FM-3 Programming Module Reference Manual P/N 400508-01 Revision: A2 Date: August 23, 2000 © EMERSON Motion Control, Inc.
FM-3 Programming Module Reference Manual Information furnished by EMERSON Motion Control is believed to be accurate and reliable. However, no responsibility is assumed by EMERSON Motion Control for its use. EMERSON Motion Control reserves the right to change the design or operation of the equipment described herein and any associated motion products without notice. EMERSON Motion Control also assumes no responsibility for any errors that may appear in this document.
© EMERSON Motion Control, Inc. 2000 Part Number: 400508-01 Revision: A2 Date: August 2000 Printed in United States of America Information in this document is subject to change without notice. Companies, names, and data used in examples herein are fictitious unless otherwise noted. 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 EMERSON Motion Control.
Customer Service It is EMERSON Motion Control’s goal to ensure your greatest possible satisfaction with the operation of our products. We are dedicated to providing fast, friendly, and accurate assistance. That is why we offer you so many ways to get the support you need. Whether by phone, fax or modem, you can access EMERSON Motion Control support information 24 hours a day, seven days a week. EMERSON Motion Control 12005 Technology Drive Eden Prairie, Minnesota 55344 U.S.A.
Need on-site help? EMERSON Motion Control provides service, in most cases, the next day. Just call EMERSON’s customer service center when on-site service or maintenance is required. Training Services (800)397-3786 or Fax (952)995-8011 EMERSON Motion Control maintains a highly trained staff of instructors to familiarize customers with EMERSON Motion Control’s products and their applications. A number of courses are offered, many of which can be taught in your plant upon request.
Document Conventions Manual conventions have been established to help you learn to use this manual quickly and easily. As much as possible, these conventions correspond to those found in other Microsoft® Windows®1 documentation. Menu names and options are printed in bold type: the File menu. Dialog box names begin with uppercase letters: the Axis Limits dialog box. Dialog box field names are in quotes: “Field Name”. Button names are in italic: OK button. Source code is printed in Courier font: Case ERMS.
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 it. 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 Customer Service. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . iii Reference Materials . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . vi Safety Considerations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . vii Introduction 1 Operational Overview 3 Software Interface . . . . .
Index View . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 72 Network Group . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 79 Modbus View . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 79 Programming 81 Parameter Descriptions 99 Parameters Saved to NVM . . . . . . . .
Online Status Indicators. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 187 Specifications 189 Dimensions and Clearances. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 189 Cable Diagrams . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
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FM-3 Programming Module Reference Manual Introduction FM-3 is a compact and rugged function module that attaches to the front of the E Series 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 E Series EN drive. Unlike other function modules, the FM-3 offers complex motion profiling.
FM-3 Programming Module Reference Manual The FM-3 stores E Series drive setup parameters within the module itself. This allows you to transfer the FM-3 to another E Series drive without losing setup parameters. Fastening Latch 3 Row by 12 Character Display Soft Keys Direction Arrow Keys Programming Module 100-Pin Connector 1 2 3 Inputs 4 5 Inputs 6 7 485 - 8 SHLD 1 Outputs Sync. Input Sync. Intput Exp. I/O Expanded I/O 485 + 2 3 Outputs 4 10-30 VDC Sync. Output Sync.
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 and E Series drive parameters which can be displayed and/or edited using Emerson Motion Control PowerTools® FM-3 software, or through any Modbus interface.
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 information. The four arrow keys are used to navigate through parameter groups, select a specific parameter to be modified, and to modify digital and numeric data. The operation of the arrow keys is dependent upon the type of parameter which is being modified. Figure 4: EN - 2 0 4 MG - 3 1 6 ADR 0 1 S EC UR QU I CK 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.
FM-3 Programming Module Reference Manual • INDEX (Index) • POSN (Position) • HOME (Home) • JOG (Jog) • RAMPS (Ramps) • SECUR (Security) Parameter Screens After selecting a group using one of the soft keys, the FM-3 will display a Parameter screen for that group. This screen could be either the first screen in the group or the last screen you used in that group. The FM-3 keeps track of the last Parameter screen viewed in each group and returns to that screen when you come back to the group.
Operational Overview Each jog has its own acceleration and deceleration ramp along with a specified velocity. Jogging has no distance parameter associated with it. If trying to move a specific distance or to a known position, then an index is used. Jogging in the opposite direction will move off a travel limit (use Jog + to move off a Travel Limit -). 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.
FM-3 Programming Module Reference Manual 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 FM-3 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.
Operational Overview PowerTools FM-3 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.
FM-3 Programming Module Reference Manual 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.
Operational Overview 1600 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 1.6 msec to guarantee that it will be recognized. Sensor Min. On Time Sensor 1600 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.
FM-3 Programming Module Reference Manual 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.
Operational Overview 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.
FM-3 Programming Module Reference Manual 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.
Operational Overview 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 to equal 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.
FM-3 Programming Module Reference Manual 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.
Operational Overview Figure 20: Home Velocity Profile 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.
FM-3 Programming Module Reference Manual 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.
Operational Overview The FM-3 calculates the distance required to move to the specified position from the current position. Absolute Index Absolute Index Start Position = 1 Rev Index Position = 5 Revs Figure 23: Absolute Index Example 1 In the example above, the current position is 1 rev. If this index is initiated, the motor will travel to a position of 5 revs no matter where it is sitting before the move. From 3 revs, it will travel 2 revs to finish at 5 revs.
FM-3 Programming Module Reference Manual Incremental Indexes An incremental index will move the motor a specified distance in the + or - direction regardless of the starting position. The direction of the incremental index motion is determined by the sign (+ or -) of the Index Distance parameter.
Operational Overview also be used to determine the validity of a registration trigger. If a registration trigger is received outside of the registration window, it will be ignored. Rotary Plus and Rotary Minus Indexes Rotary Plus and Rotary Minus Indexes provide forced directional control of moves to absolute positions. The position entered for a Rotary Plus or Minus type index must be within the rotary range (i.e. 0 ≤ Position < Rotary Rollover Point).
FM-3 Programming Module Reference Manual Example 5: If the starting postion is 10° and the specified postion is 350°, a Rotary Plus index will travel 340° in the positive direction. Rotary Minus indexes move to the specified position, but are forced to travel in the negative (or minus) direction. Rotary Minus index postions must be within the rotary rollover range. Example 6: As in examples 2 and 4 above, the starting position is at 90° and 80° is the specified position.
