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Emerson SM-EZMotion Module User's Manual

1. Speed Ref Ramps Fdbk Setup Sequencer 8 01 2 02 3 02 8 02 8 03 8 04 8 06 5 11 6 15 7 15 8 18 419 8 20 10 20 1 8217 10217 4 22 8 22 10 22 8 23 10 23 jis se 5 24 8 24 10 24 8 25 10 25 8 26 10 26 827 10 27 8 28 10 28 8 29 10 20 830 ES 3 31 8 32 18 33 Read from Drive Set at Power Up to specified value Read Write from module based on PTPro view Speed command from module to drive Accessed by EZMotion module firmware Reserved if one I O Plus module is used Reserved if 2nd I O Plus module is used 112 www emersonct com SM EZMotion Module User Guide Menu 15 Menu te Menu 7 User Vars 1 User Vars 2 User Vars 3 Threshold Posn Control User PID Var Slctr Controller Option Option Option Module 1 Module 2 Module 3 2nd Motor Setup
2. Drive Parameters Used by SM EZMotion Module www emersonct com 113 Notes 1 The SM EZMotion module reads this parameter for display purposes in PowerTools Pro Software Primary use is for diagnostics 2 These parameters are set to a specific value every time the system is powered up This parameter must not be changed or the system may not function properly 3 This parameter is read from and written to based on the value specified in PowerTools Pro This parameter is often directly displayed on a specific view and can be modified using PowerTools Pro Written to by the module on every power up 4 This is the main command signal from the SM EZMotion module This parameter is written to every trajectory update of the SM EZMotion module Do not attempt to write to this parameter 5 These parameters are not available in PowerTools Pro but are written to by the SM EZMotion module These parameters are written on every power up Do not change these parameters 6 These parameters are reserved for use by the SM EZMotion module only if an SM I O Plus module is being used If multiple SM 1 O Plus modules are used these parameters affect the functionality of the SM I O Plus module in the lower slot number 7 These parameters are reserved for use by the SM EZMotion module only if a second SM I O Plus module is being used These parameters affect the functionality of the SM I O Plus module in the higher slot number
3. seconds How User Programs Work Example Wait For EZInput 1 ON AND EZInput 2 0FF Index 0 Initiate Example Wait For Index AnyCommandComplete f EZInput 2 0N Then Jog 0 PlusInitiate Vel 20in s Wait For EZInput 2 OFF Jog Stop Endif f SPInput 6 0N Then Jog 0 MinusInitiate Vel 20in s Wait For SPInput 6 0FF Jog Stop Endif Example Wait For MasterAxis PosnFeedback gt 1000 00 EZOutput 1 ON Example Wait For VelFeedback gt 50 00 EZOutput 2 ON 8 4 1 6 Wait For Time This program instruction is used to halt program execution for a specified period of time This instruction is nota motion instruction and can be used while a motion instruction is executing Units Seconds Resolution 0 001 seconds A comment is automatically inserted after the Wait For Time instruction which notes that the time is in units of seconds The comment starts with the apostrophe character The accuracy of the Wait For Time instruction is dependant on the Trajectory Update Rate found on the Setup view The actual accuracy for this instruction is 1 Trajectory Update Therefore if the Trajectory Update Rate is set to 2msec then the worst case accuracy is 2msec Example Wait For Time 5 000 Do While TRUE Index 1 Initiate Wait For AtVel EZOutput 1 ON Wait For Time 1 000 EZOutput 1 0FF Wait For Index AnyCommandComplete Loop 8 4 1 7 Call Progr
4. The SM EZMotion module performs motion based on a concept called the timeline The timeline allows for accurate and repeatable motion with respect to a single point in time The timeline guarantees that all motion profiles occur at the right time with respect to each other If Index0 takes 3 seconds to complete and Index1 takes 5 seconds to complete by initiating Index0 and then Index 1 in a program the user would expect these profiles to take a total of 8 seconds to complete lt is possible though that because of processor timing Index 1 does not start at exactly the same time Index0 is complete Therefore the two profiles could take slightly more than 8 seconds to How User Programs Work complete Although the amount of time lost is extremely small less than 5 milliseconds over a long period of time this lost time can accumulate Keeping the timeline intact is most important in applications using synchronized motion This is because in synchronized motion time is replaced by master encoder motion If time is lost in a synchronized motion application then master distance is lost and the follower position is off with respect to the master Example Index 0 Initiate Dwell For Time 1 000 Using Last Index 1 Initiate Using Last 8 4 3 3 On Profile The On Profile instruction can be inserted after any motion type Initiate Dwell for Time or Dwell for Master Dist instructions By inserting the On Profile modifier it s
5. Reference Materials en A A A NN A ea eS V Safety Considerations vii 1 Introduction 1 LD Tint OM Cty Oni CPAP CA PEDO O o hg E ESN IS A once E E eb Wee Sea Soar NEE Lh A Be oh ee 1 1 2 SM EZMotion Module for Unidrive SP 1 1 3 Development Software sine A A whee ele ok ardt Gace wide Siete Mente a 1 Ln Features x sont chouette SNS Oe ae wD EPS ue Seth Sle ed toi AES dti dn ap lh ebb dot nie aed 1 2 Installation 3 21 Mechanical Installation RE eh A E 3 IES AS o sine on sees vraie name made Ba hac ow eee diametre FR bs etd Behave Beas Wardens when ar ne Soe ge ae AE SD 3 23 Electrical Connections ela ia sue A gles aged ale AR RA at iS 3 2 4 Digital T O Conn ctiong A eee nce dee Se RRR ek SED cae ae ge de 3 2 5 Connecting Motor Encoder Feedback to the Unidrive SP 3 2 6 Simple Servo Motor Phasing Test 5 3 PowerTools Pro Configuration Software 7 Dsl Introduction ii A ah Fa oad bath oe beh A ates coe tl Deeps 7 3 2 Installing PowerTools Pro s soi acetoacetate dak nome deeded ataadbaes Sea eat alesse 7 3 21 Fromthe Power ED A Bee AOE BUA ESA SAA PUR Ete Me 7 3 22 A GD ost E E A a 7 3 3 How PowerTools Pro is Organized 7 S320 MENUNB alt o o ett ea ete eee ees tame tn aha te El te e tea hela lattes A e atts de 7 33 2 O E RN A SA 13 3 3 3 Ai A A is a a a 15 A A AA Lt en E EE SR dates de Sede ee
6. CONTROL 7 TECHNIQUES SM EZMotion Module User Guide P N 400361 00 Revision A1 Date July 3 2003 O Control Techniques Drives Inc 2003 EMERSON Industrial Automation SM EZMotion Module User Guide gt CONTROL YY TECHNIQUES Information furnished by Control Techniques Drives Inc Control Techniques is believed to be accurate and reliable However no responsibility is assumed by Control Techniques for its use Control Techniques reserves the right to change the design or operation of the equipment described herein and any associated motion products without notice Control Techniques also assumes no responsibility for any errors that may appear in this document Information in this document is subject to change without notice P N 400361 00 Revision Al Date July 3 2003 Control Techniques Drives Inc 2003 O Control Techniques Drives Inc 2003 All rights reserved Part Number Revision Al Date July 2003 Printed in United States of America Information in this document is subject to change without notice No part if this document may be reproduced or transmitted in any form or by any means electronic or mechanical for any purpose without the express written permission of Control Techniques The following are trademarks of Control Techniques and may not be reproduced in any fashion without written approval of Control Techniques EMERSON Motion Control EMERSON Motion Control PowerTools
7. Safety Information The SM EZMOTION module and its associated drive are intended as components for professional incorporation into complete equipment or systems If installed incorrectly the drive may present a safety hazard The drive uses high voltages and currents carries a high level of stored electrical energy and is used to control mechanical equipment that can cause injury Close attention is required to the electrical installation commissioning and maintenance must be carried out by personnel who have the necessary training and experience They must read this safety information and User Guide carefully Careful consideration must be given to the functions of the drive and solutions module which might result in a hazard either through their intended functions e g auto start or through incorrect operation due to a fault or trip e g stop start forward reverse maximum speed loss of communications link In any application where a malfunction of the drive or solutions module could lead to damage loss or injury a risk analysis must be carried out and where necessary further measures taken to reduce the risk To ensure mechanical safety additional safety devices such as electro mechanical interlocks may be required The drive must not be used in a safety critical application without high integrity protection against hazards arising from a malfunction General Information The manufacturer accepts no liability for any con
8. Terminal Function Description OV Common connection for 1 OV Common digital 1 O 2 Input1 Digital Input 1 3 Input2 Digital Input 2 4 Input3 Digital Input 3 5 Input4 Digital Input 4 6 Output1 Digital Output 1 7 Output 2 Digital Output 2 2 4 Digital 1 0 Connections The SM EZMotion module is equipped with 4 digital inputs and 2 digital outputs The I O are electrically sourcing I O All I O utilize positive logic meaning that they are active when positive voltage is applied 10 30 VDC See the Specifications section at the back of the manual for more detailed information on the digital I O These digital I O can be used to control different functions in the SM EZMotion module The digital I O on the SM EZMotion are updated at the SM EZMotion Trajectory Update Rate The Trajectory Update Rate can be found on Installation www emersonct com the Setup view in PowerTools Pro see Setup View on page 37 for more information on the Trajectory Update Rate The digital I O on the SM EZMotion module are also unique as compared to Unidrive SP digital I O and SM l O Plus module I O because they can be used in the SM EZMotion high speed capture process Even though they are only updated once every Trajectory Update the SM EZMotion processor knows when they activate to within 1 microsecond Therefore when Capture is used they can be accurate to 1 microsecond see Capture View on page 46 for more information on the SM EZMotio
9. There are numerous different methods that can be used to stop programs using Assignments in the SM EZMotion module Listed below are the various assignment destinations 10 2 1 1 Stop The Stop destination will when activated stop all motion and all programs that are active Stop is level sensitive so that while it is active all motion and programs are prevented from starting Stop will override any other functions that are active 10 2 1 2 Program Stop The Program Stop destination is used to stop a specific user program without stopping all of the programs Program Stop is edge sensitive so the stopped program can be initiated again immediately after it has been stopped 10 2 2 From Programs Following are the instructions used to stop user programs from within a user program 10 2 2 1 Stop The Stop command is used to stop all motion and programs that are currently active Stop is level sensitive so it must be activated by being set equal to ON Stop ON Since programs cannot be initiated while Stop is active the user must create an assignment to deactivate the Stop function if it is activated from a user program 10 2 2 2 Program ProgramStop The Program ProgramStop command is used to stop a specific user program If the intended program is not active the instruction will be ignored Program ProgramStop is edge sensitive therefore the program that is stopped can immediately be initiated again
