107

Tuning Procedures

Motor	Drive	Vm	Percent Continuous/volt	RPM /volt (default scaled
			(default scaled Torque	RPM /volt (default scaled
			(default scaled Torque	Actual Velocity)
			Command)	Actual Velocity)
			Command)
MG-316		3.17	30	600

MG-340		3.14	30	600

MG-455		2.44	30	600
	EN-208
NT-320	EN-208	5.16	30	600

NT-330		6.87	30	600

NT-345		6.72	30	600

NT-355		5.97	30	600

MG-455		2.44	30	600

MG-490		1.85	30	600

MG-4120	EN-214	1.69	30	600

NT-345		6.72	30	600

NT-355		5.97	30	600

NT-207		7.16	30	600

NT-212	Ei-202	9.22	30	600

MG-205		5.00	30	600
MG-205		5.00	30	600

MG-208		6.47	30	600

NT-207		7.16	30	600

NT-212		12.40	30	600

MG-205	Ei-203	5.00	30	600

MG-208		8.25	30	600

MG-316		15.68	30	600

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Image 119

Contents

Reference Manual Page Page Page Customer Support Epsilon Only Customer Service Sales 952 995-8000 or 800Document Conventions Qualified Person Safety InstructionsReference Materials General WarningPage Enclosure Safety ConsiderationsSetup, Commissioning and Maintenance Safety of Machinery General warning Identification of Safety Information Table of Contents Specifications 143 Tuning ProceduresDiagnostics and Troubleshooting 109 Options and Accessories FM-2 Indexing Module IntroductionEpsilon Indexing Drives FM-2 Indexing Module Feature Location Data Capture Group Setting Up ParametersGraph View Data Group Timing Group Identification Group Setup ViewConfiguration Group Positive Direction Group Switching Frequency Group FM-2 onlyMotor View Drive Encoder Output 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 Retain existing Motor Parameters without saving to .ddf Existing Motor Names List BoxCreate new motor entry In .ddf File Overwrite existing .ddf file motor entry Velocity Group User Units ViewDistance Group Index In Position Group Position ViewTime Scale Group Acceleration Group Motor Position Group Following Error GroupRotary Group Online Tab Pulse Input Posn Following ErrorEncoder Position Online Tab Velocity Group Velocity ViewLimits Group Trigger Group Ramps Group Settings GroupRamps View Torque View Online Tab Torque Group Load Group Tuning ViewTuning Group Low Pass Filter Group Position Error Integral Group Alternate Mode Selection Alternate Mode View Encoder State Fault Enable Faults ViewFault Enable Group Low DC Bus Fault Enable Active Off Check Box SetupInput Lines View Input Function Window Attached Function Input Line WindowDebounce Text box Output Lines Window ConfigurationOutputs View Output Function Window Analog Full Scale Analog Inputs ViewActive Off Check Box Bandwidth Analog Outputs Group Analog Outputs ViewJog View Deceleration Jog VelocityJog Fast Velocity Acceleration Chain to Index Home ViewHome Type Home Reference Index # View Distance/Position/Limit Distance Index NumberIndex Type Chain Tab Index Count GroupRegistration Tab Calculations Tab Index View Chain Tab Compound Indexes Position Group Pulse Input Posn Position CommandStatus View Status Online Tab Drive Status Group Time Group ID Group Trigger Data CaptureChannel 1 Graphical Plot Page How Jogging Works Operational OverviewUser Interface How Motion Works Jog Acceleration and Deceleration Jog Input FunctionsJog and Jog Fast Velocity Operational Overview How Home Works One Side Home Standard Home Initiate Home Standard Home Sequence Initiate Home One Side Home Sequence Sensor and Marker Standard Home only Establishing a Home Reference PositionAccuracy and Repeatability Marker Standard Home only Sensor and Marker Position Home Offset Specified Home Offset Example 2 Specified Offset, Greater than Calculated Offset Home Offset ExamplesExample 1 Calculated Offset Specified Offset Screen Example 3 Specified Offset, Back up Required End of Home PositionHome Limit Distance Moving Off Sensor Before Homing Gear Reducer External Home Sensor Output Functions Home Input and Output FunctionsInput Functions Example 1 Linear Application Home ExamplesHome Limit Distance Hit Absolute Position Valid Example 2 Rotary Application Home Screen, Sensor and Marker Selected Gear Reducer Complete Motion Sequence How Indexes Work Absolute Index Index TypeAbsolute vs. Incremental Absolute Indexes Incremental Index Incremental IndexesRegistration