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Emerson P/N 400518-02 manual How Indexes Work, Complete Motion Sequence

Models: P/N 400518-02

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

Figure 60: Home Velocity Profile

Figure 61: Home Move Sequence

How Indexes Work

An index is a complete motion sequence that moves the motor a specific incremental distance or to an absolute position. This motion sequence includes an acceleration ramp to a programmed velocity, a run at velocity, a deceleration to a stop, and a dwell time.

Velocity

Run at Velocity

Acceleration

Deceleration

TimeDwell

Figure 62: Complete Motion Sequence

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Emerson P/N 400518-02 manual How Indexes Work, Complete Motion Sequence

Contents

Reference Manual Page Page Page Customer Support Document Conventions Customer Service Sales 952 995-8000 or 800Epsilon 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 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 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 Distance Group User Units ViewVelocity Group Acceleration Group Position ViewTime Scale Group Index In Position Group Online Tab Following Error GroupRotary Group Motor Position Group Encoder Position Following ErrorPulse Input Posn Trigger Group Velocity ViewLimits Group Online Tab Velocity Group Torque View Settings GroupRamps 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 Low DC Bus Fault Enable Faults ViewFault Enable Group Encoder State Fault Enable Input Function Window SetupInput Lines View Active Off Check Box Debounce Text box Input Line WindowAttached Function Output Function Window ConfigurationOutputs View Output Lines Window Bandwidth Analog Inputs ViewActive Off Check Box Analog Full Scale Jog View Analog Outputs ViewAnalog Outputs Group Acceleration Jog VelocityJog Fast Velocity Deceleration Home Reference Home ViewHome Type Chain to Index Index # View Index Type Index NumberDistance/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 Channel 1 Data CaptureTrigger Graphical Plot Page How Motion Works Operational OverviewUser Interface 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 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 1 Calculated Offset Home Offset ExamplesExample 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 Input Functions Home Input and Output 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 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 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 Acceleration Group Pulse Mode Ratio Setup 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 How Communications Work Configuring CommunicationUploading Downloading Change Path Connection Change Path Dialog Box Entering General Drive Setup Information Offline SetupOpening an Offline Configuration Window Quick Start Entering Identification Parameters Entering Configuration 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 Feedforwards High Performance GainsLine 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 Max Following Error Diagnostic Analog Output Test PointsAll 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 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 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 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 NTC ModbusNVM PID ROM RAMRMS RPM Index 164