10. ss f Disconnected Figure 90 The selector helps to minimize the required number of inputs and outputs to initiate different actions The selector limits the I O by using a conversion from binary to decimal Figure 91 shows a block diagram of the Selector Object Selector View gt Selector SelectionO Selector Select0 _ Selector Select gt Selector Select2 3 Selector Select3 Selector Object Selector Selectiont t Selector Selection2 t Selector Selection3 Selector Selection4 gt Selector Selections gt Selector Selection6 M Elle Edit Device Options Tools View Window Help 8 x DjSjale talta 4 ALS SE a oler Em 153 2 ie r Module 1 0 Setup EA Axis 1 Digital 1 0 m Hardware EZMotion Input 1 Debounce Time 0 000 Seconds 8 4 Setup 1 0 Setup EZMotion Input 2 Debounce Time 0 000 Seconds 323 Assignments D llo Stop EZMotion Input Debounce Time 0 000 Seconds gt Eero E a poo 000 thy Selector EZMotion Input 4 Debounce Time Seconds sa AMF Motion EZMotion Output 1 E Programs E Programo EZMotion Output 2 Ge Network DA Common D gt Digital Input 1 D Digital Input 2 WD gt Digital Input 3 DA Digital Input 4 fe Digital Output 1 Digital Output 2 Ready Disconnected 4 Figure 89 7 4 4 Selector View The Selector View allows the user to configure the Selector object The se
11. Configuring an Application on page 33 5 2 Jog Jog is a motion object that has Acceleration Velocity and Deceleration but no dedicated distance The user pressing a push button or foot pedal often controls jog motion When the user presses the Jog button the jog accelerates up to the jog velocity and continues to run at that velocity until the user releases the Jog button When the user releases the Jog button the jog decelerates from the Jog Velocity back down to zero velocity stopped Figure 32shows an example of a Jog profile 4 Velocity A A Jog Accel eS S Z Jog Decel cd Time Jog PlusActivate Figure 32 Jog Profile Diagram The distance traveled by a Jog is entirely dependant on the duration that the Jog signal is held active To accurately control the distance the motor moves an Index is the preferred motion object type 5 3 Home Home is a motion object that has Acceleration Velocity and Deceleration A Home works by accelerating up to the specified velocity until a reference signal activates Once the reference signal activates the motor either begins to How Motion Works decelerate to a stop immediately called Calculated Offset or continues at the Home velocity and comes to a stop a specified distance from where the reference signal activated called Specified Offset The Home is typically used to define a reference position or Home position on a machine This can be done
12. If EZInput 1 ON AND EZInput 2 OFF Then EZOutput 1 ON EZOutput 2 OFF Endif Example If SPInput 4 OFF Then Jog 0 PlusInitiate Vel 20in s Wait For SPInput 4 OFF Jog Stop Endif Example If NOT SPInput 5 ON Then Jog 0 MinusInitiate Vel 20in s Wait For SPInput 5 0FF Jog Stop Endif 8 4 1 2 Else This program flow instruction is used in conjunction with the If Then Endif instruction If the If Then test condition evaluates to true the code after the If Then and before the Else is executed If the test evaluates to false the code between the Else and the Endif is executed Example If EZInput 1 ON Then EZOutput 1 ON EZOutput 2 OFF Else EZOutput 1 OFF EZOutput 2 ON Endif Example If SPInput 5 ON Then Jog 0 Vel 1 0 in s Else Jog 0 Vel 0 1 in s Endif 8 4 1 3 For Count Next This instruction is used to execute a section of code a specific number of times The user must enter the two numbers that control the repeat count This instruction can either count up or count down If the first number provided by the user is larger than the second number then the instruction will count down If the first number provided by the user is smaller than the second number then the instruction will count up The SM EZMotion Module User Guide valid range for the numbers provided is O to 2147483647 Example For Count 1 to 5 Index 1 Initiate Dwell For Time 1 00
13. 1 2 4 6 8 10 12 14 Row Stering Postion 2 Heva Figure 46 Registration to Sensor Profile Offset 0 Index Distance 3 Revs Figure 44 Incremental Index Repeated 3 Times 26 www emersonct com SM EZMotion Module User Guide A Velocity Index Velocity Index Decel Index Accel NY wee Offset Distance Time VL Y LL OS NN OS a SS OS TNN NS QS O Index Accel SS SY MO QO Se N Index Decel Index Velocity Y Index Initiate 1 Registration Sensor Figure 47 Registration to Sensor Profile Offset lt 0 5 4 4 Rotary Plus Index A Rotary Plus Index is used when Rotary Rollover is active The Rotary Plus Index is similar to an Absolute Index but it is forced to go in the positive direction to get to its programmed position The programmed position for a Rotary Plus Index must be within the Rotary Rollover range Posn lt Rotary Rollover Figure 48 compares a Rotary Plus Index to an Absolute Index Rotary Rollover is enabled ne Position a 270 4 ne Rotary Rollover 360 Index Position 270 Position After Index 0 ne 270 lt a H 90 270 gt lo ae Rotary Plus Absolute Forced Positive Shortest Path Figure 48 Rotary Plus Index Profile How Motion Works 5 4 5 Rotary Minus Index A Rotary Minus Index is used when Rotary Rollover is active The Rotary Minus Index is similar to an Absolute Index but it is forced to go in the negativ
14. The changes will take effect immediately upon clicking on the icon The changed parameters will be sent to the SM EZMotion module without stopping motion or disabling the drive 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 The flowchart in Figure 27 describes a typical process using the Update to RAM to make changes and then downloading when complete to save changes to NVM Communications www emersonct com Modify Parameter Values Click the Update to RAM icon More Changes Required Perform a full Download Figure 27 Update to RAM flowchart The Update to RAM button operates according to the following rules e If no parameters have been modified the Update to RAM button will be disabled e Ifthe user modifies a parameter that does not require a full download the Update to RAM icon will become enabled e If while the icon is enabled the user modifies a parameter that requires a full download the Update to RAM icon will become disabled When the user clicks on the Update to RAM icon all the modified parameters are transmitted to the SM EZMotion module Once transmitte
15. To use a menu choose one of the following methods e On the menu bar click a menu name to display a list of options On the menu either click an option or use the DOWN ARROW to move down the list and then press ENTER e Press ALT and press the underlined letter in the menu name Then press the underlined letter in the option name For example to open a new configuration file press ALT and press F to open the File menu Then press N for New see Figure 8 3 3 1 1 File The File menu on the Menu Bar contains many different options for file handling e g saving files importing files etc Figure 8 below shows the File menu expanded M Fie Edit Device Options Tools View Window Help New Ctrl N Open Ctri O Close Save Ctrl S Save As Import Print Ctrl P Print Preview Print Setup 1 test file 4 5M4 2 test file 3 5M4 3 test file 2 5M4 4 test file 1 5M4 Figure 8 File Menu 3 3 1 1 1 New New will open a new PowerTools Pro file The user will be asked what type of configuration to create FM 3 FM 4 or SM EZMotion For modules to be used with the Unidrive SP the SM EZMotion should be selected 3 3 1 1 2 Open Open allows the user to open an existing application created with PowerTools Pro Navigate to the directory that the desired file is located in and double click on the specific file Doing so will open the file for editing 3 3 1 1 3 Close Close will close the active confi
16. active then the CaptureActivate has no effect and the CaptureTriggered remains inactive Once the CaptureEnable is activated the Capture component is ready and waiting for a CaptureActivate signal to capture data CaptureEnable is a read only destination on the Assignments view and is accessible through a user program CaptureActivate If the Capture component is enable and has been reset CaptureTriggered is inactive then the rising edge of CaptureActivate will capture the four data parameters and cause CaptureTriggered to be activated If the Capture component is not enabled or has not been reset the CaptureActivate will be ignored CaptureReset The CaptureReset is used to reset or re arm the capture component after it has been activated Once the capture has been activated the CaptureTriggered destination will be active The capture component cannot capture data again until it has been reset The capture component will automatically reset itself if the CaptureEnable signal is removed Configuring an Application CaptureEnable CaptureActivate CaptureTriggered CaptureReset Figure 78 Capture Timing Diagram Figure 78 is a timing diagram that shows how the different capture related sources and destinations function The three numbers located on the diagram are associated to the following three notes respectively 1 While CaptureTriggered is active a risin
17. certain bits Masking bits prevents them from being modified in the program when the 32 bit parameter is written to When a User Bit Register group of 32 User Bits is written to the value is then logic AND ed with the mask to determine the resulting state of each of the 32 individual bits If the individual bit value of the 32 bit mask is 1 then the corresponding bit from the written 32 bit parameter is passed through and the resulting value stored in the specific bit will be the written bit value If the bit value of the 32 bit mask is 0 then that particular bit is blocked or masked and the resulting bit value does not change Original Value AND NOT 32 Bit Mask or Value Written over Network AND 32 Bit Mask An example of this is shown in Figure 84 Pe Bit 431 15 0 Original Value 1 010 0 0 0 0 1 0 110 0 0 0 0 0 1 0 0 0 0 0 110 0 0 0 0 0 0 010 1 i I i if i I 1 I 1 k I i I d E I Value written f over network 0 1 1j0 1 j0 0 0 0 1 1 1 1j0 0J0 0 1 1 1 1 1jo0 1f0 1 j0 1 1 0 I I 1 1 1 1 i Logical AND OR Logical AND NOT i i I i i J 1 1 1 1 I 1 32 bit Mask 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 i i i i i i i 1 I i I R I l I i I I I 1 Result stored i A i in each bit 1 1jojojojojojojo 1 j0 1jojo0j0j0 1 1 0 1 0 1 1 1 0
18. determines the number of digits after the decimal point used in all distance and position parameters throughout the software Using a high number of decimal places will improve position resolution but will also limit the range of absolute position You can select from zero to six decimal places of accuracy Scaling A Characteristic Distance and Length must be established to allow the module to scale user units back to actual motor revolutions This scaling factor is as follows Characteristic Distance Scaling CAES Characteristic Length Scaling Characteristic Distance This is the distance the load travels in user units when the motor travels the characteristic length in motor revolutions Scaling Characteristic Length This is the distance the motor travels in whole number of revolutions to achieve one characteristic distance of load travel Velocity Time Scale List Box The time can be one of two values seconds or minutes This selection sets the real time velocity time scale Acceleration Time Scale List Box From this list box select the acceleration time scale 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 7 3 3 Master Units Setup View The Master Units Setup view is used to configure the parameters for the master axis used in synchronized motion applications The master axis
