FM-3 Programming Module Reference Manual P/N 400508-01 Revision: A8 Date: March 10, 2004 © Control Techniques Drives, Inc.
FM-3 Programming Module Reference Manual Information furnished by Control Techniques Drives Inc. (Control Techniques) is believed to be accurate and reliable. However, no responsibility is assumed by Control Techniques for its use. Control Techniques reserves the right to change the design or operation of the equipment described herein and any associated motion products without notice. Control Techniques also assumes no responsibility for any errors that may appear in this document.
© Control Techniques Drives, Inc. 2000-2004 Part Number: 400508-01 Revision: A8 Date: March 2004 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.
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• Exact wording of any messages that appear on your screen • What you were doing when the problem occurred • How you tried to solve the problem Need on-site help? Control Techniques provides service, in most cases, the next day. Just call Control Techniques’ technical support center when on-site service or maintenance is required. Training Services (952) 995-8000 or (800) 893-2321 Email: training@emersonct.
In addition, you will find the following typographic conventions throughout this manual. This Represents bold Characters that you must type exactly as they appear. For example, if you are directed to type a:setup, you should type all the bold characters exactly as they are printed. italic Placeholders for information you must provide. For example, if you are directed to type filename, you should type the actual name for a file instead of the word shown in italic type.
Safety Instructions General Warning Failure to follow safe installation guidelines can cause death or serious injury. The voltages used in the product can cause severe electric shock and/or burns and could be lethal. Extreme care is necessary at all times when working with or adjacent to the product. The installation must comply with all relevant safety legislation in the country of use.
Safety Considerations Safety Precautions This product is intended for professional integration into a complete system. If you install the product incorrectly, it may present a safety hazard. The product and system may use high voltages and currents, carry a high level of stored electrical energy, or control mechanical equipment that can cause injury.
relevant safety legislation in the country of use. AC supply isolation device The AC supply must be removed from the drive using an approved isolation device or disconnect before any servicing work is performed, other than adjustments to the settings or parameters specified in the manual. The drive contains capacitors which remain charged to a potentially lethal voltage after the supply has been removed.
Table of Contents Introduction 1 Operational Overview 3 Software Interface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3 PowerTools Pro Setup Software . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3 Keypad Interface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4 How Motion Works . . . . . . . . .
Jog View . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 86 Home View . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 91 Index View . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 96 Gearing View . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Diagnostics and Troubleshooting 225 Diagnostic Display. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 225 Fault Codes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 226 Analog Outputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 234 Diagnostic Analog Output Test Points . . . . . .
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FM-3 Programming Module Reference Manual Introduction The FM-3 module is a compact and rugged function module that attaches to the front of the drive. It provides eight digital input lines and four digital output lines, in addition to the four input and three output lines available on the drive. Unlike other function modules, the FM-3 module offers complex motion profiling.
FM-3 Programming Module Reference Manual Figure 2: 2 FM-3 Programming Module Features
FM-3 Programming Module Reference Manual Operational Overview This section provides a complete functional description of the FM-3. It is intended to provide you with a thorough understanding of all operations. The description includes references to many FM-3 module and drive parameters which can be displayed and/or edited using PowerTools Pro software, or through any Modbus interface. The FM-3 module augments the drive by providing the ability to implement programs written using PowerTools Pro.
FM-3 Programming Module Reference Manual Figure 3: Hierarchy View The “Hierarchy View” (shown above) contains expandable groups of parameters. The groups can be expanded and contracted just like folders in Windows Explorer. Left clicking on a view name in the Hierarchy view displays that View on the right side of the computer screen. To setup a drive the user simply steps through the Hierarchy View from top to bottom. Simple applications can be setup in a matter of minutes.
Operational Overview Figure 4: FM-3 Display Screen and Keypad On the Menu screen, the drive type and axis address are always shown on the top line of the display. The second line shows the motor type. If a user defined motor is selected, the user defined motor name will appear. The third line shows two parameter group names, one above each of the soft keys. From the Menu screen, the user selects a group of drive parameters to work with. The group names are scrolled using the left/right direction keys.
FM-3 Programming Module Reference Manual Menu Screen EN-204 Adr01 MG-316 SECUR PBusGroup DVNET+ Group Slave Address MODIF MENU Security: 1 MacID MODIF Auto Log Out MENU Security: 1 Baud Rate SECUR Group MODIF MENU RAMPS Group Stop MODIF MENU Security: 0 Security: 3 JOG* Group MODIF MENU Security: 1 HOME Group Home.0.Vel MODIF MENU Security: 1 INDEX* Group PROG* Group MODIF MENU Security: 1 Baud Rate Password 1 Stop.Decel
Operational Overview each group and returns to that screen when you come back to the group. This is reset on power-up and the FM-3 keypad displays the first Parameter screen in the group. In this screen, the parameter name is shown on the first line of the display. The up/down arrow keys are used to scroll through the parameters available in the selected group.The second line displays the condition or value of parameters. The third line displays the soft key actions.
FM-3 Programming Module Reference Manual Figure 5: Jog Tab How Home Works The Home is used in applications in which the axis must be precisely aligned with some part of the machine. The Home is initiated in one of three ways: with the Initiate Destination function found in the Assignments view, through a program, or with the Online tab. A Home or Define Home is required to set the Absolute Position Valid so that any index to absolute position can work.
Operational Overview Figure 6: Basic Home Function, Example The figure above show a basic home function using a ball screw. This example uses most of the setup features in the PowerTools Pro Home tab. Home Sequence 1. Back off the sensor (if on the sensor. This step is optional). 2. Move to the external home sensor to establish a home reference point. 3. Next it will move to the Offset position. 4. Then the command and feedback positions are set to the value entered into the End of Home Position.
FM-3 Programming Module Reference Manual PowerTools Pro allows selection of one of three different Home References: Sensor, Marker, or Sensor and Marker. Sensor Selecting Sensor means the rising edge of the Home Sensor input function is used to establish the home reference position. Figure 7: Sensor Home Reference Position Marker Selecting Marker means the rising edge of the motor’s encoder marker channel is used to establish the reference position.
Operational Overview Sensor and Marker Selecting Sensor and Marker means the reference position is established using the first marker rising edge after the device sees the rising edge of the Home Sensor input function. Figure 9: Sensor and Marker Home Reference Position Example 1 Accuracy and Repeatability The amount of accuracy your application requires will determine the Home Reference option you select. Homing to an external sensor only will establish a repeatable home position within 0.
FM-3 Programming Module Reference Manual 800 µsec Sensor Marker Direction of Travel Figure 10: Sensor and Marker Home Reference Position Example 2 The Home Sensor must be “On” for at least 800 µsec to guarantee that it will be recognized. Sensor Min. On Time Sensor 800 µsec Figure 11: Sensor and Marker Home Reference Position Example 3 Home Offset The Home Offset is the distance from the Reference Position to the final stopping point at the end of the homing sequence.
Operational Overview The Specified Offset allows the user to choose an exact offset from the Home Reference. Once the home reference is detected, the device will do whatever is necessary to reach the offset position. This may be as simple as a deceleration to a stop, a continuation at speed followed by a deceleration to a stop, or a deceleration followed by a move in the opposite direction. To enter a specified home offset, select the Specified Offset radio button.
FM-3 Programming Module Reference Manual Two examples below show operation when the specified offset is greater or less than the calculated offset. This causes the axis to continue on at speed before decelerating and stopping at the offset position, or backing up after the home sensor.
Operational Overview Home Limit Distance This parameter places an upper limit on the incremental distance the motor will travel during the home. If no reference is found, the system will decelerate and stop at the limit distance. The Home Limit Distance Hit function will be activated if the home stops at the limit distance without finding the reference. Additionally, the Home.CommandComplete function will not turn “On” if the limit distance is hit.
FM-3 Programming Module Reference Manual Home Sequence 1. If on sensor then back off (if enabled) 2. Search for sensor 3. Search for marker 4. Go to offset (2.0 Revs) 5. Set feedback position equal to End of Home Position Velocity + 100 + 100 Back off Sensor Time - 100 Sensor Figure 17: Marker Home Velocity Profile 1 Start of Home Back Off Sensor 2 Sensor Marker Home Move 4 Offset Move 5 Final Position = End of Home Position 2.
Operational Overview Example 2: Rotary Application This example uses an external sensor and the motor’s encoder marker pulse to establish a home reference position. Figure 19: Home Sensor and Marker then Offset, Example When the device sees the rising edge of the Home Initiate function, it accelerates the motor to the Home Velocity. The motor continues at that velocity until it first senses the Home Sensor input. The motor continues on at the home velocity until the marker is activated.
FM-3 Programming Module Reference Manual 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, and a deceleration to a stop.
Operational Overview Figure 22: Indexes View Indexes use acceleration and deceleration ramps which may or may not reach the specified velocity depending on the total distance and the ramp values. For example, a short move with long acceleration and deceleration ramps may not reach the target velocity entered. Indexes cannot be initiated when any other motion (jogging, homing, or program) is in progress. Indexes can be aborted with the Stop destination found in the Ramps group on the Assignments View.
FM-3 Programming Module Reference Manual Absolute vs. Incremental The difference between absolute and incremental indexes is that absolute indexes move to a specific absolute position and incremental indexes move the motor a specific distance. The figures and explanations below demonstrate this concept. Absolute Indexes Absolute indexes are used in applications where the motor must travel to a specific position, regardless of where the motor is when the index is initiated.
Operational Overview Absolute indexes with Rotary Rollover enabled will take the shortest path to the position entered in the index position parameter. Note Absolute indexes move to positions relative to where the machine was homed using the Home, or the DefineHome destination. Incremental Indexes An incremental index will move the motor a specified distance in the + or - direction regardless of the starting position.
FM-3 Programming Module Reference Manual Registration Index A Registration Index is used in applications where the motor must move until an object is detected and then move a specific distance from the point of detection, such as finding a registration mark and moving a distance beyond. The Registration Index consists of two parts. The first part accelerates the motor to the target velocity and continues at this velocity until it receives a registration trigger (sensor or analog).
Operational Overview Example 3: If the starting position is 45° and 315° is the specified position, an Absolute index would travel 90° in the negative direction because that is the shortest path between 45° and 315°. Rotary Plus indexes will move to the specified position and are forced in a positive (or plus) direction. Rotary Plus index distances must be within the rotary rollover range. Example 4: As in example 2 above, the starting position is at 90° and 80° is the specified position.
FM-3 Programming Module Reference Manual NVM Options for Uploading and Downloading Uploading When uploading from a FM-3 module, the values that were last downloaded are uploaded and put into a PowerTools Pro configuration file. At the completion of the upload, the user will be asked if they wish to upload the NVM values. This dialog box is shown below. By selecting Yes, the values of all parameters stored in NVM will be uploaded and entered into the PowerTools Pro file values.
Operational Overview Keep option does not upload the NVM values into the user configuration (PowerTools Pro file). The following table shows an example of how these options work: Before Download Overwrite Option After Download Update Option Keep Option PT Pro file value for Index.0.Vel 150 150 500 150 NVM value for Index.0.Vel 500 150 500 500 Updating to RAM The Update to RAM button can be used to send changes to the FM-3 module without performing a complete download.
FM-3 Programming Module Reference Manual Figure 27: Update to RAM Flow Chart The Update to RAM button operates according to the following rules: If no parameters have been modified by the user, the Update to RAM button will be disabled. If the user modifies a parameter that does not require a full download, the Update to RAM icon will be enabled. If while the icon is enabled, the user modifies a parameter that requires a full download, the Update to RAM icon will become disabled.
Operational Overview When this checkbox is selected the “Overwrite” function will default on every download to the module. This function will overwrite the entire FM-3 configuration including user defined NVM parameters as set in the NVM setup area of PowerTools Pro. Note It is required to Overwrite the Non-Volatile Memory on the first download to the module since no Non-Volatile Memory parameters have been loaded into the drive on initial startup.
FM-3 Programming Module Reference Manual Upload Non-Volatile Memory (NVM) Section: “Always upload NVM” When this checkbox is selected, PowerTools Pro will default on an upload to uploading all of the parameters that have been mapped to the NVM and updating the display of these parameters in PowerTools Pro.
Operational Overview the standard file format (.fm3), as well as in the secure file format (.fm3s). The “s” at the end of the file extension stands for “secure”. The secure file will be saved to the same directory as the standard file. To perform the Secure Download, close all open files in PowerTools Pro. Then click on Device\ Secure Download on the menu bar as shown below. A window will then pop up asking the user to select the secure file that they wish to download.
