Home Offset Examples

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

The following three home cycle examples each use a different offset method or value.

Example 1: Calculated Offset

In the example below, a calculated offset is used.

Figure 45: Calculated Offset Screen

Figure 46: Calculated Offset

Example 2: Specified Offset, Greater than Calculated Offset

In the example below the specified offset is larger than the calculated offset. This causes the axis to continue on at speed before decelerating and stopping at the offset position.

Page 62

Image 62

Emerson P/N 400518-02 manual Home Offset Examples, Example 1 Calculated Offset

Contents

Reference Manual Page Page Page Customer Support Epsilon Only Customer Service Sales 952 995-8000 or 800Document Conventions 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 FM-2 Indexing Module IntroductionEpsilon Indexing Drives FM-2 Indexing Module Feature Location Data Capture Group Setting Up ParametersGraph View Timing Group Data Group Identification Group Setup ViewConfiguration 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 Velocity Group User Units ViewDistance Group Acceleration Group Position ViewTime Scale Group Index In Position Group Online Tab Following Error GroupRotary Group Motor Position Group Pulse Input Posn Following ErrorEncoder Position Trigger Group Velocity ViewLimits Group Online Tab Velocity Group Torque View Settings GroupRamps View Ramps Group Online Tab Torque Group Load Group Tuning ViewTuning 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 Attached Function Input Line WindowDebounce Text box Output Function Window ConfigurationOutputs View Output Lines Window Bandwidth Analog Inputs ViewActive Off Check Box Analog Full Scale Analog Outputs Group Analog Outputs ViewJog View Acceleration Jog VelocityJog Fast Velocity Deceleration Home Reference Home ViewHome Type Chain to Index Index # View Distance/Position/Limit Distance Index NumberIndex Type 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 Trigger Data CaptureChannel 1 Graphical Plot Page How Motion Works Operational OverviewUser Interface How Jogging Works Jog Acceleration and Deceleration Jog Input FunctionsJog and Jog Fast Velocity 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 Example 2 Specified Offset, Greater than Calculated Offset Home Offset ExamplesExample 1 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 Output Functions Home Input and Output FunctionsInput 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 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 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 Velocity Group Pulse Mode Ratio Setup GroupPulse Mode Acceleration 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 Uploading Configuring CommunicationHow Communications Work Downloading Change Path Connection Change Path Dialog Box Entering General Drive Setup Information Offline SetupOpening an Offline Configuration Window Quick Start Entering Positive Direction Selections Entering Configuration ParametersEntering Identification Parameters 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 Line Voltage High Performance GainsFeedforwards 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 All On Diagnostic Analog Output Test PointsMax Following Error 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 CCW Reference Rotation Determine Encoder AlignmentReading Encoder Alignment 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 Velocity Test Torque TestCommutation Accuracy 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 Drive overload protection SpecificationsFM-2 Specifications Dimensions and Clearances Epsilon EP-I Drive FM-2 Dimensions and Clearances FM-2 Module Dimensions Power Dissipation Calculation TPL = CMMS-XXX Cable Cable DiagramsCMDS-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