19. modules are being used If using one SM I O Plus module the I O on the SM I O Plus module is updated every 8 milliseconds If a second SM I O Plus module is used the I O on both SM I O Plus modules are updated every 16 milliseconds To use the Unidrive SP I O in the PowerTools Pro Assignments view the three Input Output lines are called SlotX 1O In or SlotX 1O Out depending on how they are configured where X represents the slot number the module is located in and represents the specific I O number The configured Input Output lines will be listed both under the Inputs group of Sources and the Outputs group of Destinations Therefore it is important for the user to know how the Inputs Outputs have been configured The dedicated Inputs are referred to as SlotX Input where X represents the slot number the module is located in and represents the specific I O number Because of the slower scan rate of the SM I O Plus module inputs and outputs it is recommended that these I O not be used for critical motion functions e g Home Switches Registration Sensors Travel Limits PLS s etc www emersonct com 31 32 www emersonct com SM EZMotion Module User Guide 7 Configuring an Application 7 1 Introduction All applications using SM EZMotion modules are configured using PowerTools Pro configuration software For specific questions on PowerTools Pro operation please refer to Section 3 of this manual The hier
20. position After completing an Absolute Index the motor will always be in the same position regardless of the starting position of the motor The direction that the motor moves during an Absolute Index is dependant upon its position when the index is initiated If an Absolute Index is initiated a second time just after completing the first index the motor will not move because it is already at its specified absolute position Figures 41 and 42 show examples of an Absolute Index profile lt T T T gt Position 4 2 1 0 1 2 3 4 Revs Starting Position 2 Revs Index Position 2 Revs Figure 41 Absolute Index Profile Example 1 _ Foi P moe 4 2 A 0 1 2 3 on Revs Starting Position 3 Revs Index Position 2 Revs Figure 42 Absolute Index Profile Example 2 Note If Rotary Rollover is active an Absolute Index will take the shortest path to the specified index position 5 4 2 Incremental Index An Incremental Index is used to make the motor travel a specified distance each time the index is initiated The final position after the Index is completed is entirely dependant on the starting position before the Index was initiated If an Incremental Index is initiated a second time it will move the same distance each time Figures 43 and 44 show examples of an Incremental Index profile Es Position 1 2 3 4 5 6 7 8 Revs Starting Position 2 Revs Index Distance 4 R
21. revisions are named using an xx yy zz format xx yy is displayed in parameter 11 29 of the Unidrive SP database and zz is displayed in parameter 11 34 This parameter can be found on the Information tab on the Status view while Online with PowerTools Pro EZ xx represents a change that affects hardware compatibility yy represents a change that affects product documentation and zz represents a change that does not affect the documentation Speed Feedback Selector SpeedFeedbackSelector The Speed Feedback Selector parameter determines where the feedback device for the motor being controlled is connected to Early releases of the SM EZMotion module only support a value of Drive 0 therefore this parameter is greyed out on the Setup view The encoder 106 www emersonct com feedback signal must be connected to the Unidrive SP encoder connector This parameter is read only from within a user program SPinput Status SPInput 4 In The last three digital I O points on the Unidrive SP are defined as digital inputs only pins 27 28 and 29 The In at the end of the parameter is optional so this signal is most often referred to simply as SPinput These inputs can be used in a user program or on the Assignments view to activate different destination events These inputs are updated at the Trajectory Update Rate found on the Setup view in PowerTools Pro EZ SPinput Name SPInput Name Each digital input on the Unidri
22. revs 0 0000 rews Both LL Jl Assignments Destination Set From Polarity Source Set From E PLSO PLSO na msi EH PLS2 Er PLS2 gt ra ss Lt i jee Drive Disabled 10 0000 revs 0 00000 revs m Connected Figure 74 PLS View 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 SM EZMotion 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 t Direction is set to Both When traveling in the positive direction and the Configuring an Application feedback position executes the OnPosn the PLS Status will activate As the motor continues in the same direction the PLS t Status will deactivate when feedback position reaches or exceeds the OffPosn If motor travel changes to the negative direction the PLS Status will activate when the feedback position reaches the OffPosn and will deactivate when it continues past the OnPosn All on off positions are defined in user units PLS A Status will be active if PLS OnPosn lt Feedback Position PLS OffPosn Off Point PLS Status will be active when t
23. the Master Velocity Units on the Master Setup screen By default gearing does not use acceleration or deceleration ramps with respect to the master encoder This means that once gearing is activated peak torque is available to try to achieve the specified gear ratio Therefore if the master axis is in motion when gearing is activated the control loop will attempt to achieve the programmed ratio within one update without programmed acceleration Analogously when gearing is deactivated the motor will use peak torque to bring the motor to a stop 28 www emersonct com without a deceleration ramp Acceleration and Deceleration ramps can be enabled by the user If enabled the Accel and Decel ramps are specified in units of Follower Units Velocity Time Base Acceleration Time Base Note that this is a Realtime ramp Therefore the time that it takes to reach the programmed ratio depends on how fast the master is traveling when gearing is activated Figure 51 demonstrates that the faster the Master Velocity the longer it will take to reach the programmed ratio If the Master Axis is not moving when gearing is initiated then the follower locks into its programmed gear ratio instantly no acceleration time required Velocity A Programmed Gear Accel Rate MV MV MV I gt e gt Ta l T Ta Time aoo i e gt Gear Initiate T lt T lt T The greater the master velocity MV the lo
24. the trip may reactivate immediately after clearing it 3 3 1 3 8 View Faults Selecting View Faults from the Edit menu will open the Active Faults pop up window The Active Faults window will show any fault conditions that have not been reset 3 3 1 3 9 Reboot Drive Selecting Reboot will cause the SM EZMotion to reboot itself similar to cycling power Rebooting will cause PowerTools Pro to lose communications with the SM EZMotion module 3 3 1 3 10 Feedhold Selecting Feedhold will put the SM EZMotion module into a feedhold condition Feedholding is a means of pausing motion that is active For more information on Feedhold see Section 8 Starting and Stopping Motion in this manual 3 3 1 3 11 Where Am I Global Selecting Where Am I will launch a utility that shows the user what line in a user program is currently being processed If multiple user programs are running simultaneously the user will be asked to specify which task they wish to follow A blue arrow will appear next to the active line of the program The global Where Am will continuously update until it is deactivated This is different from the Where Am I found on the Program Toolbar 3 3 1 4 Options Figure 11 shows the Options Menu as selected from the PowerTools Pro Menu Bar M File Edit Device Options Tools View Window Help Preferences gt Communications User Levels Ptools Operation Figure 11 Options Menu 3 3 1 4 1
25. y EN SET Encoder at Slot 3 empty Encoder Configuration Y Drive Menu Watch Encoder Type Quadrature Increment Drive Menu Initialize f Setup Encoder Setup 4 1 0 Setup 68 484 Motion 6 Programs 2 Network Encoder Supply Voltage 5 Volts Y Lines Per Rev pre Quadrature 2048 Simulated Encoder Dutput Encoder Simulation Source 0 00 SP Menu Param Encoder Simulation Numerator 1 0000 Encoder Simulation Denominator 1 0000 Ready Disconnected Z Figure 57 Slot View SM Encoder Plus Module 7 2 2 5 SM Resolver Module View If Resolver is selected in the Slot Module combo box the remainder of the view should have configuration parameters to define the resolver properties The hierarchy automatically updates to show that a SM Resolver module is populated in that specific slot see Figure 58 M Ele Edit Device Options Tools View Window Help 18 x z fi E S E 1 0 E Y BEE afa a Al al E r nie fo zi M Ele Edt Device Options Tools View Window Help 18 x LN Sanma For 4 Djsiple tv gt 215 SE See sens 21 BA Hardware lt Drive Encoder Sloti Module 1 0 Plus Si Slot Configuration fl RES Digital1 0 Setup i EA Nec MAN El he E bie Slotl Module Resolver y Y Drive Menu Watch Digital 1 0 ink ate ia nias 1 01 Output Y taf 3083 empty 1 1 0 Setup 102 Input z H ee we i 103 Dupe x fg Setup E Network 3 8 1 0 Setup 1 0 4 Input El 4 Motion vos os ef rosa v
26. 0 On the registration tab select the Analog radio button In the analog list box select Torque Command In the comparison operator list box select gt In the analog value parameter enter 50 Units are established on the User Units view In the Registration Offset parameter enter 1 5 This index would accelerate up to its target velocity and run at speed until one of the following The Limit Distance is approaching and the index decels down to zero velocity completing the move at the Limit Distance At this point the Index LimitDistHit source would activate Or The Torque Command reaches or exceeds 50 continuous and the index continues at speed before decelerating to zero velocity at the registration point plus the Registration Offset distance If the Registration Offset distance is in the opposite direction from the move or is so short that the motor cannot stop in the specified distance at the programmed deceleration rate the motor will decelerate with the programmed ramp and then back up to the specified position registration point the Registration Offset Index Sources and Destinations Sources Index AnyCommandComplete Active when any index motion command is completed If a stop is activated before the index has completed this destination will not activate Deactivated when any new index command is initiated Index Accelerating This source is active while an index is accelerating to its
27. 1 0 1 0 1 0jJ0 1 f 1 i I i I I I I 1 I Figure 84 Writing to the User Bit Register The Mask is only used when WRITING to the 32 bit parameter BitRegister Value When reading the 32 bit value all bits are read regardless of the mask Configuring an Application FM 3 4 Write Network Master Read AND Mask Value Written data is AND ed with the Mask and then written into 32 bit Value Read data is read directly from the 32 bit Value and bypasses the Mask Figure 85 User Bit Read Write Process Configuring the User Bit Mask Register The User Bit Mask is a 32 bit parameter that can be configured through Power Tools Pro in the User Program or over the communications network The default value for the Mask register is OxFFFFFFFF HEX or all bits ON To change the Mask value using PowerTools Pro navigate to the Mask tab on the User Bits view see Figure 86 IM Eile Edit Device Options Tools View Window Help 18 x oema a 2 ALS 616 efejede 210010 ex Number of Bit Registers ff Setup Mask BitRegister Masks 31 Bit 0 Mask W RER MMMM MINN 1594822640 OXSFOFOFFO Current Errors Programs Network Ready Disconnected Z Figure 86 User Bits View Mask Tab In the User Bits view Mask Tab each bit of the Mask can be set to 0 or 1 individually ON or 1 is indicated by a shad