FM-3 Programming Module Reference Manual Brake Release The Brake.Release destination function will release the brake under all conditions. When this function is active, the Brake output will be on (that is, release brake). This function overrides all other brake control, thus allowing the brake to be released while a fault is active or the power stage is disabled. See also Brake source function. Brake Activate The Brake.
FM-3 Programming Module Reference Manual Setting Up Parameters Setup View The Setup View contains all of the primary system setup parameters. These parameters must be setup prior to using your system. By selecting Setup in the Hierarchy View, the Setup view will appear on the right side of the view (see Figure 28). The Setup view is divided into six groups, with an explanation of each function.
FM-3 Programming Module Reference Manual Name This is a 12-character alpha/numeric user-configured name for this axis. Enter this name for the device you are currently setting up. Assigning a unique name for each device in your system allows you to quickly identify a device when downloading, editing, and troubleshooting. All keyboard characters are valid. This will default to Axis 1. Target Drive Address This is the Modbus address of the target drive to which you will download the configuration.
Setting Up Parameters Encoder Scaling Check Box This check box enables the Scaling parameter of the Drive Encoder Output. Encoder Scaling This parameter defines the encoder resolution (lines per revolution) of the drive's encoder output. This feature allows you to change the drive encoder output resolution in increments of 1 line per revolution up to the density of the encoder in the motor.
FM-3 Programming Module Reference Manual Switching Frequency Group This parameter defines the switching frequency of the electronic amplifier. For EN drives, the switching frequency must be 20 kHz and cannot be changed. For MDS, the switching frequency can be modified to change system performance. Available selections are 5 kHz, and 10 kHz. For more information on this setting refer to the MDS Reference Manual, P/N 400525-01.
Setting Up Parameters Motor Position Group Position Command Position command is the commanded motor position sent to the drive by the FM-3 module. This parameter does not take following error into account. See also PosnFeedback and FollowingError. Units are in user units. Position Feedback Feedback position is the actual motor position in user units.
FM-3 Programming Module Reference Manual Control Loop Limit This parameter shows the lowest measured time difference (in microseconds) between the Trajectory Update Rate and the time taken to process the control loop since the last reset. Certain features in the FM-3 require more time to process (i.e. PLS, Capture, Compound Indexes), and therefore will cause lower limits. The software records the lowest measured value and displays it as the limit.
Setting Up Parameters Foldback RMS This parameter accurately models the thermal heating and cooling of the drive and motor. When it reaches 100 percent, current foldback will be activated. See the Diagnostics section for an explanation of foldback. Shunt Power RMS This parameter models the thermal heating and cooling of the drive internal shunt. This parameter indicates the percent of shunt capacity utilization. When this value reaches 100 percent, the drive will generate an RMS Shunt Power Fault.
FM-3 Programming Module Reference Manual User Units View The User Units View is used to scale the desired application units into known values. All information for distance, velocity, and accel/decel units are set up here and used throughout the system setup. By selecting User Units in the Hierarchy View, the User Units View will appear on the right (see Figure 30).
Setting Up Parameters Decimal Places The number of decimal places set in this parameter determines the number of digits after the decimal point used in all distance and position parameters throughout the software. Using a high number of decimal places will improve position resolution, but will also limit the range of absolute position. You can select from zero to six decimal places of accuracy.
FM-3 Programming Module Reference Manual If the user decides to put a 5:1 reducer on the system, the user simply needs to change the Characteristic Length. Now the belt travels 4.71" in 5 motor revolutions. Distance = 4.712 Scaling = Characteristic --------------------------------------------------------------------------Characteristic Length = 5 Keep in mind that the characteristic length is always a whole number and the valid range is from 1 to 2000.
Setting Up Parameters Separate Distance Units Example: A user has an application using a leadscrew with a 0.5"/turn lead. The user wants to have Distance Units of Inches, but wants Velocity Units of Feet so motion can be programmed in feet/minute.
FM-3 Programming Module Reference Manual Decimal Places The number of decimal places set in this parameter determines the number of digits after the decimal point used in all torque parameters throughout the software. Using a high number of decimal places will improve torque resolution, but will also limit the maximum torque. You can select from zero to six decimal places of programming resolution. Scaling The amount of torque in user torque units will be set equal to the Percent Continuous Current.
Setting Up Parameters Encoder Setup Group Master Source Master Source indicates the hardware location of the master encoder input. Select module to use the sync input connector on the FM-3 module; select drive to use the drive 44-pin command connector on the drive. Master Polarity Master Polarity defines the direction of the master encoder that corresponds to a positive master position change.
FM-3 Programming Module Reference Manual Rollover value and then reset to zero and continue to count up. If rotating in the negative direction, the master position feedback will decrease until it reaches zero, and then start over at the Rotary Rollover value. Master Distance Units The parameters in this group are used to establish the scaling of the master axis into user units.
Setting Up Parameters Master Position Filter The master filter is designed for applications where the master encoder input requires smoothing due to low resolution or high gain. These applications include low speed masters, low resolution master encoders, and large follower to master gear ratios. Filters inherently introduce phase shift (or delay) in the followers response to the master position, velocity and acceleration.
FM-3 Programming Module Reference Manual Enable Feedforward Check Box The Enable Feedforward Check Box is used to turn on or turn off feedforward. If checked, feedforward is active. If unchecked, feedforward is not used. Position View The Position View allows you to set up and view the parameters related to drive positioning. In Figure 32, Position has been selected in the Hierarchy View. The right side of the view is divided into groups. An explanation of the groups and their functions is provided below.
Setting Up Parameters In Position The In Position (InPosn) source will activate at the end of a move if the absolute value of following error is less than or equal to the In Position Window for the In Position Time. In Position Window The absolute value of the Following Error must be less than or equal to this value at the end of an index in order for the InPosn source to activate. This window is set in units specified in the User Units View. For example: The In Position window is set to .0025 revs.
FM-3 Programming Module Reference Manual Software Travel Limits Software Travel limits can be used to limit machine travel. They are often setup inside the hardware travel limits to add another level of security or protection from exceeding the machines travel limits. The FM-3 module constantly monitors the feedback position, and if this position exceeds the values entered for Software Travel Limit + or -, then the drive will decel to a stop.
Setting Up Parameters Distance Units Decimal Places parameter on the Setup\User Units View in the PowerTools Pro software. If an absolute index is used with a non-zero rotary rollover point, the FM-3 module will calculate the shortest path to its destination and move in the required direction. To force the motor to run a certain direction, use the Rotary Plus or Rotary Minus type of indexes. Online Tab (not shown) While online, the following real-time data will be displayed.
FM-3 Programming Module Reference Manual Velocity View The Velocity View allows the setup of feedrate override details. By selecting Velocity in the Hierarchy View, the Velocity View will appear on the right (see Figure 33). Figure 33: Velocity View Settings Group FeedRate Override This parameter is used to scale all motion. It can be described as scaling in real time. The default setting of 100% will allow all motion to occur in real time.
Setting Up Parameters FeedRate Decel/Accel The FeedRate Decel/Accel parameter specifies the ramp used when velocity changes due to a change in the FeedRate Override value. The units of FeedRate Decel/Accel are Seconds/ 100% of Feed Rate. Therefore, the user must specify the amount of time (in seconds) to accelerate or decelerate 100% of FeedRate. Examples: FeedRate Override is set to 100% (default). The user wishes to slow down motion to 50% of programmed velocity.
FM-3 Programming Module Reference Manual Ramps View The Ramps View contains all setup information for the global acceleration and deceleration profiles. By selecting Ramps in the Hierarchy View, the Ramps View will appear on the right (see Figure 34). Figure 34: Ramps View Settings Group The Settings Group contains the Acceleration Type List Box. Acceleration Type Press the arrow by the Acceleration Type list box.
Setting Up Parameters This is used to select the acceleration/deceleration type for all motion (homes, jogs and indexes). The “S-Curve” ramps offer the smoothest motion, but lead to higher peak acceleration/deceleration rates. “Linear” ramps have the lowest peak acceleration/ deceleration rates but they are the least smooth ramp type. “5/8 S-Curve” ramps and “1/4 SCurve” ramps use smoothing at the beginning and end of the ramp but have constant (linear) acceleration rates in the middle of their profiles.
FM-3 Programming Module Reference Manual Torque View The Torque View allows you to edit torque level and limit parameters as well as view realtime torque values when online. By selecting Torque in the Hierarchy View, the Torque View will appear on the right (see Figure 35). The right part of the screen is divided into groups. An explanation of the groups and their functions is provided below.
Setting Up Parameters Limits Group Torque Limit This parameter sets the value to which the Torque Command will be limited when the Torque Limit Enable destination is active. To make the Torque Limit always active, assign the Torque Limit Enable destination to the Initially Active source on the Assignments view. Peak Torque Displays the Peak Torque for the motor drive combination setup in the Setup View.
FM-3 Programming Module Reference Manual Tuning View The Tuning View allows you to modify tuning parameters based on specific application information. By selecting Tuning in the Hierarchy View, the Tuning View will appear on the right (see Figure 36). The right part of the screen is divided into groups. An explanation of the groups and their functions is provided below. For help on calculating tuning parameters and more in-depth tuning information, turn to “Tuning Procedures” on page 213.
Setting Up Parameters value higher than the actual inertia, the resultant motor response will tend to be more oscillatory. Friction This parameter is characterized in terms of the rate of friction increase per 100 motor RPM. If estimated, always use a conservative (less than or equal to actual) estimate. If the friction is completely unknown, a value of zero should be used. A typical value used here is less than one percent.
FM-3 Programming Module Reference Manual Time Constant Position Error Integral is a control term, which can be used to compensate for the continuous torque required to hold a vertical load against gravity. It is also useful in low speed applications, which have high friction. The user configures this control term using the “Position Error Integral Time Constant” parameter. This parameter determines how quickly the drive will correct for in-position following error.
Setting Up Parameters Faults View The Faults View displays any active faults. Figure 37 below shows the Faults view. Figure 37: Faults View Active Faults Group The Active Faults group contains the Active Faults window. Active Faults Window This window displays any active faults in the system. Those faults which do not require a reboot can be cleared by clicking on the Reset button. For more detailed fault information, refer to “Diagnostics and Troubleshooting” on page 225.
FM-3 Programming Module Reference Manual Power Up Group These parameters will be active when online with the drive. Power Up Count This parameter shows the numbers of times the drive that the FM-3 is attached to has been powered up since the last reset be the factory. Power Up Time This parameter shows the time, in hours, since the drive was last powered up. Total Power Up This parameter shows the total time that the drive has been powered up since reset by the factory.
Setting Up Parameters PLS View The PLS View allows users to define Programmable Limit Switches (PLS) for advanced machine operation. By selecting PLS in the Hierarchy View, the PLS View will appear on the right (see Figure 38). Figure 38: PLS View A PLS can be used to turn on or off a bit based on feedback position, commanded position, or master feedback position. Eight global PLS’s are available for a single application.
FM-3 Programming Module Reference Manual Number of PLS Points This parameter determines the number of PLS Points that will be used. Count always begins with 0, so 5 points will be 0 to 4. Up to eight PLS points may be used simultaneously. Source The source of a PLS can be assigned to the motor axis (MotorPosnFeedback, MotorPosnCommand) or a master synchronization signal (MasterPosnFeedback). The term motor axis refers to the motor being controlled by the FM-3/drive combination.
Setting Up Parameters is moving in the positive direction. If set to Minus, the PLS will activate only when the motor is moving in the negative direction. For example: A flying cutoff or flying shear application may use this feature to activate the PLS to fire the knife only when the axis is moving in the positive direction. If accessing this parameter from a network, the following table displays values for this 16-bit integer.
FM-3 Programming Module Reference Manual Setup NVM View At power-down, parameters can be saved to Non-Volatile Memory (NVM). See the "How Communications Work" section of the "Operational Overview" chapter for more details. In PowerTools Pro, you can customize which parameters will be saved in non-volatile memory.
Setting Up Parameters User Variables View User variables allow the user to store data related to their system into a parameter, which the user can name. The user must define each user variable by giving it a name, resolution (number of decimal places), and initial value. All user variables are signed 32-bit parameters. Setup for the User Variables is done on the User Variables view located under the Setup group in the hierarchy. The User Variables view is shown in Figure 40 below.