Operational Overview Caution The parameters will be sent to the FM-3 without stopping motion or disabling the drives. Because of this, it is important to use caution when changing motion parameters while the motor is in motion. The Update to RAM button saves the parameters only to RAM and not to Non-Volatile Memory (NVM). Therefore, if the system power is removed, any changes made using the Update to RAM button will be lost. In order to save changes to NVM, a full-download must be performed.
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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 in the right side of the view (see Figure 28). The right part of the view is divided into groups, with an explanation of each function.
FM-3 Programming Module Reference Manual Target Drive Address This is the Modbus address of the target drive to which you will download the configuration. The default target drive address is 1. Configuration Group The configuration group consists of list boxes for Drive Type, Motor Type, and Line Voltage. Drive Type List Box Select the drive model for the system you are currently setting up. Motor Type List Box Select the motor you want to use.
Setting Up Parameters Scaling parameter is set to a value higher than the motor encoder density, the drive encoder output density will equal that of the motor encoder. Positive Direction Group The Positive Direction group consists of a clockwise (CW) Motor Rotation Radio Button or a counter-clockwise (CCW) Motor Rotation Radio Button. The motion will move in either CW direction or counter-clockwise CCW direction. Perspective of rotation is defined as you face the motor shaft from the front of the motor.
FM-3 Programming Module Reference Manual Drive Information Group Firmware Part Number Displays the part number of the drive firmware you are using. Firmware Revision Displays the revision of the drive firmware you are using. Serial Number Displays the serial number of the drive with which you are currently online. Motor Velocity Group Velocity Command The Velocity Command is the velocity that the FM-3 drive is commanding the motor to run at. This command is generated by the drive velocity control loop.
Setting Up Parameters Master Velocity This displays the velocity of the master encoder in master units/second. Torque Group Torque Command This displays the torque command value before it is limited. The torque command may be limited by either the Torque Limit (if the Torque Limit Enable destination is active) or current foldback. Units for this parameter are defined in the Torque Group on the User Units View. Limited Torque This is the actual torque commanded to the motor.
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 29).
Setting Up Parameters Scaling A Characteristic Distance and Length must be established to allow the FM-3 to scale user units back to actual motor revolutions. This scaling factor is as follows: Characteristic Distance Scaling => Characteristic Length Characteristic Distance This is the distance the load travels (in user units) when the motor travels the characteristic length (in motor revolutions).
FM-3 Programming Module Reference Manual Velocity Group Enable Separate Distance Units Check Box If checked, separate distance and velocity units, name and scaling will be enabled. If not enabled, the velocity units, name and scaling will be defined by the Distance Group. Scaled Distance Name If the user wants the velocity units to have a different distance scaling than the distance units a name can be entered here up to 10 characters.
Setting Up Parameters Acceleration Group Time Scale List Box From this list box, select the acceleration timescale to be used for all real-time profiles. The time scale selected will be used for both acceleration and deceleration parameters. You can select from milliseconds or seconds. Decimal Places The number of decimal places set in this parameter determines the number of digits after the decimal point used in all real-time accel/decel parameters throughout the software.
FM-3 Programming Module Reference Manual Master Units View Master Units setup provides the setup parameters for use with synchronized motion. This setup window determines how the encoder signals are interpreted and establishes the scaling for all master units (master distance, master velocity, etc.). Figure 30: Master Units View Encoder Setup Group Master Source Master Source indicates the hardware location of the master encoder input.
Setting Up Parameters Master Interpretation Master Interpretation determines how the incoming pulses are seen to generate the synchronized motion command. This setting allows you to choose the appropriate signal type to match the device generating the master input pulses. Drive Input Signal Drive Input Signal is selected accordingly based on whether the incoming pulses are Differential (default) or Single Ended.
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 distance and position parameters used in synchronized motion throughout the software. Using a high number of decimal places will improve position resolution, but will also limit the maximum position. You can select from zero to six decimal places of accuracy. Scaling The scaling factor is defined as MasterAxis.
Setting Up Parameters Position View The Position View allows you to set up and view the parameters related to drive positioning. See Figure 31. The left part of the view shows that Position has been selected. The right part of the view is divided into groups. An explanation of the groups and their functions is provided below. Figure 31: Position View Settings Group Define Home Position This is the value to which the position command will be set when the Define Home destination is activated.
FM-3 Programming Module Reference Manual 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 destination 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. At the end of an index, the following error is calculated to be .0012 revolutions. Therefore, the InPosn source will activate. In Position window is set to .001 inches.
Setting Up Parameters active. Absolute Position Valid is active upon successful completion of a home or the DefineHome destination is activated. To recover from a software travel limit, a jog may be commanded in the opposite direction of travel. For example, if a software travel limit - is hit, then the axis can be jogged in the + direction. Software Travel Limit + If the absolute position is greater than or equal to this value the Software Travel Limit Plus Active source shall activate.
FM-3 Programming Module Reference Manual Assignments Tab Displays any assignments to functions on this view that have been made using the assignments view. Online Tab The Online Tab is shown in Figure 31. While online, the following real-time data will be displayed. Motor Position Group Position Command This is the commanded position in user units generated by the FM-3. Position Feedback This is the feedback position of the motor in user units.
Setting Up Parameters Velocity View The Velocity View allows the setup of feedrate override details. By selecting Velocity in the hierarchy view, the Velocity View will appear in the right (see Figure 32). Figure 32: Velocity View (Assignments Tab shown) 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.
FM-3 Programming Module Reference Manual Caution Using the Update to RAM to change the Feedrate Override will implement the changes instantly. Instantaneous acceleration changes will result. Online Tab (not shown) If online, this view will show the limits group and the velocity group. Velocity Group Velocity Command The Velocity Command is the actual command generated by the FM-3 velocity loop in user units. Velocity Feedback This parameter is the actual feedback motor velocity in user units.
Setting Up Parameters 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 in the right (see Figure 33). Figure 33: Ramps View Settings Group The Settings Group contains the Acceleration Type List Box. Acceleration Type Press the arrow by the Acceleration Type list box. It will display the various acceleration types: 5/8 S-Curve, 1/4 S-Curve, Linear, and S-Curve.
FM-3 Programming Module Reference Manual ramps use smoothing at the beginning and end of the ramp but have constant (linear) acceleration rates in the middle of their profiles. The “5/8 S-Curve” is less smooth than the “SCurve” but smoother than the “1/4 S-Curve”. S-Curve accelerations are very useful on machines where product slip is a problem. They are also useful when smooth machine operation is critical. Linear ramps are useful in applications where low peak torque is critical.