28. 12 3 SM EZMotion Module Setup Parameters Several parameters associated with the SM EZMotion option module can be found in either Menu 15 16 or 17 Each of menus 15 16 and 17 refer to one of the available slots into which the SM EZMotion option module can be fitted The following SM EZMotion parameters are available from the keypad on the Unidrive SP The slot that the module is plugged into directly determines which menu these parameters are found under Slot 1 Menu 15 Slot 2 Menu 16 Slot 3 Menu 17 x 01 Option ID Code When no option module is fitted in the relevant slot this parameter is zero When a module is fitted in the relevant slot this parameter displays the identification code of the 114 www emersonct com module as shown below Intelligent Code Module Category Mo ae 0 No Module Fitted 101 SM Resolver Position Feedback 102 sate be Position Feedback x 103 SM SLM Position Feedback X 104 SM Encoder Plus Position Feedback 201 SM I O Plus 1 0 Expansion 301 SM Applications Applications X 302 SM Applicaitons Lite Applications X 303 SM EZMotion Applications X 401 reserved Fieldbus X 402 reserved Fieldbus X 403 SM Profibus DP Fieldbus X 404 SM INTERBUS Fieldbus X 405 reserved Fieldbus X 406 SM CAN Fieldbus X 407 SM DeviceNet Fieldbus X 408 SM CANopen Fieldbus X When the drive parameter database is saved by the user the opt
29. 2 the parameter would be named Slot2 10 Name Each digital I O point on the SM I O Plus module can be given a name The name can be used in a user program to reference a specific I O point The name can be up to 12 alphanumeric characters but must begin with a non numeric character Slot X 10 State SlotX IO Out This parameter is only available when an SM I O Plus module has been populated in one of the Unidrive SP slots The X in SlotX defines the slot number that the SM I O Plus module has been fitted in For example if the I O Plus module is in slot 2 the parameter would be named 104 www emersonct com Slot2 10 Out The first three digital I O points on the SM I O Plus module pins 2 3 and 4 are configured as Inputs or Outputs using PowerTools Pro EZ software The Out at the end of the parameter name is optional therefore this parameter is often referred to as simply SlotX IO If the I O points have been configured as digital outputs then the SlotX I1O Out signal can be used in a user program to activate an output or on the Assignments view to activate when a specified Source event activates If assigned to a source on the assignments view when the source event activates the output that it is assigned to will turn on Note This parameter will appear on the Assignments view under the Outputs group of Destinations even if the I O point has been configured as a digital input SlotX Relay Na
30. 3 7 Current View The Current View allows the user to configure Current Level Flags and Current Limits for use in the application a File Edit Device Options Tools View Window Help oema altel 1 415 616 Sl elle 21015 1 21 r Settings Limits Current Level 175 0 Cont Current Limit l l xl 175 0 Cont Peak Torque 175 0 Cont Figure 71 Current Level Torque View This parameter sets the activation point for the Current Level Active source lf set to 100 the Current Level Active source will activate any time the Current Command reaches or exceeds 100 continuous Current Limit This parameter sets the value to which the Current Command will be limited when the Current Limit Enable destination is active To make the Current Limit always active assign the Current Limit Enable destination to the Initially Active source on the Assignments view 42 www emersonct com 7 3 8 Tuning View The Tuning View contains all the parameters that are adjusted to properly tune the motor drive system Figure 72 shows an example of the Tuning View M Elle Edit Device Options Tools View Window Help lex olele sv 1 415 16 Eee 24019 e e Load 1 r Low Pass Filter Current Demand Filter 1 0 Miliseconds Inertia Ratio 0 0 Tuning VelocityLoopBandwidth 50 PositionLoopResponse 20 F Enable Velocity Feedforward Figure 72 Inertia Ratio Tuning View This parameter is the
31. 99 Program Blocking 75 Program View 63 Index Program Initiate 100 Program Name 100 Program ProgramComplete 100 Program Stop 100 Program AnyComplete 100 Programming Examples 68 Q Queue Name 100 Queue Size 100 Queue Dataln 100 Queue FullLevel 100 Queue QueueClear 100 Queue QueueCompareEnable 100 Queue QueueEmpty 100 Queue QueueExit 101 Queue QueueFull 101 Queue QueueOffset 101 Queue QueueOverflow 101 Queue Remove 101 Queue Source 101 Queues View 48 R Ramps View 41 Red Dot Error Bar 73 Registration Index 26 Rotary Minus Index 27 Rotary Plus Index 27 RotaryRolloverEnable 101 S Safety Considerations vii Safety Precautions vii Selector View 54 Selector Select 101 Selector Selection 101 Selector SelectLinesUsed 101 Selector SelectorInitiate 101 Setup NVM View 46 Setup View 37 Slot View 33 Slot1 ErrorStatus 101 Slot2 ErrorStatus 102 Slot3 ErrorStatus 102 SlotX EncoderLinesPerRev 102 SlotX EncoderSimulationDenominator 102 www emersonct com 135 SlotX EncoderSimulationNumerator 102 SlotX EncoderSimulationSource 102 SlotX EncoderSupply Voltage 103 SlotX EncoderType 103 SlotX Input In 103 SlotX Input Name 103 SlotX IO t Direction 103 SlotX IO In 104 SlotX IO Name 104 SlotX IO t Out 104 SlotX Relay Name 104 SlotX Relay Out 104 SM EZMotion Module I O 31 SM I O Plus Module I O 31 SoftwareTravelLi
32. Current Limit in the SM EZMotion module The Current Limit Enable signal must be active for the current to be limited to the Current Limit value By default the Current Limit Enable signal is not active Units for the Current Limit are Continuous This means that 100 is equal to the system rated current Motor Rated Current lt System Rated Current lt Drive Rated Current This parameter is found on the Current view Current Limit Active CurrentLimitActive The Current Limit Active event activates when the Current Demand meets or exceeds the Current Limit parameter value This event can be found on the Assignments view and can be assigned to a digital output or other event to signal to the user when the current is being limited by the SM EZMotion module The event will deactivate when the Current Demand is less than the Current Limit value Current Limit Enable CurrentLimitEnable The user can limit the amount of current that the Unidrive SP can generate by configuring the Current Limit in the SM EZMotion module The Current Limit Enable signal must be active for the current to be limited to the Current Limit value The Current Limit Enable signal is not active by default Decelerating Decelerating This source is active when the SM EZMotion module is decelerating A normal index consists of 3 segments www emersonct com 87 Accelerating At Velocity and Decelerating Decelerating follows the accelerating segment and the
33. Deceleration 1000 tevs m s F 1 0 Setup A Motion EI dogs Ready Disconnect ted Figure 100 Gearing View The following parameters are used to configure Gearing motion Ratio Acceleration Enable Acceleration Deceleration Enable Deceleration 7 6 Create User Programs 7 6 1 Program View The Program View allows the user to create application specific code to perform all of the necessary motion and l O related function of a machine system Figure 101 shows an example of the Program View www emersonct com 63 TB Ele Edit Device Options Tools view Window Help 18 x oleas sv 1 415 616 Selle sis to eine Program Name Program Program Number 0 Task Number D 4 a Run Anytime EA axis 1 SS Hardware 9G Setup Edt 1 0 Setup E A Motion El Program Flow BE alal ALAN eia EE Programs fThen Endif Put a description on this line 2 E Ele El Network For Count Next Do While Loop Wait For Wait For Time Call Program Dwell For Time Dwel For MasterDist Index Initiate 3 Index Compoundinitiate Jp Home Initiate Jog Stop 3H Jog PlusInitiate Jog Minuslnitiate 3 Program ProgramStop a Program Initiate Gear Stop Gear Initiate 3H Profile Profilestop E Motion Modifiers Using Capture Using Last On Profile Figure 101 Program View For details on the Program View or how to create a program see Section 7 How User Programs Work in this manua
34. Drive revision conversion On a download PowerTools Pro first checks the revision of the SM EZMotion module firmware before downloading the configuration If the firmware in the module is older than the matching software revision PowerTools Pro then converts the user configuration to match the firmware revision in the module Because certain parameters may need to be changed to match the firmware revision PowerTools asks the user if they wish to save the file before it is converted If the user wishes to download without saving every time and therefore avoid being asked on every download this checkbox should be checked 4 4 5 1 2 Overwrite Reset the NVM configuration When this radio button is selected the Overwrite option will be used on every download to the module For more details on how the Overwrite option works see the Download NVM Options above Note Note It is required to Overwrite the Non Volatile Memory on the first download to the module since no Non Volatile Memory parameters have been loaded into the drive on initial startup 20 www emersonct com 4 4 5 1 3 Update Upload the values into the current Update PowerTools Pro configuration When this radio button is selected the Update option will be used on every download to the module For more details on how the Update option works see the Download NVM Options above 4 4 5 1 4 Keep Remember the values and restore them after the download When this radi
35. Error Status Slot3 ErrorStatus If the Unidrive SP trips due to an error in an option module populated in Slot 3 this parameter will store display the Error Code for the specific error This parameter can be seen while online with PowerTools Pro EZ on the Errors view For details on the specific error code refer to the user guide for the particular option module SlotX Encoder Lines Per Revolution SlotX EncoderLinesPerRev This parameter is only available when an SM Universal Encoder Plus option module has been populated in one of the Unidrive SP slots The X in SlotX defines the slot number that the SM Universal Encoder Plus option module has been fitted in For example if the Universal Encoder Plus option module is in slot 2 the parameter would be named Slot2 EncoderLinesPerRev The EncoderLinesPerRev defines the resolution of the encoder hardware This is equal to the number of lines on the encoder pre quadrature value The range for the Lines Per Rev is 0 to 50000 This parameter is found on the SlotX view after a SM Universal Encoder Plus option module has been selected for Module Type For more information on this parameter please refer to the SM Universal Encoder Plus user guide parameter x 10 SlotX Simulated Encoder Denominator SlotX EncoderSimulationDenominator This parameter is only available when an SM Universal Encoder Plus option module has been populated in one of the Unidrive SP slots The X in
36. Figure 119 is an example of the Status View Online Tab SM EZMotion Module User Guide Biles IM Ele Edit Device Options Tools View Window Help 18 x Delta S tv x AL 5 010 sl ejerce SIN 2 ve Status Status Online Information Control Loop Position Command 42 7067 revs Average Margin 1 546 Miliseconds Position Feedback 42 7067 revs 1 324 Miliseconds l te an E g R e Master Feedback live Encoder Rev 42 Revs ter P Ri Drive Encoder Position 46316 1 2 16 revs gan aes fees ie Drive Encoder Fine EMANA AN BEM Master Enc Revs 0 Revs Motor Velocity Master Enc Position 0 1 2 16 revs Velocity Command O revs m Velocity Feedback O revs m Current Drive Status Current Demand 14 Bus Voltage 302 VDC Overload Accumulator 00 Braking Rester Brake Resistor Alam Brake Overload Acc 00 Drive Ready and Idle 42 7067 revs 0 revsim Connected Figure 119 Status Online Tab Many of the views in PowerTools Pro have Online tab that contain parameters related to that View when online with the drive 13 4 Clearing SLX dF trip after installing SM EZMotion module After installing a SM EZMotion module for the first time the Unidrive SP will display a SLX dF trip where X is the slot number that the SM EZMotion module is in This trip occurs because the drive detects the module type in the slot has changed This trip will occur on each successive power up until the dri