FM-3 Programming Module Reference Manual Initial Value This is the initial value of the user variable that will be used on power up. If the user variable has been configured as a Save to NVM parameter, then the value in NVM will overwrite the initial value on power up. Adding and Deleting Variables The default number of variables is ten. To add more user variables, click on the up arrow next to the “Number of User Variables” window on the User Variables view. The maximum number of user variables is 500.
Setting Up Parameters User Bits View User Bits act just like User Variables except that they allow the user to store bit level parameters rather than 32-bit parameters. The user may customize each User Bit by giving it a Name and an Initial Value. The Name for each bit may be up to 12 characters in length, and must start in an alpha character (non-numeric character). Spaces are not available in the Name for a User Bit, however the underscore character ("_") may be used.
FM-3 Programming Module Reference Manual Figure 41: User Bits View Adding and Deleting User Bits User bits can be added or deleted in groups of 32-bits. Individual bits cannot be added or deleted. The default number of User Bits available is 32. To add an additional 32 bits, simply click on the “Up Arrow” on the spinner box at the top of the User Bits view (see Figure 41). To decrease the number of User Bits by 32, click the “Down Arrow” on the spinner box.
Setting Up Parameters User 32-bit Bit Register and User Bit Masking When using different communications protocols (i.e. DeviceNet, Profibus, Modbus), it is often desirable to access groups of User Bits in a single parameter, rather than having to access them individually. In the FM-3 module it is possible to access 32 User Bits in a single parameter. This parameter is named BitRegister.#.Value.
FM-3 Programming Module Reference Manual FM-3/4 Write Network Master Read AND Mask Value Written data is AND’ed with the Mask and then written into 32-bit Value. Read data is read directly from the 32-bit Value and bypasses the Mask. Figure 43: User Bits Read/Write Process Configuring the User Bit Mask Register The User Bit Mask is a 32-bit parameter that can be configured through Power Tools Pro, in the User Program, or over the communications network.
Setting Up Parameters Figure 44: User Bits Mask View To configure the mask in a user program, the parameter named BitRegisiter.#.ValueMask is written to. The mask can be written to using Hexadecimal based values or decimal based values. To write a hexadecimal value to the parameter, the hex value must be preceded with the characters "0x". To write a decimal value to the parameter, normal notation is used. For examples of writing the Mask to a value in a program, see below. For example: BitRegister.0.
FM-3 Programming Module Reference Manual I/O Setup Group The I/O Setup group contains four views that control input and output functions as well as other drive functions. These views are as follows: Selector, Assignments, Input Lines and Output Lines. These can be viewed by expanding I/O Setup by simply clicking on any one of the setup views underneath the I/O Setup.
Setting Up Parameters Figure 45: Assignments View The Assignments View is used to tie a source to a destination. Destinations are functions that need to be triggered, such as Index Initiates, Program Initiates, Jog Initiates and so on. Sources are located on the left side of the Assignment View and reflect events that occur in the drive. These events are based on drive activity. By expanding individual groups, you will see more detailed parameters.
FM-3 Programming Module Reference Manual Drag and Drop Method First, position your pointer over the source on the left that you wish to assign to the destination on the right. Press the left mouse button while over the source, and hold the button down. While holding the left button down, drag the source over until your pointer is positioned over the desired destination and release the left mouse button. Destinations can also be dragged over to sources.
Setting Up Parameters Figure 46: Tying a Source to a Destination Assignment Polarity The active state of an assignment can be programmed to be Active Off, Active On, or Custom using PowerTools Pro. Making an assignment “Active On” means that the destination will be active when the source it is assigned to becomes active, and is inactive when the source is inactive.
FM-3 Programming Module Reference Manual Note Destination functions which initiate motion (Jog.PlusInitiate, Jog.MinusInitiate, Index.#.Initiate, and Home.#.Initiate) cannot be set “Active Off”. Default polarity for a new assignment is Active On. Two methods will change the polarity of an assignment. Polarity Button Method Click on both the source and the destination to be changed. Once highlighted, the Polarity button will become available in the lower left corner of the view.
Setting Up Parameters that it is assigned to. The destination may then use the captured data to accurately initiate motion (if it is a motion-related destination). Motor Encoder Marker – The rising edge of the motor encoder marker pulse will automatically capture data. This will allow the user to accurately initiate motion on the rising edge of the motor encoder marker pulse. The falling edge of the marker pulse does not capture data.
FM-3 Programming Module Reference Manual Figure 47: Selector View The selector allows conservation of the number of input lines by using a binary input conversion to decimal. The binary select lines are set up by assigning sources to the selector.select destinations on the Assignments view. In most cases, hardware inputs are assigned to the selector.select functions (see Figure 47). Based on the status of the binary select lines, a selector.selection source will be active when the Selector.
Setting Up Parameters Figure 48: Assignment View For example, if we entered 2 for the number of Selector Input Destinations, we would have 4 selection lines (Selector.Selection0 through Selector.Selection3). The Selector.Selection number that is activated is determined by the status of the Selector.Select lines when the Selector.Selector Initiate bit is activated. Each select line has a specific binary value. The binary value is determined as follows: Sn x 2n where Sn = Status of Selector.
FM-3 Programming Module Reference Manual The following examples demonstrate how to determine which Selector.Selection will activate based on the Selector.Select lines. Example 1: If Selector.Select2 is active, Selector.Select1 is inactive, and Selector.Select0 is active, then the total binary value is as follows: S2 = 1, S1 = 0, and S0 = 1. Therefore, Total Binary Value = (1 x 22) + (0 x 21) + (1 x 20) Total Binary Value = 4 + 0 + 1 Total Binary Value = 5 Therefore, when Selector.
Setting Up Parameters Input Lines View The Input Lines View displays any functions that have been assigned to the drive or module hardware inputs. See Figure 49. Note No assignments can be made using the Input Lines View, assignments are only displayed in the Input Lines View. Figure 49: Input Lines View Two functions can be performed on the Input Lines view. Name You can assign a descriptive name to each input and make the setup easier to follow.
FM-3 Programming Module Reference Manual Figure 50: Input Line Diagram If the Input Line attached to the home sensor is debounced, the actual rising edge of the Home Sensor is used to determine the Home Reference Position (the debounce time ensures a minimum pulse width). Output Lines View The Output Lines View displays any functions that have been assigned to the drive or module hardware outputs. See Figure 51.
Setting Up Parameters Analog Inputs View The FM-3 module is able to use the analog input circuitry located on the drive. The analog input accepts a +10 to –10 Volt signal. The analog input can be setup on the Analog view, which is located underneath the I/O Setup group in the PowerTools Pro hierarchy. Figure 52: Analog Inputs View The drive has a 14-bit analog to digital converter (A/D) which is used to transform the analog voltage to a usable parameter in the FM-3 module.
FM-3 Programming Module Reference Manual Bandwidth This parameter sets the low-pass filter cutoff frequency applied to the analog input. Signals exceeding this frequency will be filtered at a rate of 20 dB per decade. Maximum Value This parameter is used for user unit scaling. Enter the maximum value in analog user units to which the maximum analog voltage should correspond. Maximum Voltage Enter the maximum voltage that will be seen on the analog input terminals.
Setting Up Parameters Motion Group All motion parameters related to Jogs, Homes, Indexes and Gearing are located in the Motion hierarchy group. Motion views will use units that correspond to Realtime or Synchronized motion. This choice is made on each motion view. The units are customized in the Setup Group: Realtime units are defined on the User Units View, and Synchronized units are defined on both the User Units View and the Master Units View.
FM-3 Programming Module Reference Manual Jog View Jogging produces rotation of the motor at controlled velocities in a positive or negative direction. The jog is initiated with the Jog.#.Initiate destination or from a program. Figure 53: Jog View Jog Number This scroll box allows you to select between Jog0 and Jog1 setup views. Jog Name This is a descriptive character string which can be assigned to the specific jog. Giving a name to a jog can make the motion setup easier to follow.
Setting Up Parameters Jog Velocity This parameter specifies the target jog velocity for the individual Jog. The motor will run at this velocity when jogging with an assignment or through a program. This value is a signed number. The direction of the jog is determined by the sign of the jog velocity as well as using the Jog.PlusInitiate or the Jog.MinusInitiate. Jog Acceleration This is the acceleration ramp used when initiating this individual Jog.
FM-3 Programming Module Reference Manual Jog.#.Decelerating This source is active while a jog is decelerating from its target velocity. Once the Jog reaches zero velocity (or its new target velocity), the Jog.#.Decelerating source will deactivate. Destinations The following destination functions can be found in the Assignments view under the I/O setup group: Jog.PlusActivate When this destination is activated, jogging motion will begin in the positive direction.
Setting Up Parameters Figure 54: Jog Activation 0 Figure 55: Jog Select Details If the Jog direction is reversed, the Jog.#.Decel value will be used to decelerate the motor to zero speed and then the Jog.#.Accel will be used to accelerate to the new (opposite sign) velocity. Note The Jog destinations cannot be initiated when any other motion type (homing, indexing, or programs) is in progress.
FM-3 Programming Module Reference Manual The Stop destination (found under the Ramps group in the Assignments view) will override the Jog operation and decelerate the motor to zero speed at the stop deceleration rate. If the motor reaches a Travel Limit, you can Jog off the Travel Limit in the opposite direction. (Use Jog.PlusActivate to move off a Travel Limit -).
Setting Up Parameters Home View The Home is used in applications in which the axis must be precisely aligned with some part of the machine. The Home is initiated with the Home.#.Initiate Destination or from a program. Figure 56: Home View Home Number The Home Number parameter displays which home sequence you are editing and allows you to scroll through multiple home sequences using the up and down arrows. The first release only allows for one home sequence.
FM-3 Programming Module Reference Manual home position. When the home reference is 'Marker' the rising edge of the motor encoder's marker channel is used to establish the home position. When the home reference is 'Sensor then Marker' the home position is established using the first marker rising edge after the Home.#.SensorTrigger destination activates. Time Base Selects the Time Base for the home move velocity and acceleration/deceleration. Realtime and Synchronized are the allowed selections.
Setting Up Parameters distance is used to guarantee that the motor will not need to backup after the deceleration ramp. Specified Offset Radio Button The specified offset allows the user to choose an exact offset from the Home Reference point. The commanded motion will stop at exactly the offset distance away from the reference point as specified. If the specified offset is smaller than the calculated offset, the motor will decelerate to a stop and then back up to its final offset position.
FM-3 Programming Module Reference Manual Home Sources and Destinations Sources Home.AbsolutePosnValid This source is activated when a Home is successfully completed. It indicates that the device has been homed properly. It is will be deactivated by the Home.#.Initiate destination, an encoder fault, a reboot, or when the device is powered down, unless using Auxiliary Logic Supply (ALP). Home.AnyCommandComplete This source is activated when any home motion command is completed.
Setting Up Parameters Destinations Home.#.Initiate The Home.#.Initiate destination is used to initiate the home function. The Home is initiated on the rising edge of this function. The device will not initiate a Home if there is an Index, Jog, or Program in progress, or if the Stop destination is active or if a travel limit is active. Home.#.SensorTrigger This destination is required to be used if you are homing to a sensor. This destination is edge sensitive.
FM-3 Programming Module Reference Manual Index View An index is a complete motion sequence that moves the motor a specific incremental distance or to an absolute position. The index is initiated with the Index.#.Initiate destination or from a program. Figure 58: Index View Index Number The Index Number parameter selects the index number with a scroll box.
Setting Up Parameters Index Name The User can specify an Index name of up to 12 alphanumeric characters. This allows assigning a descriptive name to each index indicating different machine operations. IndexType Select the index type from Incremental, Absolute, Registration, Rotary Plus, or Rotary Minus. Click the down arrow on the parameter list box to select the desired type of Index profiles, as follows: Incremental Indexes run a specified distance from the current position.
FM-3 Programming Module Reference Manual Timed Indexes A Timed Index allows the user to specify the amount of time in which to perform an index rather than specifying the Velocity, Acceleration, and Deceleration. The processor in the FM3 will automatically calculate the necessary velocity, accel, and decel in order to achieve the programmed distance in the specified time. A Timed Index can not be compounded into or out of.
Setting Up Parameters Figure 59: Time Checkbox Enabled If the values for Max.Velocity, Max.Acceleration, and Max.Deceleration are such that the distance cannot be covered in the specified time, the Index.ProfileLimited flag will activate when the index is initiated, indicating the index cannot be performed as desired. The internal calculation are performed only when the index is initiated, and therefore is the only time the flag will activate. The Index.