Setting Up Parameters 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 in the right (see Figure 34). The right part of the screen is divided into groups. An explanation of the groups and their functions is provided below. Figure 34: Torque View Settings Group Torque Level This parameter sets the activation point for the Torque Level Active source.
FM-3 Programming Module Reference Manual 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. Assignments Tab Displays any assignments to functions on this view that have been made on the Assignments View.
Setting Up Parameters 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 in 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. For help on calculating tuning parameters and more in-depth tuning information, turn to “Tuning Procedures” on page 157.
FM-3 Programming Module Reference Manual 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.
Setting Up Parameters 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.
FM-3 Programming Module Reference Manual Faults View The Faults View displays any active faults. See Figure 36. The Faults tab has been selected in the hierarchy view to view the Faults view. Figure 36: 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.
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 in the right (see Figure 37). Figure 37: 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 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. The source list box is used to select the source for the individual PLS. On Point PLS.#.Status will be active when the selected source position is between the PLS.#.OnPosn and the PLS.#.OffPosn. Assume that the PLS.#.
Setting Up Parameters 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. Rotary Enable This parameter is used to enable the RotaryRolloverPosn for this PLS. Rollover Point 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.
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. Selector View The selector View is located under I/O Setup in the hierarchy on the left of the view.
Setting Up Parameters The maximum number of select lines is eight. Once you have determined how many select lines you want, the assignments to these Selector.Select lines must then be made in the Assignments view. Figure 39: Assignment View For example, if we entered 2 for the number of 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.
FM-3 Programming Module Reference Manual 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.SelectorInitiate activates, then Selector.Selection5 will activate. Example 2: If Selector.Select2 is inactive, Selector.Select1 is active, and Selector.
Setting Up Parameters The E Series drive’s input and output lines can be accessed through the removable 10-pin I/ O connector (J6), or through the 44-pin command connector (J5). The FM-3 input and output lines are located on the front of the FM-3 module. All inputs and outputs are configured as sourcing and are designed to operate from a +10 to 30 VDC power source. You are responsible for limiting the output current to less than 200 mA for each digital output.
FM-3 Programming Module Reference Manual Creating An Assignment: Various methods will tie a source (such as DriveInput.1) to a destination, such as Index.0.Initiate: 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.
Setting Up Parameters Figure 41: 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 FM-3. 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 Right Click Method Position the pointer over the specific assignment you with to change polarity for and click the right mouse button. A selection box will appear. From this selection box, choose Polarity. A Polarity edit box will appear. Change the Polarity settings as desired and click OK to apply the changes. User Level The User Level filters the available assignments. The User Level is changed on the Options menu at the top of the PowerTools toolbar.
Setting Up Parameters Name You can assign a descriptive name to each input and make the setup easier to follow. The length of the text string is limited by the column width with a maximum of 12 characters. Simply double click on the Name field of any input line to assign a name to it. Debounce You can program a “Debounce Time” to any input line, which means the motion profile will need to be steady for at least the debounce time before it is recognized.
FM-3 Programming Module Reference Manual Figure 44: Output Lines View Names Descriptive text names can be assigned to individual output lines to make the setup easier to follow. Motion Group All motion parameters related to Jogs, Homes, and Indexes 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.
Setting Up Parameters Figure 45: Jog Tab 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. Time Base This list box allows the user to select the time base for the individual jog. The options are Realtime and Synchronized. Jog Velocity This parameter specifies the target jog velocity for the individual Jog.
FM-3 Programming Module Reference Manual Jog Deceleration This is the deceleration ramp used when stopping this individual Jog. If S-Curve ramps are used, then this is the average deceleration rate for the entire ramp. The units for the deceleration are setup in the Setup - User Units view in PowerTools FM-3. Jog Sources and Destinations Sources Jog.AnyCommandComplete The Jog.
Setting Up Parameters When this destination is activated, jogging motion will begin in the positive direction. The jog velocity is determined by whether the specified jog (specified by Jog.Select0) is active or not. A jog stops when this destination is deactivated. Jog.MinusActivate When this destination is activated, jogging motion will begin in the negative direction. The jog velocity is determined by whether the specified jog (specified by Jog.Select0) is active or not.
FM-3 Programming Module Reference Manual Figure 46: Jog Activation 0 Figure 47: 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.
Setting Up Parameters If the device is jogging with the Jog.PlusActivate destination active and the Jog.MinusActivate destination activates, the motor will behave the same as if it would if Jog.PlusActivate just deactivated. 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.
FM-3 Programming Module Reference Manual 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 48: Home View, Online 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.
Setting Up Parameters Time Base Selects the Time Base for the home move velocity and acceleration/deceleration. Real-time and sync are the allowed selections. Velocity Sets the target velocity for the home. The polarity determines the home direction. Positive numbers cause motion in the positive direction and negative numbers cause motion in the negative direction in search of the home reference. Acceleration Average Acceleration rate used during the home. Units are specified on the User Units page.
FM-3 Programming Module Reference Manual 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. Limit Distance LimitDistEnable This checkbox enables the specified Home Limit Distance. The Limit Distance parameter places an upper limit on the incremental distance traveled during a home.
Setting Up Parameters 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. Home.AnyCommandComplete This source is activated when any home motion command is completed.
FM-3 Programming Module Reference Manual 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.
Setting Up Parameters Index Number The Index Number parameter selects the index number with a scroll box. 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.
FM-3 Programming Module Reference Manual Deceleration The Deceleration parameter specifies the deceleration value to be used during the index in user units. Enable Index PLS This check box enables (when checked) or disables the Index PLS function. An Index PLS is similar to a global PLS (explained in the PLS View section), but is incremental in nature.
Setting Up Parameters If Index 1 is run, the Index.1.PLSStatus will activate when the position feedback reaches -4 Revs (or 4 Revs from the start of the index). Index.1.PLSStatus will then deactivate when position feedback reaches -6 Revs (or 6 Revs from the start of the index). If Index 1 is run again, Index.1.PLSStatus will activate and deactivate at -14 Revs and -16 Revs respectively. Index PLS’s can be used on any type of an index.
FM-3 Programming Module Reference Manual Window End This parameter defines the end of the Registration Sensor Valid Window relative to start position of this index. This is an unsigned value and is relative only to starting position of this index. Index direction does not affect this parameter. The Registration Window End position (or distance) should be greater than the Registration Window Start position.