37. IM Eile Edit Device Options Tools View Window Help 8 x ojejala lv 1 3 a 015 le lele 2019 2x Included in NVM Current Network Disconnected Z Figure 75 Setup NVM View 7 3 12 Capture View The Capture View allows the user to configure the various Capture object parameters Figure 76 shows an example of the Capture view 46 www emersonct com IM Fie Edt Device Options Tools View Window Help 18 x ojsiula salve 1 Al SEI 2 1 Capturet Ready Disconnect ted Figure 76 Capture View A detailed explanation of each of the Capture components is below Name You can assign a descriptive name to each capture making the configuration 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 capture line to assign a name to it Capture Number This parameter defines the number of Capture objects available Maximum is eight The following four parameters are the data that is acquired by the position capture object These parameters are available to be used as variables in a program The four parameters can be accessed as follows Capture CapturedTime The time in microseconds from a free running 32 bit binary counter at which the CaptureActivate signal activated Capture CapturedPositionCommand The command position in user units at the time when the
38. Index 1 CompoundInitiate SPIO 2 OUT ON Index 2 Initiate SPIO 3 OUT ON Wait For Index AnyCommandComplete SPIO 1 OUT OFF SPIO 2 OUT OFF SPIO 3 OUT OFF 8 4 2 5 Home Initiate This program instruction is used to initiate the home A comment is automatically inserted after the Home Initiate instruction that shows key data about the particular home The comment starts with the apostrophe character A Wait For Home AnyCommandComplete instruction is not required because the home is actually a program which already has a Wait For instruction Examples Home 0 Initiate Sensor Offset 2 000in Vel 10 0in s 8 4 2 6 Jog Stop This program instruction is used to halt jogging using the deceleration ramp setup for the currently operating jog Examples Wait For EZInput 2 0N Jog 0 MinusInitiate Wait For EZInput 2 0FF Jog Stop Do While TRUE If EZInput 2 ON Then Jog 0 PlusInitiate Wait For EZInput 2 0FF Jog Stop EndIf If EZInput 3 0N Then Jog 0 MinusInitiate Wait For EZInput 3 0FF 72 www emersonct com Jog Stop EndIf Loop 8 4 2 7 Jog Plusinitiate This program instruction is used to initiate jogging in the positive direction The Jog Stop instruction is used to stop jogging motion A comment is automatically inserted after the Jog Plusinitiate instruction which shows key data about the particular jog The comment starts with
39. O Queued MITA NT X MasterPosn 0 0000 1 Queuel 12 12 MasterPosn 0 0000 immi D Ready Disconnected Figure 79 Queues View A detailed explanation of each of the queue components is as follows Queue Data The queue data is loaded into the queue by statements in 48 www emersonct com the user program Two types of data are most often used with the queue Position Feedback and Master Position Feedback Queue Size This is the maximum number of elements that can be stored in the queue If more than this number of pieces of data is in the queue at a time then a Queue Overflow source will activate Queue Offset The Queue Offset is the value that is added to the Queue Data and then compared to the selected source to determine when the Queue Exit event activates For instance if the source in selected source is set to Feedback Position and the Queue Offset is set to 10 and the user puts the value 5 into the queue the Queue Exit source will activate when the Feedback Position is greater than or equal to 5 10 or 15 Full Level The amount of data in the queue is constantly monitored and the Queue Full source will activate when the number of pieces of data in the queue exceeds the Full Level parameter Queue Full is only a flag and does not cause an error or a trip of any kind Source The Source determines which parameter the sum of the Queue Data and Queue Offset are compared to in order t
40. Pin 6 on the EZMotion I O Connector x 14 EZOutput 2 Status This parameter shows the status of digital Output 2 on the SM EZMotion module A value of 1 indicates that the Output is active A value of O indicates that the Output is inactive This equates Pin 7 on the EZMotion I O Connector x 17 EZInput 1 Status This parameter shows the status of digital Input 1 on the SM EZMotion module A value of 1 indicates that the Input is active A value of 0 indicates that the Input is inactive This equates Pin 2 on the EZMotion I O Connector Task 3 Status 0 Not Active 1 Active 2 Processing Home Task 2 Status 0 Not Active 1 Active 2 Processing Home Task 1 Status 0 Not Active 1 Active 2 Processing Home Drive Parameters Used by SM EZMotion Module x 18 EZinput 2 Status This parameter shows the status of digital Input 2 on the SM EZMotion module A value of 1 indicates that the Input is active A value of 0 indicates that the Input is inactive This equates Pin 3 on the EZMotion I O Connector X 19 EZInput 3 Status This parameter shows the status of digital Input 3 on the SM EZMotion module A value of 1 indicates that the Input is active A value of O indicates that the Input is inactive This equates Pin 4 on the EZMotion I O Connector x 20 EZInput 4 Status This parameter shows the status of digital Input 4 on the SM EZMotion module A value of 1 indicate
41. Preferences Underneath the Preferences menu option there are three sub options Communications User Levels and PowerTools Operation Selecting one of these sub options allows the user to configure the preferences related to that specific topic 3 3 1 4 1 1 Selecting Options gt Preferences gt Communications will launch the Modbus Setup window as seen in Figure 12 Communications SM EZMotion Module User Guide x Maximum Node Address E Note ES addresses are one based For example a node address of 31 indicates that there are a maximum of 31 devices Configure Serial Port i Cancel Help Modbus Setup Window On the Modbus Setup window the user can configure the maximum node address they wish to poll for when uploading devices or flash upgrading devices PowerTools Pro will not check to see if any devices with node addresses higher than the number entered are available on the network Figure 12 To change the COM port number and Baud Rate the user must click the Configure Serial Port control button Once the COM port and Baud Rate are selected click OK Communications Setup Lx Port r Baud e 9600 19200 K Cancel alt Figure 13 Com Port and Baud Rate Setup 3 3 1 4 1 2 User Levels Selecting Options gt Preferences gt User Levels allows the user to change the quantity and complexity of available parameters r User Level Assignments Too Much M
42. SlotX defines the slot number that the 102 www emersonct com SM Universal Encoder Plus module has been fitted in For example if the Universal Encoder Plus module is in slot 2 the parameter would be named Slot2 EncoderSimulationDenominator The SM Universal Encoder Plus is capable of sending out a simulated encoder signal To configure the simulated encoder signal the user specifies a source parameter and a ratio multiplier The multiplier allows the user to scale the source parameter before it is sent out the Encoder Out port The multiplier is made up of a numerator parameter and a denominator parameter The formula for the value sent out the encoder output is as follows Output Enc Sim Source Enc Sim Numerator Enc Sim Denominator The range for the Denominator is 0 0001 to 3 0000 This parameter is found on the SlotX view after a SM Universal Encoder Plus module has been selected for the Module Type For more information on this parameter please refer to the SM Universal Encoder Plus User Guide parameter x 26 SlotX Simulated Encoder Numerator SlotX EncoderSimulationNumerator This parameter is only available when an SM Universal Encoder Plus option module has been populated in one of the Unidrive SP slots The X in SlotX defines the slot number that the SM Universal Encoder Plus option module has been fitted in For example if the Universal Encoder Plus module is in slot 2 the parameter wou
43. Status Bar to make it appear again 3 3 1 6 3 Show Navigation Tree By default the Hierarchy is visible on the PowerTools Pro screen Some users with low resolution monitors wish to hide the Hierarchy to allow for more room while programming To hide the Hierarchy select Show View Menu SM EZMotion Module User Guide Navigation Tree to remove it from the display If the Hierarchy is not visible select Show Navigation Tree to make it appear again 3 3 1 7 Window Figure 19 shows the Window Menu as selected from the PowerTools Pro Menu Bar D Fie Edit Device Options Tools View Window Help Arrange Icons Cascade Tile 1 test file 3 5M4 v 2 test file 4 5M4 Figure 19 Window Menu 3 3 1 7 1 Arrange Icons No function 3 3 1 7 2 Cascade If the user has multiple configurations open simultaneously selecting Cascade will neatly layer the windows so the titlebar is visible and the active configuration in front 3 3 1 7 3 Tile If the user has multiple configurations open simultaneously selecting Tile will resize each of the windows to have equal area on the screen The active configuration will have a highlighted Titlebar on the window 3 3 1 7 4 Current Files Open If the user has multiple configurations open simultaneously each of the open files will be listed on the Window menu The active file will have a check mark next to itas seen in Figure 19 above By selecting a different file from this list the
44. TRUE at the exact time the task is processed If the Wait For condition is satisfied at any time even when that task is not being processed the task will be scheduled to run the next time through the loop Figure 108 shows the same time slicing diagram as above but Task O is blocked in this example Notice how Task O is skipped when the processor recognizes the task is blocked and processor execution switches to Task 1 Control Loop Control Loop Control Loop lt gt Update Rate Update Rate Update Rate C Control Loop Update C Modbus messages C Control Loop Update Figure 108 Time Slicing Diagram Task 0 blocked The time taken to process the blocked task and pass on to the next available task is between 50 and 100 microseconds Figure 109 is a flowchart that reflects the time slicing process It shows the complete loop based on whether Modbus messages need processing and if programs www emersonct com 75 tasks are blocked t 0 Control Loop Update Switch to Next Task Process Task End Of Update Task Blocked Switch to Next Task Figure 109 Multitasking Flow Chart 76 www emersonct com Message s MS SM EZMotion Module User Guide 9 Starting and Stopping Motion 9 1 Starting Motion All of the motion types described in How Motion Works on page 23 can be initiated using multiple methods The two different methods are from assignments and from
45. The name can be used in a user program to reference a specific I O point The name can be up to 12 alphanumeric characters but must begin with a non numeric character SPIO State SPIO Out The first three digital I O points on the Unidrive SP pins 24 25 and 26 are configured as Inputs or Outputs using PowerTools Pro EZ software If the I O points have been configured as digital outputs then the SPIO Out signal can be used in a user program to activate an output or on the Assignments view to activate when a specified Source event activates If assigned to a source on the assignments view when the source event activates the output that it is assigned to will turn on Note This parameter will appear on the Assignments view under the Outputs group of Destinations even if the I O point has been configured as a digital input SP Menu Decimal SPMenu Decimal This parameter is used behind the scenes in PowerTools Pro EZ when reading or writing to a SP menu parameter using the Drive Watch Window icon These are not to be used inside a user program If writing to or reading from a Unidrive SP menu parameter in a program use the Menu MM PP instruction instead In this instruction MM represents the desired menu and PP represents the desired parameter number SP Menu Drive Decimal SPMenu DriveDecimal This parameter is used behind the scenes in PowerTools Pro EZ when reading or writing to a SP menu parameter using the Drive