FM-3 Programming Module Reference Manual The units for the Time parameter depend on the current setting of the Time Base parameter. If Time Base is set to “Realtime” (default), then the units for the Time parameter are Seconds. The user can program the index time with resolution of 0.001 Seconds (or milliseconds). If Time Base is set to “Synchronized”, the units for the Time parameter are defined by the Master Distance Units found on the Master Setup screen.
Setting Up Parameters is only updated when Index# is run. The direction of the PLS does not matter, the Index.#.PLSStatus will activate and deactivate the same incremental distance from the start of the index. PLS On Point This parameter is an incremental distance from the start position of the index, at which the PLS.#.Status will become active. It is an unsigned value in user units. The On Point must always be less than the Off Point.
FM-3 Programming Module Reference Manual Registration Parameters The following parameters are only used if Registration is selected as the Index Type. ’Analog’ or ’Sensor’ Radio Buttons Select one of these radio buttons to determine what signal will be used as your registration trigger. If ’Sensor’ is selected, a source must be assigned to the Index.#.SensorTrigger Typically a proximity sensor is wired to a hardware input, and therefore a module or drive input source is assigned to the Index.#.
Setting Up Parameters (or distance) should be greater than the Registration Window Start position. If a registration sensor is seen outside of this window (not between the WindowStart and WindowEnd positions) then it will be ignored. Example: Index 0 is defined as a Registration type of index. The user wants the index to run at velocity for 10 Revs, or until the Torque Feedback reaches 50% continuous torque and then continue for another 0.5 Revs. In the Limit Distance parameter, enter 10.
FM-3 Programming Module Reference Manual Index.#.AtVel This source activates when the target index velocity is reached. If Feedrate override is changed or FeedHold is activated AtVelocity shall remain active. Index.#.AtVel will deactivate at the start of any deceleration or acceleration. During a synchronized index, this source could be active even without any motor motion if the master axis stops. Index.#.Command Complete The Index.#.
Setting Up Parameters Destinations Index.ResetProfileLimited If a timed index was not able to complete in the specified time, the Index.ProfileLimited source will activate. Index.ResetProfileLimited is used to clear the ProfileLimited flag and acknowledge that the index did not complete in the specified time. This can be activated through an assignment, or through a user program. This function is edge-sensitive, so holding it active will not prevent ProfileLimited from activating. Index.#.
FM-3 Programming Module Reference Manual Deleting an Index Navigate to the Indexes View, and select the Index you wish to delete. From the PowerTools Pro menu bar, select Edit/Delete/Index. The selected Index will be deleted from the configuration. Right Click Method Adding an Index Navigate to the Indexes View. Position your mouse pointer in the right side of the view and right-click on your mouse. A selection menu will appear allowing you to add a New Index or Delete an Index.
Setting Up Parameters Gearing View Figure 61: Gearing View Gearing is used to fix the motion of the motor to the motion of the master axis signal at a specified ratio. This is commonly called “electronic line shafting” or “electronic gearing”. To gear the motor to the master axis, a ratio must be specified as a relationship between follower distance units and master distance units.
FM-3 Programming Module Reference Manual Acceleration and Deceleration ramps may be enabled on the Gearing setup screen as seen in Figure 61 above (B3 firmware or later is required for Accel / Decel). If enabled, the accel and decel ramps are specified in units of Follower Units / Velocity Time Base / Acceleration Time Base. Note that this is a Realtime ramp. Therefore, the time that it takes to reach the programmed ratio depends on how fast the master is traveling when gearing is activated.
Setting Up Parameters Initiating Gearing Motion Gearing can be activated through an Assignment, or from a program instruction (Gear.Initiate). If initiated from an assignment, the Gear.Activate destination is a levelsensitive event. This means that gearing will be active as long as the source to which it is assigned is active. If gearing from a program, the Gear.Stop instruction is used to stop the gearing motion.
FM-3 Programming Module Reference Manual Stopping Motion Motion Stop from a Program The MotionStop command will cause all motion to stop regardless of what type of motion it is, or where it was initiated from. Upon activation of the MotionStop, all motion will begin to decelerate to a stop using the standard Stop deceleration ramp. That ramp is defined using the StopDecel parameter.
Setting Up Parameters Network Group For information on the DeviceNet and Profibus View, please refer to the FM-3 and FM-4 Connectivity Reference Manual (P/N 400508-04). Modbus View The Modbus View is used to assign Modbus addresses to individual parameters. By selecting Modbus in the Hierarchy View, the Modbus View will appear on the right (see Figure 63). The right part of the screen displays all of the drive parameters. The number of parameters that appear depends on the User Level.
FM-3 Programming Module Reference Manual An external device such as a Human Machine Interface (HMI) or PLC can be used to monitor or edit individual FM-3 module parameters. The FM-3 module and drives use a 32-bit Modbus RTU communications protocol. In order to view or modify a parameter, a Modbus address must be assigned to the specific parameter. To do this, locate the parameter you wish to read/write to or from in the variables list in the middle of the view.
Setting Up Parameters DeviceNet View For those modules that have the DeviceNet option, please refer to the FM-3 and FM-4 Connectivity Reference Manual, P/N 400508-04, which can be found on the Control Techniques MME Power CD. Profibus View For those modules that have the Profibus option, please refer to the FM-3 and FM-4 Connectivity Reference Manual, P/N 400508-04, which can be found on the Control Techniques MME Power CD.
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FM-3 Programming Module Reference Manual Programming By selecting Program in the hierarchy view, the Program View will appear in the right (see Figure 65). The left side of this view contains the program instructions. The right side of the Program view contains the Program Toolbar above the program.
FM-3 Programming Module Reference Manual Program Toolbar Icons Following is a detailed description of each of the icons found on the Program Toolbar. These icons will help the user edit programs as well as debug errors and troubleshoot program functionality. Some of these icons are only available when online with the module. Undo Last Change This icon will undo the last change made to the program. PowerTools Pro will save up to ten of the last changes performed in the program.
Programming Next Book Mark This icon will position the cursor on the next available bookmark ahead of the cursor in the program. Previous Book Mark This icon will position the cursor on the previous bookmark behind the cursor in the program. Delete All Book Marks This icon will delete all of the bookmarks in the program. To delete only a single bookmark, place the cursor on the line for which you wish to delete the bookmark, and click on the Book Mark icon.
FM-3 Programming Module Reference Manual Drag In Variables This icon will bring up the Drag In Variables pop-up window. From this window, the user can find any variable they wish to use in a program, and simply drag it into the program code. This list will easily allow you to find any of the available pre-defined variables in the FM-3. The available parameters shown in the window depends on the selected Program User Level. Lock Program Toggling this icon will lock and unlock the program for editing.
Programming disable the program parser, enter all of the changes, and then re-enable the parser to check for errors. (Only available while online) Programs Motion Programs are a series of indexes, homes and jogs that have been previously setup. You combine these with other programming steps to create a complex motion profile. Each motion program provides a series of movements in conjunction with other machine functions. The movements are used to perform a particular machine operation.
FM-3 Programming Module Reference Manual Jog.0.PlusInitiate Wait For ModuleInput.2=OFF Jog.Stop Endif ‘Vel=20in/s ‘Stop when the input goes OFF ‘Decelerate to a stop If (ModuleInput.3=ON) Then Jog.0.MinusInitiate Wait For ModuleInput.3=OFF Jog.Stop Endif ‘Jog- when ModuleInput.3=ON ‘Vel=20in/s ‘Stop when the input goes OFF ‘Decelerate to a stop Else This program flow instruction is used in conjunction with the If/Then/Endif instruction.
Programming ModuleOutput.1=OFF Next ‘Turn ModuleOutput.1 Off Do While/Loop This program instruction is used for repeating a sequence of code as long as an expression is true. To loop forever use “TRUE” as the test expression as shown in the third example below. The test expression is tested before the loop is entered. If the test expression is evaluated as False (0) the code in the loop will be skipped over. Logical tests (AND, OR, NOT) can be used in the Do While/Loop instruction.
FM-3 Programming Module Reference Manual Jog.Stop Endif ‘Decelerate to a stop If (ModuleInput.3=ON) Then Jog.0.MinusInitiate Wait For ModuleInput.3=OFF Jog.Stop Endif ‘Jog- when ModuleInput.3=ON ‘Vel=20in/s ‘Stop when the input goes OFF ‘Decelerate to a stop Wait For (MasterAxis.PosnFeedback > 1000.00) DriveOutput.1 = ON Wait For (VelFeedback > 50.00) DriveOutput.2 = ON Wait For Time This program instruction is used to halt program execution for a specified period of time.
Programming In the diagram below, => Represents a Call Program instruction Program0=>Program1=>Program2=>Program3=>Program4 => NO MORE THAN 4! Examples: Call Program.10 ‘Program 10 contains a complex home ‘routine. Call Program.100 ‘Program 100 contains a “teach position” ‘routine. End This program flow instruction is used to halt the execution of the program. It can be used in multiple places within the program. It is not required on the last line of every program.
FM-3 Programming Module Reference Manual Bit And This operator may be used when it is desireable to AND each individual bit of a 32-bit parameter. var.var2 = var.var0 bitand var.var1 For example: if var.var0 = 1000 and var.var1 = -1 var.var0 = 0000000000000000000001111101000b var.var1 = 1111111111111111111111111111111b var.var2 = 0000000000000000000001111101000b Bit Or This operator may be used when it is desireable to OR each individual bit of a 32-bit parameter. var.var2 = var.var0 bitor var.
Programming DriveOutput.1 = ON End See GoTo instruction for additional examples. GoTo The GoTo instruction is used in conjunction with the Label: instruction to cause program flow to transfer to a specified location within a program. The destination label is allowed to be above or below the GoTo instruction within the same program. It is not possible to GoTo a label outside of the program containing the GoTo instruction, nor is it possible to use a GoTo/ Label: to exit out of a For Count/Next loop.
FM-3 Programming Module Reference Manual The “Dwell For Time” instruction is in units of seconds with a resolution of milliseconds (0.000 seconds). If you want to pause the program while an index is executing you should use a “Wait for Time” instruction described below. A comment is automatically inserted after the “Dwell For Time” instruction which notes that the dwell time is in units of seconds. The comment starts with the ‘ character. Examples: Do While (TRUE) Index.0.Initiate Dwell For Time 1.
Programming the following error is less than a specified amount. This is accomplished by changing the “Wait For Index.AnyCommandComplete” to “Wait For InPosn”. The In Position Window is configured in the Position view. Examples: Index.0.Initiate ‘Incremental,Dist=5.000in,Vel=2.0in/s Wait For Index.AnyCommandComplete Index.37.Initiate Wait For InPosn ‘Absolute,Posn=120.60mm,Vel=50.2mm/s Index.CompoundInitiate This program instruction is used to initiate an index which has no deceleration ramp.
FM-3 Programming Module Reference Manual Figure 66: Index Velocity Profile Index.0.CompoundInitiate ‘Incremental,Dist=5.000in,Vel=50in/s Index.1.CompoundInitiate ‘Incremental,Dist=20.000in,Vel=75in/s Index.2.Initiate ‘Incremental,Dist=10.000in,Vel=30in/s Wait For Index.AnyCommandComplete Complex Velocity Profile Velocity Drive Output 3 ON OFF Drive Output 2 ON OFF Drive Output 1 ON OFF Index 0 Index 1 Index 2 Time Figure 67: Index Velocity Profile with Drive Outputs Index.0.
Programming Jog.Stop This program instruction is used to halt jogging using the deceleration ramp setup for the currently operating jog. Examples: Wait For ModuleInput.2=ON Jog.0.MinusInitiate Wait For ModuleInput.2=OFF Jog.Stop ‘Wait for “Jog –“ input to turn on ‘Vel=27.2in/s ‘Wait for “Jog –“ input to turn off ‘Decelerate to a stop Do While(TRUE) If (ModuleInput.2=ON) Then ‘Repeat until the program is halted ‘Jog+ when ModuleInput.2=ON Jog.0.PlusInitiate‘Vel=20in/s Wait For ModuleInput.
FM-3 Programming Module Reference Manual Jog.1.MinusInitiate ‘Sync,Vel=1.000in/in Gear Stop Gear Stop will stop gearing motion that has been initiated from a program. Example: Gear.Initiate Wait for DriveInput.2=ON Gear.Stop Gear.Initiate Gear Initiate will initiate gearing from a program. Gearing will remain active until the Gear.Stop command is used. Example: Gear.Initiate Wait for DriveInput.2=ON Gear.
