Emerson P/N 400518-02 guide

© Control Techniques Americas LLC, 2006 Part Number: 400518-02

Revision: A1

Date: December 2006

Printed in United States of America

Information in this document is subject to change without notice. No part of this document may be reproduced or transmitted in any form or by any means, electronic or mechanical, for any purpose, without the express written permission of Control Techniques.

The following are trademarks of Control Techniques and may not be reproduced in any fashion without written approval of Control Techniques: EMERSON Motion Control,

EMERSON Motion Control PowerTools, AXIMA, “Motion Made Easy.” Control Techniques is a division of EMERSON Co.

Control Techniques is not affiliated with Microsoft Corporation, owner of the Microsoft, Windows, and Windows NT trademarks.

IBM is a registered trademark of International Business Machines Corporation. Modbus is a registered trademark of Gould, Inc.

Schaffner is a registered trademark of Schaffner

This document has been prepared to conform to the current released version of the product. Because of our extensive development efforts and our desire to further improve and enhance the product, inconsistencies may exist between the product and documentation in some instances. Call your customer support representative if you encounter an inconsistency.

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Emerson P/N 400518-02 manual

Contents

Reference Manual Page Page Page Customer Support Document Conventions Customer Service Sales 952 995-8000 or 800Epsilon Only Safety Instructions Reference MaterialsGeneral Warning Qualified PersonPage Safety Considerations Setup, Commissioning and MaintenanceSafety of Machinery Enclosure Identification of Safety Information General warning Table of Contents Tuning Procedures Diagnostics and Troubleshooting 109Options and Accessories Specifications 143 Epsilon Indexing Drives IntroductionFM-2 Indexing Module FM-2 Indexing Module Feature Location Graph View Setting Up ParametersData Capture Group Timing Group Data Group Configuration Group Setup ViewIdentification Group Switching Frequency Group FM-2 only Motor ViewDrive Encoder Output Group 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 Existing Motor Names List Box Create new motor entry In .ddf FileOverwrite existing .ddf file motor entry Retain existing Motor Parameters without saving to .ddf Distance Group User Units ViewVelocity Group Position View Time Scale GroupAcceleration Group Index In Position Group Following Error Group Rotary GroupOnline Tab Motor Position Group Encoder Position Following ErrorPulse Input Posn Velocity View Limits GroupTrigger Group Online Tab Velocity Group Settings Group Ramps ViewTorque View Ramps Group Online Tab Torque Group Tuning Group Tuning ViewLoad Group Position Error Integral Group Low Pass Filter Group Alternate Mode View Alternate Mode Selection Faults View Fault Enable GroupLow DC Bus Fault Enable Encoder State Fault Enable Setup Input Lines ViewInput Function Window Active Off Check Box Debounce Text box Input Line WindowAttached Function Configuration Outputs ViewOutput Function Window Output Lines Window Analog Inputs View Active Off Check BoxBandwidth Analog Full Scale Jog View Analog Outputs ViewAnalog Outputs Group Jog Velocity Jog Fast VelocityAcceleration Deceleration Home View Home TypeHome Reference Chain to Index Index # View Index Type Index NumberDistance/Position/Limit Distance Index Count Group Registration TabCalculations Tab Chain Tab Compound Indexes Index View Chain Tab Pulse Input Posn Position Command Status ViewStatus Online Tab Position Group Drive Status Group ID Group Time Group Channel 1 Data CaptureTrigger Graphical Plot Page Operational Overview User InterfaceHow Motion Works How Jogging Works Jog and Jog Fast Velocity Jog Input FunctionsJog Acceleration and Deceleration How Home Works Operational Overview Standard Home One Side Home Standard Home Sequence Initiate Home One Side Home Sequence Initiate Home Establishing a Home Reference Position Accuracy and RepeatabilityMarker Standard Home only Sensor and Marker Standard Home only Home Offset Sensor and Marker Position Specified Home Offset Example 1 Calculated Offset Home Offset ExamplesExample 2 Specified