46. Unidrive SP and is not stored in the SM EZMotion module PowerTools Pro must be online to view the Trip Log Within the Trip Log Tab is the Parameter Trip O Time The Trip O Time is a reference of when the most recent drive trip occurred The time in this parameter is based off of the Drive Run Time described above This means that the Trip time indicates when the trip happened in reference to the total time that the drive bridge has been enabled The user can use the Drive Run Time as a gauge to determine exactly when the trip actually occurred The Trip O Time is displayed in a format of Years Days and Hours Minutes These must be used in combination to find the time that the trip action happened For example 0 005 Years Days 17 35 Hrs Min In the example above the Trip O occurred after 5 Days 17 Hours and 35 Minutes of run time Trip O Time The rest of the Trip Log is shown as a chart Following are the columns of data found in the chart Trip Number The 10 most recent Trips are stored in the drive The most recent Trip is listed as Trip O and Trip 9 is the oldest When the next fault occurs Trip O will be moved down to Trip 1 and all the remaining trip numbers will also increment one Trip number 9 will fall out of the log because it is no longer one of the ten most recent Trips Trip Code The Trip Code displays the actual trip code from the Unidrive SP For a reference of the Unidrive SP Trip SM EZMotion Module U
47. Velocity View 41 VelocityFeedforwardEnable 109 VelocityLoopBandwidth 110 VelocityUnits TimeScale 110 www emersonct com SM EZMotion Module User Guide Since 1979 the Motion Made Easy products designed and manufactured in Minnesota U S A are renowned in the motion control industry for their ease of use reliability and high performance For more information about Control Techniques Motion Made Easy products and services call 800 397 3786 or contact our website at www emersonct com Control Techniques Drives Inc Division of EMERSON Co 12005 Technology Drive Eden Prairie Minnesota 55344 U S A Customer Service Phone 952 995 8000 or 800 397 3786 Fax 952 995 8129 Technical Support Phone 952 995 8033 or 800 397 3786 Fax 952 995 8020 Printed in U S A
48. Watch Window icon These are not to be used inside a user program If writing to or reading from a Unidrive SP menu parameter in a program use the Menu MM PP instruction instead In this instruction MM represents the desired menu and PP represents the desired parameter number SP Menu Error Status SPMenu ErrorStatus This parameter is used behind the scenes in PowerTools Pro EZ when reading or writing to a SP menu parameter Parameter Descriptions www emersonct com using the Drive Watch Window icon These are not to be used inside a user program If writing to or reading from a Unidrive SP menu parameter in a program use the Menu MM PP instruction instead In this instruction MM represents the desired menu and PP represents the desired parameter number SP Menu ID SPMenu MenulD This parameter is used behind the scenes in PowerTools Pro EZ when reading or writing to a SP menu parameter using the Drive Watch Window icon These are not to be used inside a user program If writing to or reading from a Unidrive SP menu parameter in a program use the Menu MM PP instruction instead In this instruction MM represents the desired menu and PP represents the desired parameter number SP Menu Parameter ID SPMenu ParamID This parameter is used behind the scenes in PowerTools Pro EZ when reading or writing to a SP menu parameter using the Drive Watch Window icon These are not to be used inside a user program If writing t
49. a proximity sensor is wired to a hardware input and therefore a module or drive input source is assigned to the Index SensorTrigger but any source can be used If Analog is selected one of the analog signals must be selected in the analog list box Available selections are Analog In Torque Command or Torque Feedback Thena comparison operator must be selected from the operator list box Available selections are gt greater than and lt less than Last an analog value must be entered for comparison Registration to Analog Input Value If Analog In is selected the value of the drive Analog Input is used as the registration signal When the value of the analog input reaches a value that satisfies the comparison operator the sensor trigger will activate Units for the registration value will match the units configured on the Analog Inputs screen when Analog In selected Registration Offset The incremental distance the motor will travel after a valid registration sensor or analog limit value has been detected This is a signed parameter so if an index is travelling in the negative direction the offset needs to be negative and continue in the same direction If the registration offset is zero or less than the decel distance shown on the calculations tab the motor will decelerate at the programmed rate and then back up to the specified offset distance from the trigger position Enable Registration Window This che
50. and an Initial Value The Name for each bit may be up to 12 characters in length and must start with a alpha character non numeric character Spaces are not available in the Name for a User Bit however the underscore character _ may be used The Initial Value for each user bit is configured using a checkbox for the specific bit To make the Initial Value On or Active simply enable the checkbox for that bit The default value for each User Bit will be Off or Inactive Figure 83 shows an example of the User Bits view 50 www emersonct com MM Ele Edt Device Options Tools View Window Help 18 x osea 2 1 d 415 SEE sin 2 198 Number of Bit Registers fi E Setup Mask o Name Initial Value lt to sel oro nano g Ed Ready Figure 83 User Bits View The following parameters are part of the User Variable definition Name This is a twelve character string that allows the user to assign a descriptive name to the bit Spaces are not allowed in the name of a user bit Initial Value This is the initial value of the user bit that will be used on power up If the user bit has been configured as a Save to NVM parameter then the value in NVM will overwrite the initial value on power up U
51. begins program flow will wait until the specified master distance has passed The units for the dwell value are specified in the Master Units View Example Do While TRUE Index 0 Initiate Dwell For MasterDist 12 00 Loop 8 4 2 3 This program instruction is used to initiate a single index The index is preset to include an acceleration up to speed a run at speed and a deceleration to a stop MstrInch Index Initiate A comment is automatically inserted after the index instruction which shows key data about the particular index The comment starts with the apostrophe character A Wait For Index AnyCommandComplete instruction is also automatically inserted after each index This insures that the index has completed before the program continues on to the next line of code It is also possible make the program wait until the index is complete and the following error is less than a specified amount This is accomplished by changing the Wait For Index AnyCommandComplete to Wait For InPosn The In Position Window is configured in the Position view Example Index 0 Initiate Wait For Index AnyCommandComplete Example Index 37 Initiate Wait For InPosn 8 4 2 4 Index Compoundinitiate This program instruction is used to initiate an index which has no deceleration ramp The index accelerates or decelerates towards the next index velocity using the next index acceleration ramp The index
52. configured If any of these Sources are assigned to a destination the captured data may be used by the destination function The Destinations that can use the automatically captured data are as follows e Index Initiate e Index SensorTrigger The automatically captured data is not available to the user like it is when a capture object is used The processor takes care of resetting the automatic capture internally Index Initiate When one of the Sources listed above Sources That Accurately Capture Data is assigned to an Index Initiate the captured information is automatically applied to the index starting point This offers extremely high accuracy for initiation of motion which is beneficial especially in synchronized applications Index SensorTrigger The sensor trigger destination used in registration indexes can use captured data to accurately calculate the ending position of the index based on the Registration Offset parameter The Offset distance is added to the captured position to let the accurate stopping position for the registration index 7 3 13 Queues View The Queues View allows the user to configure the necessary parameters for the Queue object to function properly Figure 79 shows an example of the Queue view E Ele Edit Device Options Tools view Window Help lal xl Coco S a 415 81 See 21010 5 eN Number of Queue Units 2 Name QueueSie FulLevel Source Queuentiset
53. critical Below is a comparison of the 4 ramp types S Curve Peak Acceleration 2 x Average Acceleration 5 8 S Curve Peak Acceleration 1 4545 x Average 1 4 S Curve Peak Acceleration 1 142857 x Average Acceleration Linear Peak Acceleration Average Acceleration Stop Deceleration The value you enter here defines the deceleration rate which is used when the Stop destination is activated The default is 100 RPM second The Stop destination is found in the Ramps Group in the Assignments view www emersonct com 41 Feedhold Decel Accel When the Feedhold destination is activated the motor will decelerate to a stop in the time specified by the FeedholdDecelTime parameter When feedhold is cleared the motor will accelerate back to speed in the same specified period of time Feedhold is a means to halt the motor within a velocity profile and then return to the profile later at the exact same place in the profile Feedhold does not ramp and does not decelerate in terms of velocity Instead it stops by decelerating time For example if the motor is running at 50 revs second and feedhold is activated with 2 seconds specified in the FeedholdDecelTime parameter then the motor will actually slow and stop in 2 seconds as measured time on a time velocity profile goes from 100 to 0 Travel Limit Deceleration The value entered here is the deceleration ramp that is used when a software or hardware travel limit is hit 7
54. destination and move in the required direction To force the motor to run a certain direction use the Rotary Plus or Rotary Minus type of indexes 7 3 5 Velocity View The Velocity View allows the user to define parameters related to the velocity control of the SM EZ Motion module Figure 69 shows an example of the Velocity view M file Edit Device Options Tools View Window Help 18 x plela alta gt alaj sielai CL Feedrate Override oo FeedRate Decel Accel 0 000 Sec 100 Ready Disconnect ted Figure 69 Feedrate Override Velocity View 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 A setting of 50 will scale time so that all moves run half as fast as they do at 100 A setting of 200 will scale time so that all moves run twice as fast as they would at 100 FeedRate Override is always active and affects all motion including accels decels dwells and synchronized motion This parameter may be modified via Modbus or in a program Feedrate Accel Decel The FeedRate Decel Accel parameter specifies the ramp used when velocity changes due to a change in the FeedRate Override value The units of feedrate decel accel are Seconds 100 of FeedRate Therefore the user must specify the amount of time in seconds to accelerate or decelerate 100 of FeedRate 7 3 6 Ramps View The Ramps View allow