Programming exact ending point of the last profile. Because of this, the processor would adjust the current motion profile to compensate for the lost time, therefore keeping the timeline intact. The user may or may not have been aware that this was happening. If no motion initiate was commanded within 5 milliseconds of the last motion complete point, then the timeline was broken and started over again on the next motion profile. Example: Index.0.Initiate Dwell For Time 1.000 Using Last Index.1.
FM-3 Programming Module Reference Manual Deleting a Program Navigate to the Programs view on the hierarchy, and select the program you wish to delete. From the PowerTools Pro menu bar, select Edit/Delete/Program. The selected Program will be deleted from the configuration. Right Click Method Adding a Program Navigate to the Programs view in the hierarchy. Position your mouse pointer on the right side of the view and right-click on your mouse.
Programming Figure 68: Program View with "Run Anytime" Checkbox Enabled When a fault occurs, the drive will still be disabled, and no motion will be possible. For this reason, it may be necessary to reset the fault in the "Run Anytime" program prior to running motion again. If a motion instruction is processed while the drive is disabled, the program will stall on that particular line of the program, but the program will not stop.
FM-3 Programming Module Reference Manual Resetting Faults in "Run Anytime" Programs To reset a fault from a "Run Anytime" program, use Fault.Reset = ON command in the user program. The Fault.Reset command does not clear all types of faults. Some faults require power to be cycled in order to clear the fault. For more information on the method used to clear individual faults, see the Faults section. After using the Fault.Reset command in a user program, use a Wait For Time 0.
Programming Punch a Hole in a Web a Specified Distance Beyond a Registration Mark Description: Index a web to a position 2 inches beyond a registration mark. Then fire a solenoid to punch a hole in the web. Wait for a sensor to indicate that the punch is in the down position. Retract the solenoid. Wait until it is sensed in the up position. Do While (TRUE) ‘Repeat until the program is halted Index.0.Initiate ‘Registration,Offet=2.0in,Dist=20in,Vel=20in/s Wait For InPosn ModuleOutput.
FM-3 Programming Module Reference Manual Simple Jogging within a Program Jog+ when DriveInput.2 goes ON and stop when it goes off. Jog- when DriveInput.3 goes ON and stop when it goes off. This could also be accomplished using the Jog input functions when there is no program running. Do While (TRUE) ‘Repeat until the program is halted If(DriveInput.2=ON) Then ‘Jog+ when DriveInput.2=ON Jog.0.PlusInitiate ‘Vel=20in/s Wait For DriveInput.2=OFF ‘Stop jogging when DriveIput.2 goes OFF Jog.
Programming Knife Travel Distance = 20 inches PLS.0 is used to initiate Index.0 every 100 inches. PLS.0 has an “ON” point at 0.000 inches and an “OFF” point at 90.000 inches. PLS.0 has a rollover position of 100.000 inches. The rollover position is used to set the part length. The source for PLS.0 is the master axis. The PLS is configured in the PLS setup screen.
FM-3 Programming Module Reference Manual Wait For ModuleInput.1=ON Jog.0.PlusInitiate ‘Start when a master lug is detected ‘Sync,Vel=1.000in/in Do While (TRUE) If (ModuleInput.2=ON) Then Jog.0.Vel=1.100 Wait For ModuleInput.2=OFF Jog.0.Vel=1.000 Endif ‘Repeat until the program is halted ‘Phase Advance when ModuleInput.2=ON ‘follower inches/master inch If (ModuleInput.3=ON) Then Jog.0.Vel=0.900 Wait For ModuleInput.3=OFF Jog.0.Vel=1.000 Endif ‘follower inches/master inch ‘Phase Retard when ModuleIput.
Programming ModuleOutput.3=OFF Endif ‘Decrease the fill amount once every time ModuleInput.4 is pressed. If ((ModuleInput.4=ON) AND (ModuleOutput.4=OFF)) Then Index.1.Dist = Index.1.Dist - 0.10 ‘ounces ModuleOutput.4=ON ‘ModuleOutput.4 is used to make sure that the distance is ‘incremented only once each time ModuleInput.4 is pressed. If (Index.1.Dist < 12) Then ModuleOutput.2=ON ‘Short index output Else ModuleOutput.2=OFF Endif Endif If((ModuleInput.4=OFF) AND (ModuleOutput.4=ON)) Then ModuleOutput.
FM-3 Programming Module Reference Manual If (ModuleInput.1=ON) Then Index.2.Dist = PosnCommand Endif Wait For ModuleInput.1=OFF Wait For ModuleInput.2=OFF ‘Learn the new position if the “Learn” ‘input is on ‘Read the Position Command into Index.2’s ‘absolute position. ‘Wait until the “Learn” input goes off ‘Wait until the “Skip” input goes off Index.3.Initiate ‘Move to position 3 Wait For Index.AnyCommandComplete Call Program.1 If (ModuleInput.1=ON) Then Index.3.
Programming Endif Loop Jog.Stop Endif ‘Stop jogging when the Jog+ input goes off. Loop Playback Program (Program 2) Home.0.Initiate ‘Sensor,Offset=0.000in,Vel=-10in/s Do While (TRUE) Index.1.Initiate Wait For InPosn ModuleOutput.1=ON Wait For Time 1.000 ModuleOutput.1=OFF ‘Repeat until the program is halted ‘Absolute,Posn=1.000in,Vel=5in/s Index.2.Initiate Wait For InPosn ModuleOutput.1=ON Wait For Time 1.000 ModuleOutput.1=OFF Index.3.Initiate Wait For InPosn ModuleOutput.1=ON Wait For Time 1.
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FM-3 Programming Module Reference Manual Parameter Descriptions This section lists all programmable and feedback parameters available. The parameters are listed alphabetically by variable name (shown in italics below the on screen name) and give a description. Range is dynamic and depends on User Unit scaling. The units of the parameters are dynamic and depend on selected User Units.
FM-3 Programming Module Reference Manual Acceleration Decimal Places AccelUnits.Decimal This parameter is the decimal point location for all real-time accel./decel. ramps. Acceleration Time Scale AccelUnits.TimeScale This parameter is the time units for accel./decel. ramps. Possible selections are milliseconds or seconds. At Velocity AtVel This source is active when the FM-3 module is executing a constant velocity motion segment. One example would be during an index.
Parameter Descriptions Bit Register Number Value Mask BitRegister.#.ValueMask This parameter is the Mask for the BitRegister.#.Value. Each bit location is set to either transfer the current data in the corresponding bit location of BitRegister.#.Value (by setting the bit location to 1) or to clear the current data in BitRegister.#.Value (by setting the bit location to 0). Brake Activate Brake.Activate This destination, when activated, engages the brake.
FM-3 Programming Module Reference Manual Decelerating Decelerating This source is active when the FM-3 module is decelerating. A normal index consists of 3 segments: Accelerating, At Velocity, and Decelerating. Decelerating follows the accelerating segment and the At Velocity segment. When indexes are compounded to create a complex motion profile, only the last index may contain a decelerating segment.
Parameter Descriptions Distance Decimal Places DistUnits.Decimal This parameter is used to select the number of decimal places used in the DistUnits.CharacteristicDist. Using a high number of decimal places will improve positioning resolution, but will also limit the maximum travel distance. The number of decimal places set in this parameter determines the number of decimal places used in all distance parameters throughout the software. You can select from zero to six decimal places of accuracy.
FM-3 Programming Module Reference Manual Drive Input Debounce Time DriveInput.#.DebounceTime The Drive Input Debounce Time parameter is the minimum time a digital input must be steady in order to be recognized by the FM-3. This feature helps prevent false triggering in applications in electrically noisy environments. Drive Input Force DriveInput.#.Force Input can be forced either On or Off. This parameter is the state to which the input will be forced when the ForceEnable bit is activated.
Parameter Descriptions Drive Output Force Enable DriveOutput.#.ForceEnable If DriveOutput.#.ForceEnable parameter is activated, then the state of the DriveOutput.#.Force bit will override the current output state. Drive Output Name DriveOutput.#.Name This is a text string up to 12 characters that can be assigned to a given output. It allows the user to use application specific terminology in naming digital outputs. Drive Output State DriveOutput.
FM-3 Programming Module Reference Manual 3 = Drive power module fault 4 = Low DC bus fault 5 = High DC bus fault 8 = Drive internal fault 1 9 = Drive trajectory fault 10 = Drive internal fault 2 16 = Drive watchdog timer fault 19 = Drive over speed fault 21 = Drive power up self test fault 20 = Drive invalid configuration fault 24 = Drive RMS shunt power fault 25 = Motor overtemperature fault All other bits are not used.
Parameter Descriptions 5 = Module travel limit plus 6 = Module travel limit minus 7 = Module program fault All other bits are not used. A "1" in these bit locations indicates the specific fault is active, and a "0" is inactive. Reset Faults Fault.Reset Resets faults that do not require a power down. This event is "or"ed with the reset button on the drive. Active Fault Fault.#.Active The specified fault is active. See the help index for more information on faults and recovery from them. Fault Counts Fault.#.
FM-3 Programming Module Reference Manual come to a halt, but the index's velocity command remains at the velocity it was at before the feedhold was activated. When the feedhold is deactivated time will ramp back up and the index will continue on to its programmed distance or position. Feedhold affects indexes, homes, and programs. A jog is not affected by the feedhold unless it is initiated from a program. This is level sensitive.
Parameter Descriptions Foldback RMS FoldbackRMS This read-only parameter accurately models the thermal heating and cooling of the drive. When this parameter reaches 100 percent, current foldback will be activated. Following Error FollowingError Following Error displays the difference between the Position Command and the Position Feedback. Enable Following Error FollowingErrorEnable This parameter can be setup from the Position view or from a program.
FM-3 Programming Module Reference Manual Gear Accel Enable Gear.AccelEnable Gear.AccelEnable is a Destination that when it is "on" allows a gear to run a specified accel ramp after the gearing command is turned on. Gear Accelerating Gear.Accelerating If Gear.AccelEnable is activated, this source is activated during the time between Gear.Initate = On and Gear.AtVel = On. Gear Activate Gear.Activate The Gear.Activate destination is used to start gearing from an assignment.
Parameter Descriptions Gear Decel Gear.Decel This parameter sets the deceleration of the realtime gearing ramp. Gear.Decel units are in Follower Units/Velocity Time Base/Acceleration Time Base. The Gear.Decel functions only when the follower is ramping its speed down after the gearing function has turned off. Gear Decel Enable Gear.DecelEnable Gear.DecelEnable is a Destination that when it is "on" allows a gear to run a specified decel ramp after the gearing command is turned off. Gear Decelerating Gear.
FM-3 Programming Module Reference Manual Accelerating Home.#.Accelerating Active during any acceleration while the specified home is in progress. Accelerating may turn off and on again based on the type of Home selected. Accelerating will activate during the Home back off sensor motion. At Velocity Home.#.AtVel This source is activated when the home velocity is reached when a the specified home is in progress. It will activate and deactivate base on the home.
Parameter Descriptions Decelerating Home.#.Decelerating This source is active during any deceleration while the specified home is in progress. Decelerating will turn off and on based on the type of Home selected. Decelerating will activate during the Home back off sensor motion. End of Home Position Home.#.EndPosn This parameter defines the drive position at the completion of a home. Typically used to define the machine coordinate home position. Initiate Home.#.
FM-3 Programming Module Reference Manual Home Offset Type Home.#.OffsetType Selects calculated or specified home offset. Calculated offset is the distance traveled during the deceleration ramp from the home velocity. The specified offset allows the user to choose an exact offset from the Home Reference. If On Sensor Home.#.OnSensorAction If the home sensor input is active when the home is initiated, this parameter determines the direction of motion. Two selections are possible.
Parameter Descriptions Time Base Home.#.TimeBase The time base selects either realtime, which allows velocities, acceleration and deceleration to be based on real time, or synchronized, which allows for an external synchronization signal. Velocity Home.#.Vel This parameter sets the target velocity for all of moves in the home. The sign determines the home direction.
FM-3 Programming Module Reference Manual Acceleration Index.#.Accel This parameter is the average Acceleration rate used during the index. Units are specified on the User Units view in the PowerTools Pro software. Accelerating Index.#.Accelerating This source is active while an index is accelerating to its target velocity. Once the index reaches the target velocity, or begins to decelerate, the Index.#.Accelerating source will deactivate. Analog Index.#.AnalogLimitType Select the analog parameter (i.e.
