS Only + and In Motion Configuring Communication How Communications WorkUploading Downloading Change Path Connection Change Path Dialog Box Entering General Drive Setup Information Offline SetupOpening an Offline Configuration Window Quick Start Entering Configuration Parameters Entering Identification ParametersEntering Positive Direction Selections To assign an Input Function to an Input line Assigning InputsAssigning Outputs To make an Input Function Active Off To unassign an Output Function from an Output Line Setting Up JoggingTo assign an Output Function to an Output Line To make an Output Function Active Off Setting Up the Home Routine Jogging Parameter Set-up Setting Up Indexes Index View Setup Online Setup Establishing Communications with Drive Downloading the Configuration File Opening an Online Configuration Window Disconnecting Communications Saving the Configuration FilePrinting the Configuration File Operation VerificationPage Initial Settings Tuning ProceduresTuning Procedure PID vs. State-Space Tuning steps General Tuning Hints 101 102 Friction Tuning ParametersInertia Ratio Response High Performance Gains FeedforwardsLine Voltage Inertia Measurement Procedure Determining Tuning Parameter ValuesInitial Test Settings Determining Inertia Ratio Ramp Units Conversion Conversion Formula 107 Page Diagnostics and Troubleshooting Diagnostic Display Fault Codes Display Fault Action to Reset Bridge Disabled Fault Descriptions EN E Series Only Diagnostic Analog Output Test Points Max Following ErrorAll On 114 Resetting Faults Drive FaultsFaults View Viewing Active Drive Faults Watch Window Watch Window Select Parameters Window Clear All Button Restore Selections ButtonSelect Defaults Save Selections Button Error Messages Problem/Message Cause Solution User Defined Motors ProcedureMotor Wiring Commutation Basics 120 Motor Feedback Wiring Encoder Electrical Interfacing Thermal Switch Interfacing Phase Plot of a and B Encoder Channels Encoder Logical Interfacing Determine Encoder Alignment Reading Encoder AlignmentCCW Reference Rotation CW Reference Rotation EUA = 90 + ⎜ tu Establishing a Standard Alignment Dynamic Alignment Method Determine Motor Parameters Static Alignment Method Editing the MOTOR.DDF File Motor Pole Count Header Motor Data Motor Encoder Lines Per Revolution Motor Parameter DescriptionsMotor Poles Motor Encoder Marker Angle Configuring the Drive Verification and Checkout Selecting a User Defined Motor Rotation Test CW Rotation of the Motor Torque Test Commutation Accuracy TestVelocity Test 135 Page Options and Accessories Epsilon EP Drive Options FM-2 Indexing Module Options OIT-EN-232-XXX or OIT-EN-485-XXX Dimensions of the STI-24IO Board STI-24IO Interface Dimensions of STI-EIO Board STI-EIO Interface ECI-44 External Connector Interface Dimensions of ECI-44 142 Specifications FM-2 SpecificationsDrive overload protection Dimensions and Clearances Epsilon EP-I Drive FM-2 Dimensions and Clearances FM-2 Module Dimensions Power Dissipation Calculation TPL = Cable Diagrams CMDS-XXX CableCMMS-XXX Cable ESA-SP-485 Snce SNCDD-915 Sncfli Sncfloa Motor Power Cables Xtmds Xcmds Xcmdbs Motor Feedback Cables Xefts Xefcs Efcs Page Glossary EMC LED NTC ModbusNVM PID ROM RAMRMS RPM Index 164

Emerson P/N 400518-02 manual 102

Models: P/N 400518-02

Figure 97: Inertia Setting (5) Response

PEI = on

102