55. displays the serial number of the Drive to which the SM EZMotion module is attached Reset Errors Error Reset Resets errors that do not require a power down This event is or ed with the reset button on the drive SM EZMotion I O Status Word EZConnect DigitallOReadWord This parameter is a bitmap that contains the status of the digital I O on the SM EZMotion module This parameter is read only and is used to control the virtual LED s on the EZMotion I O Setup view EZInput Debounce Time EZInput DebounceTime The digital inputs on the SM EZMotion module can be debounced to reject electrical noise on a wire or switch bounce When an input activates it must be active for at least the specified Debounce Time before the input is SM EZMotion Module User Guide considered active in the SM EZMotion firmware Once the input has been active for the debounce time a rising edge on the input will occur in the SM EZMotion module This parameter can be found on the EZMotion I O Setup view EZInput Force EZinput Force The digital inputs on the SM EZMotion module can be forced On or Off within a user program To do so the Force Enable event for the desired input must first be activated Once the Force Enable for the input is active the input can be forced on or off using the following instructions EZInput Force ON EZInput Force OFF Forcing an input On or Off does not prevent it from changing state again It is so
56. from the Menu Bar Selecting Watch Window will launch a diagnostics tool that allows the user to view the current value of multiple SM EZMotion parameters while online with the module For more information on the Watch Window refer to Diagnostics on page 117 of this manual 3 3 2 17 Drive Watch Window fr Selecting Drive Watch Window will launch a diagnostics tool that allows monitoring and editing of individual drive menu parameters while online For more information see Drive Menu on page 12 3 3 2 18 Stop LI Using the Stop icon on the Tool Bar will stop all motion and programs that are currently active in the SM EZMotion The Stop icon will toggle on and off meaning that once it is clicked to stop motion and programs it will remain active until it is clicked again Until the Stop is toggled off motion and program will be prevented from being initiated 3 3 2 19 Feedhold T Same as Device gt Feedhold from the Menu Bar Selecting Feedhold will put the SM EZMotion into a feedhold condition Feedholding is a means of pausing motion that is active For more information on Feedhold see Starting and Stopping Motion on page 77 in this manual 3 3 2 20 Global Where Am I mj Same as Device gt Where Am 1 from the Menu Bar Selecting Where Am 1 will launch a utility that shows the user what line in a user program is currently being PowerTools Pro Configuration Software processed If multiple user
57. in it Download a new configuration using PowerTools Pro EZ to clear the trip www emersonct com 123 124 www emersonct com SM EZMotion Module User Guide 14 Creating a Custom Motor File PowerTools Pro EZ software obtains the names and parameters of all motors in the Motor Type list box from various Motor Data Definition Files DDF file extension The list of default or standard motors is automatically loaded during the PowerTools Pro EZ installation and is located in the same directory as the PowerTools Pro EZ software The list of standard motors is called Spstdmotor DDF Another file called Spmotor daf is also installed with PowerTools Pro EZ so that the user can enter his her own custom motors The Spmotor ddf file does not have any motor definitions in it by default When the user wishes to add a new motor the motor data is added to the Spmotor ddf file Note For those users familiar with ddf files used with En Epsilon and MDS drives the ddf files for those systems may NOT be copied and pasted into Spmotor ddf The reason that the file may not be simply copied is that the ddf file for the Unidrive SP has different parameters that that for the En Epsilon and MDS drives Also some of the parameters i e Phase Resistance may have a similar name but are defined differently and or may have different units for the Unidrive SP than for the En Epsilon or MDS Editing the Spmotor ddf File The Spmotor DD
58. initiating motion If this is not done the motion will be initiated before the drive is enabled and the instruction will be ignored 8 3 Program Toolbar ala salsa 0 99 a mm o Figure 104 Program Toolbar 66 www emersonct com 83 1 Undo This icon will undo the last change made to the program PowerTools Pro will save up to ten of the last changes performed in the program 8 3 2 Redo This icon will redo the last change that was undone PowerTools Pro will save up to ten of the last changes that have been undone in the program 8 3 3 Find a This icon allows the user to search for a given string inside the program Modifying several parameters in the Find dialog box i e Search Up Search Down Match Case etc can customize the search 8 3 4 FindNext This icon will find the next instance of the string last searched for This allows you to quickly find all the matches to your search with out re entering the selected word 8 3 5 Bookmark Al This icon will insert a bookmark on the line of code on which the cursor is placed Bookmarks allow the user to mark certain sections of the program for easy access to at a later time The next BookMark and Previous BookMark icons can be used to jump from one bookmark to the next very quickly If this icon is clicked when a bookmark already exists on the line of code the bookmark will be removed 8 3 6 Goto Next Bookmark This icon will position the curso
59. is the of encoder revolutions The master revs parameter is the number of incoming whole revolutions it takes to travel the specified characteristic distance Master Position Filter Enable The enable check box is used to turn on or turn off the Master Position Filter If checked the filter is active and the user must select the number of samples used by the filter If unchecked the filter is not used Master Position Filter Samples Defines the number of samples used by the filter to smooth the master signal Increasing the number of samples increases smoothness but also increases lag See Filter table below to select proper setting Feedforward OFF Feedforward ON One update of phase shift Medium Lag function of speed Medium Filtering Disabled not velocity dependent No delay SA No Filtering No Filtering 4 Small Lag function of speed Poor at low speed Hof Low Filtering Low Filtering Samples Good at low speed Medium Filtering Large Lag function of speed 7 High Filtering Best at low speeds High Filtering Smoother Increasing Lag with FF Off Reduced Lag Enable Feedforward The Enable Feedforward Check Box is used to turn on or turn off feedforward If checked feedforward is active If unchecked feedforward is not used Configuring an Application www emersonct com 39 7 3 4 Position View The Position View allows the user to configure paramete
60. is the Incremental distance that the index will travel or the absolute position for the specified index in user units If an index type of Registration is selected then this is a limit distance or the maximum distance the index will travel if a registration sensor is not seen Index Time Index IndexTime This parameter is used in conjunction with the Index TimelndexEnable parameter If TimelndexEnable is activated then this is the time in which an index should complete its programmed distance The units for this parameter depend on the current setting of the TimeBase parameter for the specific index If TimeBase is set to Realtime default then the units are Seconds The user can program the index time with resolution on 0 001 Seconds or milliseconds If TimeBase is set to Synchronized the units defined by the Master Distance Units found on the Master Setup screen www emersonct com 93 Index Initiate Index Initiate The Index Initiate destination is used to initiate the specific index The Index is initiated on the rising edge of this function An Index cannot be initiated if there is an Home Jog or Program in progress or if the Stop destination or if a travel limit is active It can be activated from an assignment or from a program Index 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
61. menu will appear allowing the user to add a New Index or Delete an Index Click on New Index and an index will be added in sequential order and the Index view will be displayed allowing the user to enter the index parameters Deleting an Index Toolbar Icon Method The Delete Index icon shown below will delete an index from the user configuration The highest numbered index will automatically be deleted unless a different index is selected on the Indexes heading screen To delete a specific index click on the Motion gt Indexes branch in the hierarchy From this view select the specific Index to be deleted and then click on the Delete Index icon PowerTools Menu Bar Method Navigate to the Indexes View and select the Index to be deleted From the PowerTools Pro menu bar select Edit gt Delete gt Index The selected Index will be deleted from the configuration Right Click Method Navigate to the Indexes View Select the Index to be Configuring an Application deleted and then right click on the mouse A selection menu will appear allowing the user to add a New Index or Delete an Index Click on Delete Index and the selected index will be deleted from the configuration 7 5 4 Gearing View IM File Edit Device Options Tools View Window Help x 0 3 18 ul 45 615 2 0 90 200 03 5 2 02 Gearing Ace Dec Ef Axis 1 F 100 AR Hada GearRatio 1 0 revs Revs F Acceleration revs m s Fg Setup F
62. most often referred to simply as SlotX Input These inputs can be used in a user program or on the Assignments view to activate different destination events These inputs are updated at the Trajectory Update Rate found on the Setup view in PowerTools Pro EZ SlotX Input Name SlotX Input Name This parameter is only available when an SM I O Plus Option module has been populated in one of the Unidrive SP slots The X in SlotX defines the slot number that the SM I O Plus module has been fitted in For example if the I O Plus module is in slot 2 the parameter would be named Slot2 Input Name Each digital input on the SM I O Plus module can be given a name The name can be used in a user program to reference a specific input The name can be up to 12 alphanumeric characters but must begin with a non numeric character SlotX 10 Direction SlotX 10 Direction This parameter is only available when an SM I O Plus Option module has been populated in one of the Unidrive SP slots The X in SlotX defines the slot number that the SM I O Plus module has been fitted in For example if the I O Plus module is in slot 2 the parameter would be named Slot2 10 t Direction The first three digital I O points on the SM I O Plus module www emersonct com 103 pins 2 3 and 4 are configured as Inputs or Outputs using PowerTools Pro EZ software The SlotX IO Direction parameter is used to configure whether the l O point