Parameter Descriptions Command In Progress Index.#.CommandInProgress The Index.#.CommandInProgress source is active throughout an entire index profile. The source activates at the beginning of the index acceleration ramp, and deactivates at the end of the index deceleration ramp. Compound Initiate Index.#.CompoundInitiate When activated will initiate the specified Index to compound into the next index in the program. Only allowed in a program. Deceleration Index.#.
FM-3 Programming Module Reference Manual Initiate Index.#.Initiate The Index.#.Initiate destination is used to initiate the specific index. The Index is initiated on the rising edge of this function. An Index cannot be initiated if there is an Home, Jog, or Program in progress, or if the Stop destination or if a travel limit is active. It can be activated from an assignment or from a program. Limit Distance Hit Index.#.
Parameter Descriptions PLS Status Index.#.PLSStatus Controlled by the PLSOn and PLSOff Points, this is relative to the distance commanded since the start of the index. Index.#.PLSStatus will be active if the distance traveled from the start of the index is greater than the Index.#.PLSOnDist and less than the Index.#.PLSOffDist. Registration Offset Index.#.RegistrationOffset This parameter is the Distance the motor will travel after a valid registration sensor or analog limit value has been detected.
FM-3 Programming Module Reference Manual Registration Sensor Index.#.SensorTrigger If registration to Sensor is selected, when this destination activates, motor position is captured and is used as the registration point for registration type indexes. Time Base Index.#.TimeBase The time base selects either realtime, which allows velocities, acceleration and deceleration to be based on real time, or synchronized, which allows for an external synchronization signal. Index Timed Index Enable Index.#.
Parameter Descriptions In Position InPosn This source activates when commanded velocity is zero and the absolute value of the following error is less than the InPosnWindow for at least the amount of time specified in the InPosnTime parameter. In Position Time InPosnTime This parameter is the minimum amount of time that commanded motion must be complete and the absolute value of the following error is less than the InPosnWindow parameter for the InPosn source to activate.
FM-3 Programming Module Reference Manual Select Jog.Select0 This destination is used to select between the jogs. It is used along with the Jog.PlusActivate and Jog.MinusActivate destinations. If the Jog.Select0 destination is not active then the Jog.0 setup parameters will be used for jogging. If the Jog.Select0 input function is active, the Jog.1 setup parameters will be used for jogging. If the Jog.
Parameter Descriptions Command In Progress Jog.#.CommandInProgress The Jog.#.CommandInProgress source is high throughout an entire jog profile. The bit goes high at the start of a jog acceleration ramp, and turns off at the end of a jog deceleration ramp. Deceleration Jog.#.Decel This parameter is the average deceleration ramp for the specific jog. Decelerating Jog.#.Decelerating This source turns on at the beginning of a jog deceleration ramp and turns off at the completion of the ramp. Initiate Minus Jog.
FM-3 Programming Module Reference Manual Line Voltage (EN ONLY) LineVoltage This parameter is used to calculate critical internal gains. There are two possible value: 115 or 230 VAC. A value of 115 VAC should not be used if the actual line voltage is 230, otherwise damage to the EN drive may result. The default value is 230 VAC. BaudRate Modbus.BaudRate Modbus baudrate for this FM module and drive. Modbus Id Modbus.ModbusId Modbus ID # for this FM module and drive. Debounced ModuleInput.#.
Parameter Descriptions Module Input Name ModuleInput.#.Name This is a text string up to ten characters that can be assigned to a given input. It allows the user to use application specific terminology in naming digital inputs. Module Input Raw ModuleInput.#.Raw This is the raw state of the digital input without debounce or forcing to override the raw status. Module Input Status ModuleInput.#.Status This source is the state of the input after debounce and forcing are taken into account.
FM-3 Programming Module Reference Manual Motion Stop MotionStop This destination is used to stop all motion operating without stopping programs. MotionStop can be activated through an assignment, or in a user program. This function is level sensitive, meaning that as long as MotionStop is active, all motion will be prevented. If a program has a motion statement, the program will wait on that line of code until the MotionStop function has been deactivated.
Parameter Descriptions If using negative values for the OnPosn and OffPosn, the most negative value should go in the OnPosn parameter, and the least negative value should go in the OffPosn. If the PLS has a rollover point, and the OnPosn is greater than the OffPosn, the PLS will be active whenever the axis is not between the On and Off positions, and inactive whenever the axis is between the two positions. However, the PLS.#.Status will not turn on until it reaches the OnPosn the first time.
FM-3 Programming Module Reference Manual PLS Rollover Position PLS.#.RotaryRolloverPosn This parameter is the absolute position of the first repeat position for this PLS. When enabled it causes the PLS to repeat every time this distance is passed. The repeating range begins at an absolute position of zero and ends at the RotaryRolloverPosn. For example in a rotary application a PLS could be setup with an OnPosn of 90 degrees and an OffPosn of 100 degrees.
Parameter Descriptions Position Error Integral Time Constant PosnErrorIntegralTimeConstant Position Error Integral parameter is a control term, which can be used in Pulse mode to compensate for the continuous torque required to hold a vertical load against gravity or to minimize following error. The user configures this control term using the “Position Error Integral Time Constant” parameter. This parameter determines how quickly the drive will correct for in-position following error.
FM-3 Programming Module Reference Manual PowerUpTimeTotal PowerUpTimeTotal Total power up time since the drive was manufactured. Units is hours. Any Complete Program.AnyComplete This source is activated when any program ends normally. If a program ends due to a fault or the stop destination, this source does not activate. Deactivates when any program is initiated. Initiate Program.#.
Parameter Descriptions zero when the axis position gets to 360 degrees. (358, 359, 359.999, 0.0000, 1, 2, and so on.) The rollover point is defined to be exactly the same position as 0. Selector Input Destinations Selector.SelectLinesUsed The selector is a binary to decimal decoder. This parameter selects the number of destinations (input lines) to be used by the selector.
FM-3 Programming Module Reference Manual Enable Software Travel Limits SoftwareTravelLimitEnable Software travel limits can be used to limit machine travel. They are often setup inside the hardware travel limits to add a level of protection from exceeding the machines travel limits. The SoftwareTravelLimitMinusActive source (output function) is active when the SoftwareTravelLimitMinusPosn is reached or exceeded.
Parameter Descriptions Start Up StartUp This source can be used to trigger an event to occur on startup (when the FM-3 module powers up or is rebooted). This source is typically used to initiate a program or to initiate a home so that a machine will automatically home on power up or reboot. StartUp will activate when the FM-3 module has powered up and no faults are active. Startup may take as long as five seconds to activate.
FM-3 Programming Module Reference Manual Torque Level TorqueLevel This parameter is compared to the TorqueCommand. If the absolute value of the TorqueCommand is greater than or equal to the TorqueLevel the TorqueLevelActive source is activated. This parameter is specified in Torque User Units. Torque Level Active TorqueLevelActive This source is used to indicate that the absolute value of the TorqueCommand is greater than or equal to the TorqueLevel setting.
Parameter Descriptions Torque Limit TorqueLimitEnable This destination is used to enable the TorqueLimit. This is level sensitive. Travel Limit Minus Activate TravelLimitMinusActivate This destination is used to activate the travel limit minus fault. It should be assigned to the travel limit minus sensor. When it is activated the drive will decelerate to a stop using the deceleration rate defined in the TravelLimitDecel parameter. This is level sensitive.
FM-3 Programming Module Reference Manual Percent Continuous TorqueUnits.PercentContinuousCurrent This parameter is the denominator of torque scaling factor. This is an amount of continuous current in percent that is equal to the TorqueUnits.Torque parameter. Torque TorqueUnits.Torque This parameter is the numerator of the torque scaling factor. This is an amount of torque in Torque User Units that is equivalent to one unit of PercentContinuousCurrent (denominator of scaling factor).
Parameter Descriptions Decimal Places VelocityUnits.Decimal This parameter is used to select the number of decimal places used in velocity units scaling. Using a high number of decimal places will improve velocity resolution, but will also limit the maximum velocity. This parameter is selectable between 0 and 6 decimal places. The number of decimal places set in this parameter determines the number of decimal places used in all velocity parameters throughout the PowerTools Pro software.
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FM-3 Programming Module Reference Manual Installation Basic Installation Notes You are required to follow all safety precautions during start-up such as providing proper equipment grounding, correctly fused power and an effective Emergency Stop circuit which can immediately remove power in the case of a malfunction. See the “Safety Considerations” section for more information. Mechanical Installation The FM-3 module detects and verifies the drive serial number when its attached to an drive.
FM-3 Programming Module Reference Manual Press down on the latch located on the top of the FM. 2 Gently pull the FM away from the drive. A slight rocking motion may be used to loosen the FM's connector. 3 Grip the FM 1 on each side of the LCD. 4 Continue pulling the top of the FM away from the drive until the connector clears the drive. Lift the FM out of the aligning tab slot and away from the drive.
Installation Software Installation PowerTools Pro software was designed for users who need access to all setup options and diagnostic information for the drive. The software provides access to all commonly used drive parameters. PC System Configuration Required: • Microsoft® Windows® 98, Microsoft® Windows NT® 4.0 (service pack 3), Microsoft® Windows XP (Home and Pro) and Microsoft® Windows 2000 • Serial port • Mouse • CD-ROM drive • Microsoft® Internet Explorer v 4.
FM-3 Programming Module Reference Manual PowerCD doesn’t auto start use Windows Explorer to navigate to the CDROM drive and open the HELP.TXT file for additional information. 2. When prompted, install the software on to your hard drive following the instructions on your screen. Installation will take a few minutes. The install program automatically: • Creates the directory on your hard drive named: C:\...
Installation Opening a New File To start a new file or configuration, select file from the menubar, and then select New. You may also click on the File New icon on the toolbar. The New dialog box will appear prompting the user to select FM-3 Drive Setup or FM-3DN Drive Setup (see figure 71). Figure 71: New Configuration Dialog Box If the module is intended solely for Modbus communications (FM-3 printed on front panel), then select FM-3 Setup.
FM-3 Programming Module Reference Manual 188 • Click the Help button on a dialog box or tab. • Click the Help icon on the toolbar. • Click the Context Sensitive Help button on the toolbar and then the field on the tab.
FM-3 Programming Module Reference Manual Quick Start The quick start guide provides information on the basic operation and functions of the FM-3. The quick start steps cover only the most basic steps required to setup a FM-3 module for use with a drive. Basic Setup Steps Step 1: Opening a New Configuration Window To open a new configuration window, click either on the New File icon at the left end of the PowerTools Pro toolbar, or click on File-New from the menubar as shown in 72.
FM-3 Programming Module Reference Manual To select one of the individual setup views, click on the element in the hierarchy view. The element will then be highlighted, and the right side of the view will show all setup parameters for that subject. Figure 73 shows the Setup view selected. Figure 73: General Setup View On this view, you must enter the following parameters before entering other setup views: Drive Type – Select, from the list box, the type of drive to which the FM-3 module is attached.
Quick Start User Units View Determine which types of units the drive should use to measure motion and enter them on this view. Figure 74 shows the Setup group in the hierarchy expanded with the User Units element selected. Figure 74: User Units View Now setup the parameters in the Distance group on the User Units view. The Tab key is used to easily jump through the available parameters. After entering data in a field, press the Tab key to move to the next parameter.
FM-3 Programming Module Reference Manual Because of internal math in the FM-3/4, some user unit combinations may cause module or drive trajectory faults. The maximum motor velocity allowed by the drive is detailed under the distance section of the User Units View and is labeled “User Unit Limited Speed”.
Quick Start Enable Following Error – This checkbox enables (when checked) and disables the following error fault capability. If checked, a following error fault is generated whenever following error exceeds the value entered in the parameter box. If unchecked, a following error fault will never be generated. Following Error Limit – If Following Error meets or exceeds this value, a Following Error Fault will be generated.
FM-3 Programming Module Reference Manual Figure 76: Ramps View Travel Limit Decel – The deceleration ramp is used if either a Software or Hardware Travel Limit is encountered. The deceleration units of the ramp are defined in the User Units setup view under the Acceleration group. Torque View If your application calls for specific torque levels and limits, use the parameters on this view. Tuning View Control Techniques’ Drives are designed to handle a 10:1 inertia mismatch without a tuning requirement.