Setting Up Parameters 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. 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.
FM-3 Programming Module Reference Manual Index.#.Sensor Trigger 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.
Setting Up Parameters Network Group 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 in the right (see Figure 51). The right part of the screen displays all of the drive parameters. The number of parameters that appear depends on the User Level (see the User Level section earlier in this chapter).
FM-3 Programming Module Reference Manual A “New Assignment” dialog box will appear. This will automatically assign the next available modbus address, or allow you to enter a different Modbus address. Once you click on OK, then you will be able to read or write the parameter at that address.
FM-3 Programming Module Reference Manual Programming 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. Multiple programs can be created using Emerson Motion Control PowerTools® FM-3 software and stored in the FM-3.
FM-3 Programming Module Reference Manual acceleration ramp. The index will finish at velocity. The program then moves on to the next index. It smoothly transitions into the second index without stopping. The second index then ramps to its pre-configured velocity. Multiple indexes can be “compounded” to create a complex velocity profile. The last index in a complex profile must have a deceleration ramp. This is accomplished using a standard Index.Initiate rather than a Index.CompoundInitiate.
Programming Figure 53: Index Velocity Profile with Drive Outputs Index.0.CompoundInitiate ‘Incremetal,Dist=5.000in,Vel=50in/s DriveOutput.1=ON ‘Turns ON immediately after Index.0 is started Index.1.CompoundInitiate ‘Incremental,Dist=20.000in,Vel=75in/s DriveOutput.2=ON ‘Turns ON immediately after Index.1 is started Index.2.Initiate ‘Incremental,Dist=10.000in,Vel=30in/s DriveOutput.3=ON ‘Turns ON immediately after Index.2 is started Wait For Index.AnyCommandComplete DriveOutput.
FM-3 Programming Module Reference Manual Examples: Jog.0.PlusInitiate Jog.1.PlusInitiate ‘Vel=27.2in/s ‘Sync,Vel=1.000in/in Jog.MinusInitiate This program instruction is used to initiate jogging in the negative direction. The Jog.Stop instruction is used to stop jogging motion. A comment is automatically inserted after the Jog.MinusInitiate instruction which shows key data about the particular jog. The comment starts with the apostrophe ‘ character. Examples: Jog.0.MinusInitiate Jog.1.
Programming Dwell For Time This motion instruction is used to pause program execution for a very precise amount of time. It operates as a motion instruction – similar to an index, home or jog. Like all other motion instructions it will not start until the preceding motion instruction has completed. A “Wait for Index.AnyCommandComplete” is not required. Likewise, any subsequent motion commands will wait and start after the dwell has completed.
FM-3 Programming Module Reference Manual DriveOutput.2=OFF Endif If (DriveInput.1=ON AND DriveInput.2=OFF) Then ‘Turn Outputs 1 On and 2 Off if Drive ‘Input.1 is ON and DriveInput.2 is OFF DriveOutput.1=ON DriveOutput.2=OFF Endif If (ModuleInput.2=ON) Then Jog.0.PlusInitiate Wait For ModuleInput.2=OFF Jog.Stop Endif ‘Jog+ when ModuleInput.2=ON ‘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.
Programming For Count/Next This instruction is used to execute section of code a specific number of times. Examples: For Count = 1 to 5 Index.1.Initiate Dwell For Time 1.000 Next ‘Incremetal,Dist=5.250in,Vel=10.0in/s ‘seconds For Count = 1 To 10 Wait For ModuleInput.1 = ON Index.0.Initiate ‘Incremetal,Dist=5.000in,Vel=50in/s Wait For Index.AnyCommandComplete ModuleOutput.1=ON ‘Turn ModuleOutput.1 On Wait For Time 1.000 ‘seconds ModuleOutput.1=OFF ‘Turn ModuleOutput.
FM-3 Programming Module Reference Manual Dwell For Time 1.000 Loop ‘seconds Wait For This program flow instruction is used to halt program execution until an expression becomes true. Once the expression becomes true the program continues on with the next line of code. Logical tests (AND, OR, NOT) can be used in the Wait For instruction. However, “analog” variable comparisons (MasterPosn>1000.000) cannot be used. Only sources (DriveInput.1=ON, AtVel, etc.) can be used in a Wait For instruction.
Programming Wait For Time 1.000 ‘seconds DriveOutput.1=OFF Wait For Index.AnyCommandComplete Loop Call Program This program flow instruction is used to call another program. When the called program finishes the controller picks up where it left off in the program that called it. This is often used when a section of code is used in multiple places in a program. By moving the code to another program and calling that program the total number of program lines can be reduced.
FM-3 Programming Module Reference Manual Formula This program instruction can be used to enter a formula or assignment into a program. All FM-3 parameters are available for use in a formula. They may be dragged and dropped into a formula, but the program User Level will determine how many appear for dragging and dropping (see the section on User Level in the Setting Up Parameters chapter). Formulas can also be created by simply typing them into the program.
Programming Example Programs Out and Return - Simple Description: Move out to an absolute position and return Index.2.Initiate Index.1.Initiate Wait For Index.AnyCommandComplete ‘Absolute,Posn=10.000in,Vel=5.0in/s ‘Absolute,Posn=0.000in,Vel=10.0in/s Out and Return – More Complex Description: Home, Wait For an input, Move out to an absolute position, set an output, dwell for 1 second, clear the output, return to home position, repeat the out and return sequence until the stop input halts the program.
FM-3 Programming Module Reference Manual Registration Index to Place a Product on a Conveyor After Each Lug Registration Index (synchronized) to find the front edge of product, wait for input from a lug sensor and repeat. Do While (TRUE) Index.0.Initiate ‘Repeat until the program is halted ‘Sync,Registration,Offset=0.500, ‘Dist=50.000,Vel=1.000in/in ‘Registration move to product sensor. ‘Go to head of next product. Wait For Index.AnyCommandComplete Wait For ModuleInput.
Programming Rotary Table with “Calibrated” Stop Positions Home the axis, wait for an input and then index to 3 different stop positions (absolute positions), wait for an input between indexes. The InPosn output function could be assigned to an output to indicate when the axis has completed the index and the following error is less than a specified amount.