Indexes Rotary Plus and Rotary Minus Indexes Distance/Position Indexes with Rotary Rollover EnabledIndex Parameters Index Count Calculations Tab Chaining Parameters When this index is complete thenHow Chaining Works Inputs Index Input and Output FunctionsGlobal Chain Count Repeat Current Index OutputsRegistration Sensor Run Next Index Index In Position ExamplesEnd of Chaining Count End of Index Motion Example 1 Index1 is chained to Index2 with a Chain Count Alternate Mode Screen Pulse Mode How Alternate Mode Works Analog Input Group Alternate Mode SelectAnalog Torque Mode Analog Velocity Mode Torque Mode Velocity Limiting Group Analog Torque Settings Group Pulse/Direction Interpretation Pulse ModeInterpretation Mode Group Pulse/Pulse Interpretation Pulse/Quadrature Interpretation Pulse Signal Type Single Ended Source Differential input circuit specificationsSingle ended input circuit specifications Differential Source Pulse Mode Velocity Group Pulse Mode Ratio Setup GroupPulse Mode Acceleration Group Torque Group Alternate Mode Input and Output FunctionsDistance Recovery Group Velocity Group +/- Travel Limits Drive ModifiersEncoder Output Scaling Current Foldback Epsilon EP-I Shunt OperationBrake Operation RMS Foldback Brake Analog OutputsBrake Release Brake Control Analog Output Scale units Default Analog Output SourceDigital Inputs and Outputs Analog Output Offset units Input Lines Forced On and Forced Off Input Function Active StateInput Line Debounce Time Output Line Active State Index Select 0 through Input FunctionsBrake Control Brake Release Jog Fast ResetJog + Jog Output Functions + and In Motion Over Temperature Current Limit Active MDS OnlyPower Module System Ready MDS Only Power Stage Enabled Uploading Configuring CommunicationHow Communications Work Change Path Connection Downloading Change Path Dialog Box Quick Start Offline SetupOpening an Offline Configuration Window Entering General Drive Setup Information Entering Positive Direction Selections Entering Configuration ParametersEntering Identification Parameters To make an Input Function Active Off Assigning InputsAssigning Outputs To assign an Input Function to an Input line To make an Output Function Active Off Setting Up JoggingTo assign an Output Function to an Output Line To unassign an Output Function from an Output Line 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 Operation Verification Saving the Configuration FilePrinting the Configuration File Disconnecting CommunicationsPage PID vs. State-Space Tuning ProceduresTuning Procedure Initial Settings General Tuning Hints Tuning steps 101 102 Response Tuning ParametersInertia Ratio Friction Line Voltage High Performance GainsFeedforwards Determining Inertia Ratio Determining Tuning Parameter ValuesInitial Test Settings Inertia Measurement Procedure 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 All On Diagnostic Analog Output Test PointsMax Following Error 114 Viewing Active Drive Faults Drive FaultsFaults View Resetting Faults Watch Window Select Parameters Window Watch Window Save Selections Button Restore Selections ButtonSelect Defaults Clear All Button Problem/Message Cause Solution Error Messages Commutation Basics ProcedureMotor Wiring User Defined Motors 120 Encoder Electrical Interfacing Motor Feedback Wiring Thermal Switch Interfacing Encoder Logical Interfacing Phase Plot of a and B Encoder Channels CCW Reference Rotation Determine Encoder AlignmentReading Encoder Alignment 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 Encoder Marker Angle Motor Parameter DescriptionsMotor Poles Motor Encoder Lines Per Revolution Configuring the Drive Selecting a User Defined Motor Verification and Checkout CW Rotation of the Motor Rotation Test Velocity Test Torque TestCommutation Accuracy 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 Drive overload protection SpecificationsFM-2 Specifications Epsilon EP-I Drive Dimensions and Clearances FM-2 Module Dimensions FM-2 Dimensions and Clearances TPL = Power Dissipation Calculation CMMS-XXX Cable Cable DiagramsCMDS-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 PID ModbusNVM NTC RPM RAMRMS ROM Index 164

Emerson P/N 400518-02 manual 107

Models: P/N 400518-02

Tuning Procedures

107