Quick Start Figure 77: Tuning View Inertia Ratio - This parameter is the ratio between the reflected inertia of the load and the inertia of the motor rotor. For assistance in calculating the Inertia ratio, see the Determining Tuning Parameter Values section of this manual. PLS View Use this view to setup Programmable Limit Switches (PLS), if your application requires them. They are assigned in the same way as the Assignments views in Step 3 of this guide.
FM-3 Programming Module Reference Manual “Assigned To” and the “Set From” columns should then reflect the assignment that has been made. Figure 78 shows how these assignments are made. Figure 78: Making Assignments Notice that a Name can be associated to each input line. Each input line can also have a debounce time. Name – This 12-character string allows a descriptive name assigned to an input line. This makes the configuration easier to follow.
Quick Start Figure 79: Output Lines View A name can also be given to each hardware output line. Double click the Output line name field to enter a name for that individual output line. Name – This 12-character string allows a descriptive name assignment to an output line. This makes the configuration easier to follow. Step 4: Setting Up Motion Parameters Now that all of the assignments have been made, you next setup the jog, home, and index definitions.
FM-3 Programming Module Reference Manual Figure 80: Jog Setup View Jog Deceleration - Is the average deceleration rate used when decelerating to zero speed or to the new target velocity. Home Setup Next, select the Home view from the hierarchy window. Figure 81 shows the Home view and its associated home parameters. Home Reference – Determines what signal is used as the home reference. The available options are an external sensor, the encoder marker pulse, or both.
Quick Start Figure 81: Home Setup View Deceleration - Is the average deceleration rate used to decelerate from the target velocity to zero velocity at the completion of the home. Home Offset – By selecting a specified offset, the home will travel at a set velocity until the home reference signal is detected, then travel an additional set distance, before coming to a stop.
FM-3 Programming Module Reference Manual Figure 82: Index Setup View (Absolute Type) Indexes use the following parameters: Index Name - Is a 12-character string that gives a descriptive name to an index. Index Type – Selects the desired type of index from the list box. An Absolute index means the load will travel to an exact position with respect to the home reference point.
Quick Start Position/Distance – If using an absolute index, this is the desired final position after the index is complete. If using an incremental index, then this is the distance you want the load to move from the start of the index. This is a signed value. Velocity – This is the target velocity of the index profile. The velocity parameter is unsigned and is always greater than zero. Direction of the index is not determined by the velocity, but by the Distance/Position parameter.
FM-3 Programming Module Reference Manual Now that all of the motion parameters are setup, the jogs and indexes can be initiated through assignments to hardware inputs that were made on the assignment view. Step 5: Creating a Program Now that the drive setup is complete, assignments are made, and motion profiles are defined, you are ready to create the program. To do this, expand the Program group in the hierarchy window, and select Program 0.
Quick Start To expand the usable area of the programming view, use the Hide/Show Hierarchy button on the PowerTools Pro toolbar. Figure 85 shows this utility. By clicking on the button once, the hierarchy window will be hidden, allowing for a larger programming window. To show the hierarchy again, simply click on the button a second time. Clicking on the button alternates between showing and hiding the hierarchy view.
FM-3 Programming Module Reference Manual Now the program is complete, and is ready to be run. In order to run the program, the drive must be enabled and the setup parameters must be downloaded. Once the download is complete, verify the drive is enabled and initiate your program.
Quick Start Example Application Start Up Software Travel Limits 0 20 Home Prox Figure 86: Example System In order to make the setup easier to understand in this guide, the guide will use an example setup. The example application used in the quick start guide is a ball screw application (see the drawing above).
FM-3 Programming Module Reference Manual selects three digits allowing resolution of 0.001 Inches on all distance variables. Use the spinner window Up/down buttons. Distance Units Scaling – Enter the number of User Units the motor/load travels for each revolution of the motor. You must enter the numerator and the denominator for this scaling factor, but for this example, the denominator (bottom portion of the ratio) is at 1. Position View The example wishes to limit the Following Error to 0.
Quick Start Making Assignments Using this process, three individual assignments are made. The example application wants to turn on an output when each index completes. Therefore, Index Complete sources will be assigned to the hardware Output destinations. Figure 88 shows this process. Figure 88: Assignments View The Input Lines view shows all of the assignments that have been made to the Inputs group of Sources.
FM-3 Programming Module Reference Manual Figure 89: Input Lines View Notice that a Name can be associated to each input line. Each input line can also have a debounce time. Figure 89 demonstrates how to enter a debounce time for an input line. The following parameters have been filled in for each input line: The Output Lines view shows assignments that have been made to the Outputs group of Destinations in the assignment view.
Quick Start Home Setup The example application calls for setup of the following parameters: Home Reference –The example calls for a Home to Sensor; therefore, “Sensor” is selected as the home reference. Because of this selection, the home profile will travel at its target velocity until the Home.0.SensorTrigger is activated. Figure 88, shows the Home.0.Sensor Trigger has been assigned to ModuleInput.2. Velocity – The home move travels at this velocity, until the home reference is seen and then stops.
FM-3 Programming Module Reference Manual Index Type – Select the desired type of index from the list box. Index2 has been defined as an Incremental type of index. This means that the load travels an exact distance from the start of the index. Distance – The distance is a signed value that specifies the distance the load will travel from the start position. The sign of this parameter determines direction of travel for the load. The distance of Position C has been set to 2.5 inches.
Quick Start Figure 92: Index Setup View (Incremental Type) Now that all of the motion parameters are setup, the jogs and indexes can be initiated through assignments to hardware inputs that were made on the assignment view. See Figure 89 to determine which input is used to activate which functions. This example specifies that the indexes must be initiated from assignments, as well as from a program. So a program must be created using the guidelines below.
FM-3 Programming Module Reference Manual The example program uses the following instructions: Do While / Loop – This program instruction is used to repeat a sequence of code as long as a test expression is true. The test expression is validated before the loop is entered. If the test expression is evaluated as False (0), then the code inside the loop will be skipped over. If the expression is evaluated as True (1), then the code inside the loop will be performed.
FM-3 Programming Module Reference Manual Tuning Procedures The drive uses closed loop controllers to control the position and velocity Travel Limit of the attached motor. These position and velocity controllers and the associated tuning parameters are in effect when the drive is in velocity or pulse mode and have no effect when the drive is in Torque mode.
FM-3 Programming Module Reference Manual Tuning Procedure Once the initial setup has been completed, you can run the system to determine if the level of tuning is adequate for the application. There are basically four levels of tuning for a drive. • No Tuning • Basic Level • Intermediate Level • Fully Optimized Level Each level is slightly more involved than the previous one requiring you to enter more information.
Tuning Procedures 3. Enter the inertia value calculated into the Inertia Ratio parameter. 4. Set the Line Voltage to the applied voltage (default is 230 VAC). 5. Leave all other tuning parameters at the initial values. 6. Enable the drive and run the system. 7. Adjust Response to obtain the best performance. Fully Optimized Level 1. Determine the actual system parameters. 2. Disable the drive. 3. Enter the parameters. 4. Line Voltage set to the applied voltage (default is 230 VAC). 5.
FM-3 Programming Module Reference Manual Tuning Parameters Inertia Ratio Inertia Ratio specifies the load to motor inertia ratio and has a range of 0.0 to 50.0. A value of 1.0 specifies that load inertia equals the motor inertia (1:1 load to motor inertia). The drives can control up to a 10:1 inertia mismatch with the default Inertia Ratio value of 0.0. Inertial mismatches of over 50:1 are possible if response is reduced.
Tuning Procedures Response The Response adjusts the velocity and position loop bandwidths with a range of 1 to 500 Hz. In general, it affects how quickly the drive will respond to commands, load disturbances and velocity corrections. The effect of Response is greatly influenced by the status of the High Performance Gains. With High Performance Gains disabled, the actual command bandwidth of the drive system will be equal to the Response value.
FM-3 Programming Module Reference Manual Friction parameter is less than the actual friction, velocity error will be reduced but not eliminated. Feedforwards can be enabled in any operating mode, however, there are certain modes in which they do not function. These modes are described in the table below.
Tuning Procedures Initial Test Settings When running the tests outlined in this section, the motor and drive must be operational so you will need to enter starting values. If your application has less than a 10:1 inertia mismatch, the default parameter settings will be acceptable. If the inertial mismatch is greater than 10:1, use the following table for initial parameter settings. Parameter Setting Friction 0.
FM-3 Programming Module Reference Manual Note If the friction loading of your system varies when operating at constant speed, due to a load or spring load that changes as the motor rotates, use the lowest value measured. 3. Repeat Step 1 using a velocity at least two times the low speed. 4. While at speed, note the Torque Command Actual value (TCH). 5.
Tuning Procedures Consider the following before determining the inertia: • If your application allows a great deal of motor motion without interference, it is recommended that you use a Preset Velocity to produce accurate acceleration ramps. • If your application has a very limited range of motion, it is recommended that you use a position controller to produce the acceleration ramps and to prevent exceeding the axis range of motion.
FM-3 Programming Module Reference Manual IR = Inertia Ratio R = ramp in ms/kRPM Ta = (unsigned) percent continuous torque required during acceleration ramping (0 - 300) Td = (unsigned) percent continuous torque required during deceleration ramping (0 - 300) Vm = motor constant value from Table 18 below For un-counter balanced vertical loads use the following formula: IR = (R • Vm (Tau + Tud + Tad + Tdd)) −1 4000 Where: IR = Inertia Ratio R = ramp in ms/kRPM Vm = motor constant value from the table below
Tuning Procedures Motor Drive Vm Percent Continuous/volt Scaled Torque Command Output (default)) RPM /volt Scaled Velocity Command Output (default)) NT-320 4.30 30 600 MG-205 4.77 30 600 MG-208 5.11 30 600 MG-316 3.17 30 600 NT-320 5.16 30 600 NT-330 6.87 30 600 6.72 30 600 5.97 30 600 MG-316 3.17 30 600 MG-340 3.14 30 600 MG-455 2.44 30 600 NT-345 6.72 30 600 NT-355 5.97 30 600 2.44 30 600 EN-204 NT-345 NT-355 MG-455 EN-208 EN-214 MG-490 1.
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FM-3 Programming Module Reference Manual Diagnostics and Troubleshooting Diagnostic Display The diagnostic segment display on the front of the drive shows drive status, FM-3 module status, and fault codes. When a fault condition occurs, the drive will display the fault code, overriding the status code. The alphanumeric display on the FM-3 module provides additional fault information. The decimal point is “On” when the drive is enabled, and the stop input is not active.
FM-3 Programming Module Reference Manual Display Indication Status Description FM-3 Keypad Display Index is executing. Drive Type Motor Type Menu Groups Address Indexing Deceleration ramp after the Stop function is activated. The ramp is displayed while decelerating, and the display will go back to normal after completing the decel ramp. Drive Type Motor Type Menu Groups Address Decelerating from Stop Jog is executing. Drive Type Motor Type Menu Groups Address Jogging Program is executing.
Diagnostics and Troubleshooting Segment Display Fault Action to Reset Bridge Disabled FM-3 Display Cycle Power Yes Power Up Tst NVM Invalid Reset Button or Input Line Yes NVM Invalid Invalid Configuration Reset Button or Input Line Yes Invalid Conf Power Module Reset Button or Input Line Yes Power Module High DC Bus Reset Button or Input Line Yes High DC Bus Low DC Bus Reset Button or Input Line Yes Low DCBus Encoder State Cycle Power Yes Encoder State Encoder Hardware Cycle
FM-3 Programming Module Reference Manual Segment Display Fault Max Following Error Travel Limit +/- All "On" FM-3 Action to Reset Bridge Disabled FM-3 Display Reset Button or Input Line Yes Following Err Auto No TravLmtMinus TravLmtPlus Normally on for one second during power up Yes ** Fault ** ***** Depend on Fault Fault Descriptions Flash Invalid This fault indicates that the firmware checksum has failed.
Diagnostics and Troubleshooting FM-3 Fault A 3 will be displayed in the segment display on the drive when the FM-3 module experiences a fault. See the table above for more information about the various faults. Invalid Configuration The FM was not on this drive during its previous power-up and it is not known if the setup data in the FM matches the drive and motor to which the FM is now attached. This can also happen when a FM is removed from a drive and the drive is powered-up.
FM-3 Programming Module Reference Manual Encoder State Certain encoder states and state transitions are invalid and will cause the drive to report an encoder state fault. This is usually the result of noisy encoder feedback caused by poor shielding. Encoder Hardware If any pair of complementary encoder lines are in the same state, an encoder line fault is generated. The most likely cause is a missing or bad encoder connection.