FM-3 Programming Module Reference Manual Home.0.Initiate ‘Sensor,Offset=1.000in,Vel=-5.0 in/s ModuleEncoderInput.DefineHome=ON PLS.0.Enable=ON ‘Set the master position to 0.0 ‘Turn on PLS.0 Do While (TRUE) Wait For DriveInput.1=ON If PLS.0 = ON Then ModuleOutput.4=ON End Endif Wait For PLS.0=ON ‘Repeat until the program is halted ‘Input 1 is used as a “hold” input. ‘If the PLS is already on you are too late. ‘Set a “Too Late” output ‘Drop out of the program ‘Start the Index when PLS.
Programming Auger Filler with Inputs to Adjust the Fill Amount Incremental indexes are used to squirt a specified amount of food product into a box. Inputs are used to adjust the index distance. It would be much simpler to adjust the index distance with an OIT-3165 operator interface panel, but inputs could be used as described below. ModuleOutput.3=OFF ModuleOutput.4=OFF Do While (TRUE) ‘Repeat until the program is halted If (ModuleInput.2=ON) Then ‘Fill a box if the “Go” input is on. Index.1.
FM-3 Programming Module Reference Manual Sequence Learn and Playback This example consists of three programs. The first program is used to learn 3 positions using “Jog+”, “Jog-“, “Jog Fast” and “Learn” inputs. The second program is called several times by the first program. The third program steps through the learned positions Learn Program (Program 0) Home.0.Initiate ‘Sensor,Offset=0.000in,Vel=-10in/s Index.1.Initiate Wait For Index.AnyCommandComplete ‘Move to position 1 Call Program.
Programming Subroutine for Jogging the Axis into the Desired Position (Program 1) ‘Allow jogging until either the “Learn” input (ModuleInput.1) ‘or the “Skip” input (ModuleInput.2) goes ON. Do While ((ModuleInput.1=OFF) AND (ModuleInput.2=OFF)) If (ModuleInput.3=ON) Then ‘Jog+ if the Jog+ input is on Jog.0.PlusInitiate ‘Vel=0.1in/s Do While (ModuleInput.3=ON) If (ModuleInput.5=ON) Then Jog.0.Vel = 1.0 Else Jog.0.Vel = 0.1 Endif Loop Jog.Stop Endif ‘in/s ‘Stop jogging when the Jog+ input goes off.
FM-3 Programming Module Reference Manual Playback Program (Program 2) 98 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 ‘Turn on ModuleOutput.1 for 1 second ‘seconds Index.2.Initiate Wait For InPosn ModuleOutput.1=ON Wait For Time 1.000 ModuleOutput.1=OFF ‘Absolute,Posn=20.000in,Vel=7in/s Index.3.
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 on the right 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 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 is executing a constant velocity motion segment. One example would be during an index. The source would activate after the motor has finished accelerating up to speed and before the motor begins to decelerate to a stop.
Parameter Descriptions Define Home DefineHome This destination is used to set the Commanded Position to the value specified in the DefineHomePosn variable. On the rising edge of this input function the absolute position is set equal to the DefineHomePosn and the AbsolutePosnValid output function (source) is activated. Define Home Position DefineHomePosn The DefineHome parameter is used to set the motors absolute position to the value stored in the DefineHomePosn variable.
FM-3 Programming Module Reference Manual Drive Ambient Temperature DriveAmbientTemp This parameter should be set to reflect the ambient air temperature near the drive heatsink during normal operation. This will determine the amount of regenerative power that can be dissipated by the E Series drive's internal shunt resistor. When that calculated value is exceeded by the Shunt Power RMS parameter a shunt fault will occur. Valid only for EN-208 and EN-214 drives.
Parameter Descriptions Drive Input Raw DriveInput.#.Raw This displays the raw state of the digital input without debounce or forcing to override the raw status. Drive Input Status DriveInput.#.Status This source is the state of the input after debounce and forcing are taken into account. Drive Output Force DriveOutput.#.Force A drive output can be forced either On or Off with this parameter. If the ForceEnable bit is activated, the DriveOutput.#.State will be set to this value.
FM-3 Programming Module Reference Manual Drive Faults Bitmap Fault.DriveFaultsBitmap This parameter is a 32-bit register which holds all of the drive fault status bits.
Parameter Descriptions Fault Counts Fault.#.Counts The module stores the total number of times the specific fault has occurred since it was manufactured. Module Faults Bitmap Fault.ModuleFaultsBitmap This parameter is a 32-bit register which holds all of the module fault status bits.
FM-3 Programming Module Reference Manual to the programmed speed in the same amount of time. It is used to hold motion without cancelling the move in progress. If a feedhold is activated during an index the motor will 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.
Parameter Descriptions Following Error Limit FollowingErrorLimit This parameter is used when the FollowingErrorEnable bit is set. This limit is compared to the absolute value of the FollowingError. If the FollowingError is greater than the FollowingErrorLimit, a following error fault will be generated. 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.
FM-3 Programming Module Reference Manual Calculated Offset Home.#.CalculatedOffset The Calculated offset is the distance travelled during the deceleration ramp from the home velocity to a stop. Calculated by Emerson Motion Control PowerTools®. Command Complete Home.#.CommandComplete This source is active when the specified home command is completed, if a stop is activated before the home has completed the function or if the Home Limit Distance has been exceeded it will not be activated.
Parameter Descriptions Limit Distance Hit Home.#.LimitDistHit This source is activated when the home sensor is not found before the Home Limit Distance is traveled. Name Home.#.Name User name for the specified home. 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.
FM-3 Programming Module Reference Manual 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.
Parameter Descriptions 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. Command Complete Index.#.CommandComplete The Index.#.CommandComplete source will activate when the specific index completes its deceleration ramp. It will remain active until the specific index is initiated again. If the Stop destination is used during an Index, then the Index.#.
FM-3 Programming Module Reference Manual Limit Distance Hit Index.#.LimitDistHit This source is activated when the registration sensor is not found before the Limit Distance is traveled. If the Registration Window is enabled the sensor must be activated inside the window to be recognized. Name Index.#.Name The user can specify an Index name of up to 12 characters. Enable PLS Index.#.PLSEnable When Activated, this parameter enables the PLS (programmable limit switch) function for the specified index.
Parameter Descriptions Enable Registration Window Index.#.RegistrationWindowEnable This check box enables (if checked) the Registration Sensor valid Window. When active, only registration marks that occur inside the registration window are seen as valid. Window End Index.#.RegistrationWindowEnd This parameter defines the end of the Registration Sensor Valid Window relative to start position of this index. This is an unsigned value and is relative only to starting position of this index.