Offset, Greater than Calculated Offset Specified Offset Screen End of Home Position Home Limit DistanceMoving 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 Examples Home Limit Distance HitAbsolute Position Valid Example 1 Linear Application Home Screen, Sensor and Marker Selected Example 2 Rotary Application Gear Reducer How Indexes Work Complete Motion Sequence Index Type Absolute vs. IncrementalAbsolute Indexes Absolute Index Incremental Indexes Registration 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 Outputs Registration SensorRun Next Index Repeat Current Index Examples End of Chaining CountEnd of Index Motion Index In Position Example 1 Index1 is chained to Index2 with a Chain Count How Alternate Mode Works Alternate Mode Screen Pulse Mode Alternate Mode Select Analog Torque ModeAnalog Velocity Mode Analog Input Group Analog Torque Settings Group Torque Mode Velocity Limiting Group Pulse Mode Interpretation Mode GroupPulse/Pulse Interpretation Pulse/Direction Interpretation Pulse Signal Type Pulse/Quadrature Interpretation Differential input circuit specifications Single ended input circuit specificationsDifferential Source Single Ended Source Pulse Mode Acceleration Group Pulse Mode Ratio Setup GroupPulse Mode Velocity Group Alternate Mode Input and Output Functions Distance Recovery GroupVelocity Group Torque Group Drive Modifiers Encoder Output ScalingCurrent Foldback +/- Travel Limits Shunt Operation Brake OperationRMS Foldback Epsilon EP-I Analog Outputs Brake ReleaseBrake Control Brake Default Analog Output Source Digital Inputs and OutputsAnalog Output Offset units Analog Output Scale units Input Function Active State Input Line Debounce TimeOutput Line Active State Input Lines Forced On and Forced Off Input Functions Brake ControlBrake Release Index Select 0 through Reset Jog +Jog Jog Fast Output Functions Over Temperature Current Limit Active MDS Only Power Module System Ready MDS OnlyPower Stage Enabled + and In Motion How Communications Work Configuring CommunicationUploading Downloading Change Path Connection Change Path Dialog Box Offline Setup Opening an Offline Configuration WindowEntering General Drive Setup Information Quick Start Entering Identification Parameters Entering Configuration ParametersEntering Positive Direction Selections Assigning Inputs Assigning OutputsTo assign an Input Function to an Input line To make an Input Function Active Off Setting Up Jogging To assign an Output Function to an Output LineTo unassign an Output Function from 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 Saving the Configuration File Printing the Configuration FileDisconnecting Communications Operation VerificationPage Tuning Procedures Tuning ProcedureInitial Settings PID vs. State-Space Tuning steps General Tuning Hints 101 102 Tuning Parameters Inertia RatioFriction Response Feedforwards High Performance GainsLine Voltage Determining Tuning Parameter Values Initial Test SettingsInertia Measurement Procedure 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 Max Following Error Diagnostic Analog Output Test PointsAll On 114 Drive Faults Faults ViewResetting Faults Viewing Active Drive Faults Watch Window Watch Window Select Parameters Window Restore Selections Button Select DefaultsClear All Button Save Selections Button Error Messages Problem/Message Cause Solution Procedure Motor WiringUser Defined Motors Commutation Basics 120 Motor Feedback Wiring Encoder Electrical Interfacing Thermal Switch Interfacing Phase Plot of a and B Encoder Channels Encoder Logical Interfacing Reading Encoder Alignment Determine 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 Parameter Descriptions Motor PolesMotor Encoder Lines Per Revolution Motor Encoder Marker Angle Configuring the Drive Verification and Checkout Selecting a User Defined Motor Rotation Test CW Rotation of the Motor Commutation Accuracy Test Torque 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 FM-2 Specifications SpecificationsDrive overload protection Dimensions and Clearances Epsilon EP-I Drive FM-2 Dimensions and Clearances FM-2 Module Dimensions Power Dissipation Calculation TPL = CMDS-XXX Cable Cable DiagramsCMMS-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 Modbus NVMNTC PID RAM RMSROM RPM Index 164