Diagnostics and Troubleshooting FM-3 Specific Fault Descriptions Figure 95: FM-3 display is used to display drive and FM-3 faults Enc St Certain encoder states and state transitions are invalid and will cause the drive to report an encoder state fault. This is usually the result of noisy encoder feedback caused by poor shielding or a faulty cable. Enc HW If any pair of encoder lines are in the same state, an encoder line fault is generated. The most likely cause is a missing or bad encoder connection.
FM-3 Programming Module Reference Manual Isr Ovr This fault is generated when a module flash memory problem occurs. If problem is persistent, replace the FM-4 module. Traj Flt This fault occurs when the drive has received trajectory data from the FM-3 module that indicates a problem. Check the user units, velocities, accels and decels for correct values. Drv Syn This fault occurs when the drive loses timing with the attached FM-3.
Diagnostics and Troubleshooting Mtr Tmp This fault is generated when the motor thermal switch is open due to motor over-temperature or incorrect wiring. DvOvrTmp This fault is generated when the drive thermal switch is open due to drive over-temperature. Check temperature in the enclosure and drive sizing. Inv Parm Inv NVM At power-up the drive tests the integrity of the non-volatile memory. This fault is generated if the contents of the non-volatile memory are invalid.
FM-3 Programming Module Reference Manual No Prog This fault will be displayed on initial power-up indicating that no configuration has been downloaded to the FM-3 module. To clear the fault, download a valid configuration to the FM-3 module. Cn Tmout A connection time-out occurs when a FM-3DN or any other device on the network does not receive a packet of information that it was expecting. Connection time-out faults are selfresetting unless ten are received in a row causing a buss-off condition.
Diagnostics and Troubleshooting • Torque Command = Percent of continuous torque Analog Output Scale units: • Velocity Feedback = RPM/volt • Torque Command = Percent of continuous torque/volt 235
FM-3 Programming Module Reference Manual Diagnostic Analog Output Test Points The DGNE cable was designed to be use with either an oscilloscope or a meter. The wires are different lengths to avoid shorting to each other. However, if signals do get shorted to GND, the drive will not be damaged because the circuitry is protected.
Diagnostics and Troubleshooting Figure 97: Diagnostic Cable (DGNE) Diagram 237
FM-3 Programming Module Reference Manual Drive Faults The Active Drive Faults dialog box is automatically displayed whenever a fault occurs. There are two options in this dialog box: Reset Faults and Ignore Faults. Figure 98: Active Drive Faults Dialog Box Resetting Faults Some drive faults are automatically reset when the fault condition is cleared. Others require drive power to be cycled or the drive to be “rebooted” to be cleared.
Diagnostics and Troubleshooting The terms below appear in the list the of common problems you might encounter when working with PowerTools software along with the error message displayed, the most likely cause and solution. Assign means to set a value using an equation. For example, x = 2, you are assigning the value of 2 to x. A Boolean value is a value that represents two states such as On or Off. In the FM3 there are three variable types that have Boolean values.
FM-3 Programming Module Reference Manual Programming Error Messages These Red Dot Error messages occur while you are working in the Program View. When creating a program, the parser is executed when you left mouse click, when you arrow off the current Line, when you enter the carriage return, when you paste or when you drop a drag source. The parser detects errors and marks the line with a “Red Dot”.
Diagnostics and Troubleshooting Error: A string variable can only be assigned a quoted text string The Variable is string. It only accepts types consisting of text strings. Error: Can only compare(>,<,etc) numeric results This message occurs in conditional Expressions (i.e. If then). Variables are type identified, so equation and assignments (x = 9) can be verified. In an expression only numerical values can be compared for greater than and less than conditions.
FM-3 Programming Module Reference Manual Error: Syntax error encountered Parser Error Message. The Parser can not understand your text sequence. Error: Text Strings are limited to 12 characters... To change a Name you assign a quoted text string to that name. In FM3, text strings are fixed at 12 characters. If you use fewer than 12 characters, blanks are automatically inserted. An error occurs if you attempt to use more than 12 characters.
Diagnostics and Troubleshooting Error: The destination variable's resolution is less than the resolution of the number You attempted to assign a number with a greater resolution of decimal points than the variable will accept (i.e. index.0.vel = 2.34567). The User Units setup will allow you to define the desired decimal point resolution. Error: The number is outside the range of the destination variable You attempted to assign a number that is outside the variable’s range.
FM-3 Programming Module Reference Manual Error: The Selection variable can only be assigned a Selection value. The destination variable only accepts selection values. Selection values are fixed unquoted text. The selection text must exactly match the available selections of the Destination variable. Error: This instance does not exist. This variable is referencing an instance that has not been created in your application. For example “Index.9.vel” the instance 9 of index has not been defined.
Diagnostics and Troubleshooting Online Status Indicators Watch Window PowerTools Pro contains a diagnostic utility called the Watch Window. The Watch Window can be used while PowerTools Pro is running and the PC is online with the FM-3 module. The Watch Window allows the user to monitor the status of all their desired system parameters in one location. An example of the watch window is found in Figure 99 below. To setup the Watch Window, select Tools\Watch Window from the PowerTools Pro menu bar.
FM-3 Programming Module Reference Manual Figure 100: Select Drive Parameters Dialog Box Once a parameter is added to the Watch Window, its current value or state is constantly monitored. If a parameter in the window changes value or state, it will change to a red color. It will remain red until it hasn’t changed for a period of 4 seconds. After 4 seconds, the parameter will turn back to black in color. This allows the user to see what has changed recently without looking directly at every parameter.
Diagnostics and Troubleshooting User Level - The User Level setting is a filter for the parameters that are seen in the Select Drive Parameters list. If set to Easy, the parameters used in most basic applications will be seen while the more advanced parameters are hidden. If set to Detailed, the parameters used in more advanced applications will be added to the list. If set to Too Much, then all parameters available in the system will be seen in the list.
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FM-3 Programming Module Reference Manual Specifications Power consumption: 3W from drive power supply. I/O Supply Voltage: 10-30 VDC. Function Electrical Characteristics ON State Voltage 10-30 VDC ON State Current 2mA-6.5mA OFF State Voltage 0-3VDC Inputs Outputs OFF State Current 0-400µA Max. ON State Voltage I/O Supply Voltage -1.5V Max. ON State Current 150mA Max. OFF State Current 100µA Dimensions and Clearances 2.5 (63.5) 7.187 (182.5) 1.25 (31.
FM-3 Programming Module Reference Manual AX4-CEN CDRO 250
Specifications Cable Diagrams 251
FM-3 Programming Module Reference Manual SNCE-XXX Cable SNCDD-001.
Specifications SNCO-003 Cable SNCI-003 Cable 253
FM-3 Programming Module Reference Manual SNCLI-003 Cable 254
Specifications CMDX-XXX Cable Note Some CMDX cables may have White/Yellow and Yellow/White wires in place of the White/Orange and Orange/White shown in the figure above (pins 6 and 21).
FM-3 Programming Module Reference Manual CMDO-XXX Cable Note Some CMDO cables may have White/Yellow and Yellow/White wires in place of the White/Orange and Orange/White shown in the figure above (pins 6 and 21).
Specifications CDRO-XXX Cable 9 8 24 23 38 37 11 12 34 16 14 15 29 4 19 26 40 18 17 31 33 43 44 41 27 257
FM-3 Programming Module Reference Manual TIA-XXX Cable DDS-XXX Cable 258
Specifications TERM-H (Head) Terminator TERM-T (Tail) Terminator Note See the "Multi-drop Communications" section for resistor values.
FM-3 Programming Module Reference Manual CMDS-XXX Cable CMMS-XXX Cable 260
Specifications CFCS-XXX Cable 261
FM-3 Programming Module Reference Manual CFCO-XXX Cable 262
Specifications CFOS-XXX Cable 263
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FM-3 Programming Module Reference Manual Glossary µs Microsecond, which is 0.000001 seconds. A Amps. Amplifier Servo Drive. ARMS Amps Root Mean Squared (RMS). Axis The full system to control in a single motor shaft. A single FM-3 module with EN Drive can denote an axis. AWG American Wire Gauge. Baud Rate The number of binary bits transmitted per second on a serial communications link such as RS232. (1 character is usually 10 bits.
FM-3 Programming Module Reference Manual Configuration The user-created application. It can be saved as a disk file or downloaded to configure the FM-3. It includes all the user-defined setup, assignments and programs. CRC Cyclical Redundancy Check, the data transfer error checking mechanism. Destination A function (i.e., Stop, Preset) that may be assigned to an input line.
Glossary Firmware The term firmware refers to software (i.e., computer programs) that are stored in some fixed form, such as read-only memory (ROM). Flash Another type of EEPROM. Flash File In the FM-3, this file loads the firmware into the drive and function module. Flash files can field upgrade the firmware. FM Function Module - device which is attached to the front of the drive to provide additional functionality.
FM-3 Programming Module Reference Manual Input Function See destination. A function (i.e., Stop, Preset) that may be assigned to an input line. In FM3, the input function is connected to the action through click and drag operations in PowerTools Software on the Assignment View. Input Line The terminals of a device or circuit to which energy is applied. Jog A jog produces rotation of the motor at controlled velocities in a positive or negative direction.
Glossary NVM Non-Volatile Memory. NVM stores specifically defined variables as the variables dynamically change. It is used to store changes through a power loss. NTC Negative Temperature Resistor Option Button See Radio Button. Opto-isolated A method of sending a signal from one piece of equipment to another without the usual requirement of common ground potentials.
FM-3 Programming Module Reference Manual PowerTools Pro PowerTools Pro is a Windows® based software to interface with the EN or MDS drive with an attached FM-3 or FM-4 module. Radio Button Also known as the Option Button. In a dialog box, radio buttons are small circles only one of which can be chosen at a time. The chosen button is black and the others are white. Choosing any button with the mouse causes all the other buttons in the set to be cleared.
Glossary Uploading The transfer of a complete set of parameters from a drive to an FM. User Units Ability of program to allow user to specify which type of units will measure and specify motion and time. VAC Volts, Alternating Current. Variable A labeled value that encompasses numeric boolean, input function, and output functions. VDC Volts, Direct Current. Velocity The rate of change in position in a given direction during a certain time interval. View Portion of screen within frame.
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FM-3 Programming Module Reference Manual Index Symbols D +/- Limit, 230 DDS-XXX Cable, 258 Delete All Book Marks, 117 Delete Program Button, 131 Deleting a Program, 132 Deleting An Assignment, 74 Diagnostic Display, 225 Digital Inputs and Outputs, 82 Disable Error Check, 118 Do While/Loop, 121 Drag In I/O, 117 Drag In Operands, 117 Drag In Variables, 118 Drive Faults, 238 Dwell for Master Dist, 126 Dwell For Time, 125 A Add Program Button, 131 Adding a Program, 131 Adding Indexes, 105 Analog Output, 23
FM-3 Programming Module Reference Manual For Count/Next, 120 Formula, 123 G Gear Stop, 130 Gear.Initiate, 130 GoTo, 125 H M Modbus Communications, 184 Motion Instructions, 125 Motion Modifers, 130 Motor Over Temperature Fault, 230 N Next Book Mark, 117 Non-volatile Memory Invalid, 228 High DC Bus Fault, 229 Home.Initiate, 128 O I Over Speed Fault, 230 If/Then/Endif, 119 Index.CompoundInitiate, 127 Index.Initiate, 126 Installation Notes, 183 Introduction, 1 Invalid Configuration, 229 J Jog.
Index S Safety Considerations, vii Safety of Machinery, vii Safety Precautions, vii Setup, 31 Setup, Commissioning and Maintenance, vii status codes decimal point, 225 Ready, 225 Ready to Run, 225 Stop All, 118 T TERM-H (Head) Terminator, 259 TERM-T (Tail) Terminator, 259 TIA-XXX Cable, 258 U Undo Last Change, 116 Using Last, 130 W Wait For, 121 Wait For Time, 122 Watchdog Timer, 228 275
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Since 1979, the “Motion Made Easy” products, designed and manufactured in Minnesota U.S.A., are renowned in the motion control industry for their ease of use, reliability and high performance. For more information about Control Techniques “Motion Made Easy” products and services, call (800) 893-2321 or contact our website at www.emersonct.com. Control Techniques Drives, Inc. Division of EMERSON Co. 12005 Technology Drive Eden Prairie, Minnesota 55344 U.S.A.