FM-3 Programming Module Reference Manual Inertia Ratio InertiaRatio This specifies the load to motor inertia ratio. For example, a value of 25.0 specifies that the load inertia is 25 times the inertia of the motor. Initially Active InitiallyActive This source, when assigned to a destination, will activate the destination on power-up or upon FM-3 reset. InitiallyActive can be assigned to any destination that does not create motion (i.e. indexes, jogs, homes, programs).
Parameter Descriptions At Velocity Jog.#.AtVel This source activates when the particular jog has reached its target velocity. It deactivates when accelerating or decelerating to another target jog velocity. Command Complete Jog.#.CommandComplete The Jog.#.CommandComplete source activates when the specific Jog completes its deceleration ramp and reaches zero commanded speed. It deactivates when the specific Jog is initiated again. Command In Progress Jog.#.CommandInProgress The Jog.#.
FM-3 Programming Module Reference Manual Velocity Jog.#.Vel This parameter specifies the velocity used for jogging with the Jog.PlusActivate and Jog.MinusActivate destinations or the Jog.#.PlusInitiate and Jog.#.MinusInitiate inside a program. The units for this parameter are specified in the User Units view. 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.
Parameter Descriptions Modbus Id Modbus.ModbusId Modbus ID # for this FM module and drive. Debounced ModuleInput.#.Debounced This is the state of the input after the debounce is taken into account. Module Input Debounce Time ModuleInput.#.DebounceTime The Module Input Debounce Time parameter is the minimum time a digital input must be on in order to be recognized by the FM-3. This feature helps prevent false triggering in applications in electrically noisy environments.
FM-3 Programming Module Reference Manual ModuleOutput Enable Force ModuleOutput.#.ForceEnable If ModuleOutput.#.ForceEnable is activated, then the state of the ModuleOutput.#.Force bit will override the current output state. ModuleOutput Name ModuleOutput.#.Name User assigned name to the hardware output. ModuleOutput State ModuleOutput.#State This destination sets the current state of an output line. Module Serial Number ModuleSerialNumber This is the FM-3 module serial number.
Parameter Descriptions deactivate when it continues past the OnPosn. The important thing to remember is that the PLS.#.Status will be active if between the PLS On and Off points. 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.
FM-3 Programming Module Reference Manual 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. If the RotaryRolloverPosition is set to 360 degrees the PLS would come on at 90, go off at 100, go on at 450 (360+90), go off at 460 (360+100), go on at 810 (2*360+90), go off at 820 (2*360+100), and continue repeating every 360 degrees forever. PLS Source PLS.#.
Parameter Descriptions For example, with “Response” set to 50, the minimum time constant value is 1000/50 = 20 msec. Position Feedback PosnFeedback Feedback position is the actual motor position in user units. PosnCommand minus the PosnFeedback is the FollowingError Position Feedback In Counts PosnFeedbackInCounts Motor encoder position in encoder counts since power up. This position reflects the feedback position of the motor and is not scaled into user units.
FM-3 Programming Module Reference Manual Name Program.#.Name This is a character string which the user can assign to an individual program. It allows the user to give a descriptive name to programs for ease of use. Program Complete Program.#.ProgramComplete This source is activated when a specific program ends normally. If the program ends due to a fault or the stop destination, this source does not activate. Deactivates when the specific program is initiated again.
Parameter Descriptions Initiate Selector.SelectorInitiate When this destination is activated, the selector checks the status of all Selector.Select destinations to determine which Selector.Selection to activate. ShuntActive This source is active when the drive's internal shunt is active (conducting current). ShuntPowerRMS This parameter models the thermal heating and cooling of the drive internal shunt.
FM-3 Programming Module Reference Manual Software Travel Limit Plus Position SoftwareTravelLimitPlusPosn The SoftwareTravelLimitPlusActive source is active when the SoftwareTravelLimitPlusPosn is reached or exceeded. Motion is halted using the TravelLimitDecel whenever a hardware or software travel limit is hit or exceeded. Software travel limits are not active unless enabled and Absolute Position Valid is active. Stop Activate this destination to stop all motion and programs.
Parameter Descriptions Torque Limit TorqueLimit This is the level to which the TorqueCommand will be limited when the TorqueLimitEnable input function is active. Torque Limit Active TorqueLimitActive Active when the TorqueCommand is greater than the TorqueLimit and the TorqueLimitEnable input function is active. Torque Limit TorqueLimitEnable This destination is used to enable the TorqueLimit. This is level sensitive.
FM-3 Programming Module Reference Manual Units Name TorqueUnits.Name The User can specify a torque unit name of up to 12 characters. Default is % Cont.. 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.
Parameter Descriptions Units Name VelocityUnits.Name If the user wants the velocity units to have a different distance scaling than the distance units a name can be entered here up to 12 characters, e.g. user distance units are inches and velocity units are feet per minute. Time Scale VelocityUnits.TimeScale Velocity time scale can be set to user units per second or user units per minute, used for all real-time velocities throughout the PowerTools FM-3 software.
FM-3 Programming Module Reference Manual 128 • Index.#.PLSOffDistance • Index.#.PLSOnDistance • Index.#.RegistrationOffset • Index.#.RegistrationWindowEnd • Index.#.RegistrationWindowStart • Index.#.Velocity • Jog.#.Acceleration • Jog.#.Deceleration • Jog.#.Velocity • MasterDistUnits.CharacteristicDistance • MasterDistUnits.Counts • MasterEncoder.DefineHomePosition • PLS.#.OffPosition • PLS.#.OnPosition • PLS.#.
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 detects and verifies the drive serial number when its attached to an E Series 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 Emerson Motion Control PowerTools® FM-3 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® 95/98 or Microsoft Windows NT® 4.0 (service pack 3) • Serial port • Mouse • 3.
FM-3 Programming Module Reference Manual 3. In the Run dialog box, type a:/setup, where a is the letter assigned to your 3.5" floppy drive. 4. Click the OK button, then follow the instructions on your screen. Installation will take about five minutes. The install program automatically: • Creates the directory on your hard drive named: C:\EMERSON\PT-FM3 • Creates a new Windows group called "EMERSON Motion Control-FM3". • Loads the required DLL’s into your Windows system directory.
Installation Exiting the Software Choose File from the menubar, then click Exit. If you are using the keyboard, press the shortcut key combination Alt+F, X. If you made changes, PowerTools displays an Alert dialog box asking whether you want to save your current work. Click the Yes button or press Enter to save your work, or click the No button to quit without saving. Accessing Help All PowerTools tabs and dialog boxes provide a Help button.
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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 for use with a drive.
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 2 shows the Setup view selected. Figure 57: 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 is attached.
Quick Start Figure 58: 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. The parameters you must fill out are as follows: Units Name – Enter the character string you wish to use for your distance units.
FM-3 Programming Module Reference Manual Figure 59: Position View To setup following error limit and software travel limits, fill out the following parameters in the Limits Group: 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.
Quick Start Ramps View You must setup the deceleration rate to be used on the Ramps view if a travel limit is encountered. Figure 60: 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.
FM-3 Programming Module Reference Manual Figure 61: 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 the FM-3 Reference 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.
Quick Start Click and Hold Release Figure 62: 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. Debounce – This is the minimum time a specific input must be on, for recognition by the drive/FM-3. This helps prevent false triggering for applications in electrically noisy environments.
FM-3 Programming Module Reference Manual Figure 63: Output Lines View A name can also be given to each hardware output line. Figure 8 shows how to enter a name for an 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.
Quick Start Figure 64: 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 10 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.
FM-3 Programming Module Reference Manual Figure 65: 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.
Quick Start Figure 66: 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. This index will cause motion in either a positive or negative direction depending on current position of the load with respect to the home reference point.
FM-3 Programming Module Reference Manual Figure 67: 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. 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 Click and Hold Release Figure 68: Program View The window in the middle of the view allows selection from a list of Program Flow and Motion instructions. To insert an instruction into the programming window, you can use the “drag-and-drop” method also used in making assignments. Simply position your mouse pointer over the instruction you wish to use, click the left mouse button and hold it down.
FM-3 Programming Module Reference Manual Figure 69: Program View (Expanded) A comment is automatically inserted after the index instruction, which shows key data about the specific index. Notice comments start with the ‘ apostrophe character. A “Wait For Index.AnyCommandComplete” instruction is automatically inserted after each Index.Initiate. This ensures that the index has completed before the program continues on to the next line of code.
Quick Start Example Application Start Up Software Travel Limits 0 20 Home Prox Figure 70: 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 Click and Hold Release Figure 71: Assignments View The Input Lines view shows all of the assignments that have been made to the Inputs group of Sources. After all assignments for the example application have been made, the Input Lines view should look like Figure 17.
FM-3 Programming Module Reference Manual Figure 72: Input Lines View Notice that a Name can be associated to each input line. Each input line can also have a debounce time. Figure 17 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 16, 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 Indexes 0 and 1 are both Absolute type indexes and use the following parameters: Index Name - Is a 12-character string that gives a descriptive name to an index. Index0 has been named Position A, and Index1 Position B as seen in Figure 18. Index Type – Select the desired type of index from the list box. Index0 has been defined as an Absolute type of index. This means the load will travel to an exact position with respect to the home reference point.
Quick Start Figure 75: 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 16 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 Step 4 of this guide.
FM-3 Programming Module Reference Manual Wait For – This program instruction halts program execution until the expression becomes True. Once True, the program continues with the next line of code. The example program uses a Wait For DriveInput.1 so that the program will wait until DriveInput.1 is activated, then continue on. Index.Initiate – This program instruction is used to initiate a single index.
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 If the value entered is higher than the actual, system oscillation is likely. If the value entered is lower than the actual a more sluggish response is likely but generally results in good operation. 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.
FM-3 Programming Module Reference Manual actual inertia, velocity error during ramping will be reduced but not eliminated. If the Friction parameter is greater than the actual friction, it may result in velocity error or instability. If the Friction parameter is less than the actual friction, velocity error will be reduced by 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 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.
FM-3 Programming Module Reference Manual 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.
Tuning Procedures 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. Use the following formula to calculate the friction: FV = (100) (TCH - TCL) RPMH - RPML Where: TCH = Torque Command Limited value at higher speed TCL = Torque Command Limited at lower speed RPMH = Higher RPM (velocity) RPML = Lower RPM (velocity) FV = Friction value The figure below shows the relationship of Torque Command to the Velocity Feedback.
FM-3 Programming Module Reference Manual • 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. • The accel and decel ramp should be aggressive enough to require at least 20 percent of continuous motor torque. The higher the torque used during the ramp, the more accurate the final result will be.
Tuning Procedures 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 = 1 − (R • Vm (Tau + Tud + Tad + Tdd)) 4000 Where: IR = Inertia Ratio R = ramp in ms/kRPM Vm = motor constant value from the table below Tau = (unsigned) percent continuous torque required during acceleration ramping while moving up (against the constant force) Tdu = (unsigned) percent
FM-3 Programming Module Reference Manual Vm Percent Continuous/volt Scaled Torque Command Output (default)) RPM /volt Scaled Velocity Command Output (default)) 4.77 30 600 5.11 30 600 3.17 30 600 3.17 30 600 3.14 30 600 MG-455 2.44 30 600 MG-455 2.44 30 600 1.85 30 600 1.
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 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 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 Jog is executing. Drive Type Motor Type Menu Groups Address Jogging Program is executing. Drive Type Motor Type Menu Groups Address Program Fault Codes A number of diagnostic and fault detection circuits are incorporated to protect the drive.
Diagnostics and Troubleshooting Segment Display Fault Action to Reset Bridge Disabled FM-3 Display Invalid Configuration Button or Input Yes Invalid Conf Power Module Button or Input Yes Power Module High DC Bus Button or Input Yes High DC Bus Low DC Bus Button or Input Yes Low DCBus Encoder State Power Yes Encoder State Encoder Hardware Power Yes Encoder HW Motor Overtemp Button or Input Yes MotorOvrTemp RMS Shunt Power Button or Input Yes RMS ShuntPowr Overspeed Butto
FM-3 Programming Module Reference Manual Segment Display Fault Action to Reset Normally on for one second during power up All "On" Bridge Disabled FM-3 Display Yes ** Fault ** ***** Depend on Fault FM-3 Fault Descriptions Flash Invalid This fault indicates that the firmware checksum has failed. Use the Tools Program Flash menu item from Emerson Motion Control PowerTools® to reprogram/upgrade the firmware stored in flash memory. If this problem persists, call EMERSON Motion Control.
Diagnostics and Troubleshooting 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. To reset the fault, create or open a configuration file with the correct drive and motor selections and download the configuration to the FM or drive.
FM-3 Programming Module Reference Manual Encoder Hardware 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. Motor Overtemp This fault is generated when the motor thermal switch is open due to motor over-temperature or incorrect wiring. RMS Shunt Power This fault is generated when RMS shunt power dissipation is greater than the design rating of the internal shunt.
Diagnostics and Troubleshooting FM-3 Specific Fault Descriptions Figure 78: EN - 2 0 4 MG - 3 1 6 ADR 0 1 S EC UR QU I CK FM-3 display is used to display drive and FM-3 faults Traj Fault This fault occurs when the drive has received trajectory data from the FM-3 that indicates a problem. Check the user units, velocities, accels and decels for correct values. ISR Overrun This fault is generated when a module flash memory problem occurs. To correct, replace the FM-3.
FM-3 Programming Module Reference Manual Brake Operation MG motor brake operation is controlled by the Brake Release and Brake Control destinations. These destinations can be used together to control the state of the Brake source. The table below shows the relationship between the Brake sources and destinations (see “Diagnostic Display”). Note No motion should be commanded while the brake is engaged.
Diagnostics and Troubleshooting Analog Outputs The drive has two 10 bit Analog Outputs which may be used for diagnostics, monitoring or control purposes. These outputs are referred to as Channel 1 and Channel 2. They can be accessed from the command connector on the drive or from the diagnostics output pins located on the front of the drive. Each Channel provides a programmable Analog Output Source. (In early releases, the FM-3 analog output is fixed at the default selections.
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 D/A Black (GND) D/A Yellow Blue 10 Ohm 10 Ohm DGNE Cable DGNE Cable Figure 80: Command Connector (J5) Diagnostic Cable (DGNE) Diagram 179
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 81: 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 (ie 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 Global Where Am I Button The Program View, when online and executing a program or sequence of programs, can display current program status. Pressing the Where Am I button on the PowerTools FM-3 toolbar creates a blue triangle that appears on the line of the program currently being executed. The Global Where Am I can be used for diagnostics.
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FM-3 Programming Module Reference Manual Specifications Power consumption: 3W from E Series 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 2.6 (66.
Specifications Cable Diagrams E Series Drive w/ FM-3 E Series Drive w/ FM-3 SCS-x Encoder Sync. Input Sync. Input Sync. Output SNCE-xxx Sync. Input Sync. Output SNCO-003 SNCI-003 15', 25' or 50' SNCI-003 3' 3' 3' M M F F SNCDD-001.5 E Series Drive w/ FM-3 E Series Drive w/ FM-3 1.5' Exp. I/O 485 + 7 485 - 8 SHLD 1 Outputs Sync. Input 2 3 4 10-30 VDC Sync. Output + - Sync. Input Sync.
FM-3 Programming Module Reference Manual SNCE-XXX Cable A A B B M M +5 GRD SHIELD 1 2 3 5 6 7 4 8 SNCDD-001.
Specifications SNCO-003 Cable SNCI-003 Cable 193
FM-3 Programming Module Reference Manual SNCLI-003 Cable 194
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 27 197
FM-3 Programming Module Reference Manual TIA-XXX Cable DDS-XXX Cable 198
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 200
Specifications CFCS-XXX Cable 201
FM-3 Programming Module Reference Manual CFCO-XXX Cable 202
Specifications CFOS-XXX Cable 203
FM-3 Programming Module Reference Manual Vendor Contact Information 204 Schaffner (AC Line Filters) (800) 367-5566 or (201) 379-7778 www.schaffner.com Cooper Industries, Inc. Crouse-Hinds Division (Cable Shield Grommets) (315) 477-5531 www.crouse-hinds.com Bussman P.O. Box 14460 St. Louis, MO. 63178-4460 (314) 394-3877 www.bussman.com Littlefuse 800 E. Northwest Hwy Des Plaines, IL. 60016 (847) 824-0400 www.littlefuse.com Wickmann USA 4100 Shirlel Dr. Atlanta, GA. 30336 (404) 699-7820 www.
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 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 uncludes 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 Inertia The property of an object to resist changes in rotary velocity unless acted upon by an outside force. Higher inertia objects require larger torque to accelerate and decelerate. Inertia is dependent upon the mass and shape of the object. Input Function See destination. A function (i.e., Stop, Preset) that may be assigned to an input line.
Glossary Most Significant Bit The bit in a binary number that is the most important or that has the most weight. ms Millisecond, which is 1/1000th of a second. 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.
PLC Programmable Logic Controller. Also known as a programmable controller, these devices are used for machine control and sequencing. Emerson Motion Control PowerTools-Base, -FM and -FM-3 Windows based software to interface with the Epsilon drives, E Series drives and Function Modules. 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.
Glossary Torque The moment of force, a measure of its tendency to produce torsion and rotation about an axis. 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.
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FM-3 Programming Module Reference Manual Index Symbols E +/- Limit, 174 Encoder Line Fault, 174 Encoder State, 173 Error Messages, 180 A All "On", 174 Analog Output, 177 B F Fault Codes, 170 Fault Descriptions, 172 Firmware Checksum, 172 Following Error Fault, 174 Brake Operation and Wiring, 176 H C High DC Bus Fault, 173 Cable Diagrams, 191 CDRO-XXX Cable, 197 CFCO-XXX Cable, 202 CFCS-XXX Cable, 201 CFOS-XXX Cable, 203 CMDO-XXX Cable, 196 CMDS-XXX Cable, 200 CMDX-XXX Cable, 195 CMMS-XXX Cable, 200
FM-3 Programming Module Reference Manual N T Non-volatile Memory Invalid, 172 TERM-H (Head) Terminator, 199 TERM-T (Tail) Terminator, 199 TIA-XXX Cable, 198 O Over Speed Fault, 174 P Power Stage Fault, 173 Power-Up Self-Test Failure, 172 Programming Error Messages, 182 R Registration Index, 20 RMS Shunt Power Fault, 174 Rotary + and Rotary - Indexes, 21 Rotary Indexes, 21 S Safety Considerations, vii Safety of Machinery, vii Safety Precautions, vii Setup, 25 Setup, Commissioning and Maintenance, vii
Since 1979, EMERSON Motion Control, a subsidiary of the Emerson Electric Company, has been a leader in the development and manufacturing of motion control equipment and software. EMERSON Motion Control continues to lead the industry in supplying motion control devices designed to improve production efficiency. For more information about EMERSON Motion Control products and services, call 1.800.39-SERVO or contact our website at www.emersondrivesolutions.com.