63. of the motor This parameter is used by the Unidrive SP for thermal protection of the motor The drive models the temperature of the motor using a formula that generates an overload accumulator value The formula is a function of the Thermal Time Constant When the accumulator reaches 100 the drive can trip or foldback depending on other drive settings For more information on the Thermal Time Constant please refer to the Unidrive SP Advanced User Guide parameters 4 15 4 16 and 4 19 encoderPhaseAngle This is the angle between rising edge of the V commutation signal and the peak of VVW backEMF signal when rotating the motor in the clockwise direction Reference for the clockwise direction is looking at the front end of the motor shaft See Unidrive SP Advanced User Guide for more information parameter 3 25 Verification and Checkout Follow the steps listed below to verify the user defined motor was entered properly 1 Once the ddf file is complete and saved run PowerTools Pro EZ 2 Select a new SM EZMotion file 3 Expand the Hardware branch and click on the Drive Encoder view 4 On the Drive Encoder view select the new motor from the Motor Type list box 5 Click on the Motor tab on the bottom half of the view 6 On the Motor tab verify that all of the parameters match the values entered into the ddf file 7 If all parameters match then the motor entry process is complete Note For safety reasons it i
64. on page 117 16 www emersonct com SM EZMotion Module User Guide I I Options gt Preferences gt Communications on the Menu 4 Com m u nications Bar Figure 22 shows the Modbus Setup window that allows the user to configure the communication settings 4 1 Communications Protocol xj PowerTools Pro communicates with the SM EZMotion module using 32 bit Modbus RTU protocol Maximum Node Address 32 r Not 4 2 Connecting the PC to the an ae al For example a node address of 31 SM EZMotion Module indicates that there are a maximum of 31 devices The SM EZMotion communicates with the PC through the Unidrive SP s communications port An RS 232 to RS 485 converter is necessary to communicate with the Unidrive SP The Unidrive SP has an RJ45 serial port connector on the front of the drive OK Cancel Help Control Techniques offers a pre made cable for this purpose called the CT Comms Cable previously named Figure 22 Modbus Setup SE71 Figure 21 below shows the CT Comms Cable In the Modbus Setup window the user can configure the maximum node address they wish to poll for when uploading devices or Flash Upgrading devices PowerTools Pro will not check to see if any devices with node addresses higher than the number entered are available on the network To change the COM port number and Baud Rate the user must click the Configure Serial Port control button Figure 23 shows the Communications Setup window Co
65. read only parameter and is read directly from parameter 10 40 in the Unidrive SP database The individual bits in the bitmap are detailed below Bit 15 Not Used Not Used Bit 14 Parameter 10 15Mains Loss www emersonct com 105 Bit 13 Parameter 10 14Direction Running Bit 12 Parameter 10 13Direction Commanded Bit 11 Parameter 10 12Braking Resistor Alarm Bit 10 Parameter 10 11Braking IGBT Active Bit 9 Parameter 10 10Regenerating Bit 8 Parameter 10 09Drive Output Is At Current Limit Bit 7 Parameter 10 08Load Reached Bit 6 Parameter 10 07Above Set Speed Bit 5 Parameter 10 06At Speed Bit 4 Parameter 10 05Below Set Speed Bit 3 Parameter 10 04Running At Or Below Min Speed Bit 2 Parameter 10 03Zero Speed Bit 1 Parameter 10 02Drive Active Bit O Parameter 10 01Drive Healthy Unidrive SP Software Sub Version SPDrive SoftwareSubVersion The Unidrive SP software or firmware revisions are named using an xx yy zz format xx yy is displayed in parameter 11 29 of the Unidrive SP database and zz is displayed in parameter 11 34 This parameter can be found on the Information tab on the Status view while Online with PowerTools Pro EZ xx represents a change that affects hardware compatibility yy represents a change that affects product documentation and zz represents a change that does not affect the documentation Unidrive SP Software Version SPDrive SoftwareVersion The Unidrive SP software or firmware
66. selected file will become the active file 3 3 1 8 Help Figure 20 shows the Help Menu as selected from the PowerTools Pro Menu Bar E File Edit Device Options Tools View Window Help Help Topics Using Help About PowerTools Figure 20 Help Menu 3 3 1 8 1 Help Topics By selecting Help Topics the help file will be launched allowing the user to lookup and read information related to the SM EZMotion module and PowerTools Pro software PowerTools Pro Configuration Software 3 3 1 8 2 Using Help Selecting Using Help will launch a window that lets the user select different topics available as part of the help file This utility makes it easier to navigate the different sections of the help file 3 3 1 8 3 About PowerTools About PowerTools Pro will bring up a window that shows what revision of PowerTools Pro software is currently running 3 3 2 Tool Bar 3 3 2 1 New D Same as File gt New from the Menu Bar Selecting New will open a new PowerTools Pro file The user will be asked what type of configuration to create FM 3 FM 4 or SM EZMotion For modules to be used with the Unidrive SP the SM EZMotion should be selected 3 3 2 2 Open a El Same as File gt Open from the Menu Bar Selecting Open will allow the user to open an existing application created with PowerTools Pro Navigate to the directory that the desired file is located in and double click on the specific file Doing so will open
67. sensor is not seen Velocity This sets the target velocity for the index profile The velocity parameter is unsigned and must be greater than zero Direction of the index is not determined by the velocity but by the Distance Position parameter Acceleration Average Acceleration rate used during the index Units are specified on the User Units view Deceleration The Deceleration parameter specifies the deceleration value to be used during the index in user units Timed Indexes A Timed Index allows the user to specify the amount of time in which to perform an index rather than specifying the Velocity Acceleration and Deceleration The processor in www emersonct com 59 the SM EZ Motion module will automatically calculate the necessary velocity accel and decel in order to achieve the programmed distance in the specified time Note A user program cannot compound into a Timed Index or compound out of a Timed Index All index types can be specified as a Timed Index except for Registration type indexes This is because a registration index does not have a specified distance or absolute position During a registration type index the registration sensor could activate at any time and therefore it is impossible to calculate the necessary velocity accel and decel If Registration type is selected then the Time checkbox will become disabled Based on the Distance entered or Position for Absolute indexes and the Tim
68. source will activate when the number of pieces of data in the queue exceeds the Full Level parameter This is only a flag and does not indicate a fault of any kind Queue Clear Queue QueueClear This destination automatically clears all of the data out of the queue The cleared data is not saved and there is no way to recover the cleared data This is typically activated on power up of the system to make sure no old data remains in the queue Queue Compare Enable Queue QueueCompareEnable The Compare Enable is what causes the comparator internal to the queue to function If the Compare Enable is inactive then the Queue Exit source will never activate If activated then the Queue Exit source will activate when the Queue Data plus the Queue Offset is equal to the Comparator Select parameter Queue Data In Queue Dataln Data is loaded into the queue using the Queue Dataln instruction in a program When Dataln is set equal to value that value is entered into the queue and the queue offset is added to it If Queue Overflow is active then no more data can be put into the Queue Queue Data Out Queue DataOut Queue DataOut is the value of the oldest piece of data in the queue The sum of Queue DataOut and the Queue offset is equal to the parameter Queue ExitPosition Queue Empty Queue QueueEmpty This source is active if no data is stored in the queue It will become inactive when the first piece of data is loa
69. the application stored in the SM EZMotion If the baud rate setting in PowerTools Pro does not match the baud rate for the application PowerTools will not be able to communicate with the SM EZMotion module 3 3 1 3 3 Download Selecting Download will send the active configuration from the PC to the target node address specified on the Setup view For more information on Downloading see Section 4 Communications in this manual 3 3 1 3 4 Disconnect Selecting Disconnect will terminate communications between the PC and any nodes the PC is online with 3 3 1 3 5 Upload Drive Upload Drive will upload only the node address specified in the active configuration To use Upload Drive open a new file and set the Node Address on the setup view to the address you wish to upload Then select Upload Drive This will overwrite the active configuration with the uploaded data 3 3 1 3 6 Update Drive Selecting Update Drive will send any parameters that have been changed since the last download into RAM Doing so allows the user to send changes to the system without requiring a complete download Certain parameters when changed require a complete download and cannot be sent to RAM If one of these parameters is changed the Update Device Menu 10 www emersonct com Drive option will not be available on the Edit menu 3 3 1 3 7 Reset Errors Selecting Reset Faults will clear any active Errors or Trips If the trip condition still exists
70. the file for editing 3 3 2 3 Save ul Same as File gt Save from the Menu Bar Selecting Save will save the active file on the users PC The location to which the file is saved is based on where the file was previously saved If the file has not yet been saved the Save As control box will open instead 3 3 2 4 Print s Same as File gt Print from the Menu Bar Selecting Print will send the active file to the printer specified by the user A Print Options box will open allowing the user to specify which sections of the configuration are to be printed By default all sections will be printed To remove a given section from the printout uncheck the specific box by clicking on the check mark www emersonct com 13 3 3 2 5 Upload tal Same as Device gt Upload from the Menu Bar Selecting Upload will scan the Modbus network for available nodes and then upload the specified node address configurations Upload is only available if a configuration is not already open 3 3 2 6 Download dal Same as Device gt Download from the Menu Bar Selecting Download will send the active configuration from the PC to the target node address specified on the Setup view For more information on Downloading see Communications on page 17 in this manual 3 3 2 7 Send to RAM gt El Same as Device gt Update Drive from the Menu Bar Selecting Update Drive will send any parameters that have been changed since the last down
71. the pop up window that allow the user to clear an error and trip or simply ignore it and remove the pop up window An example of the pop up window is shown in Figure 116 www emersonct com 121 EZMotion Errors x SP Drive Trip Ignore Figure 116 SM EZMotion Error Pop Up Window The Errors View also contains a Trip Log that lists the 10 most recent drive trips Trip O is listed as the most recent fault with a Trip Time in Years Days and Hours Minutes format Along with the Trip Code the Trip Log will also store the time before the most recent trip that each trip occurred 13 3 3 Status Bar The Status Bar in PowerTools Pro gives a wide variety of information to the user such as Drive Status Motion Status Position and Velocity Feedback and Communications Status The Status Bar is found along the bottom of the PowerTools Pro screen Figure 117 shows the Status Bar location 101x MD ble Edit Device Options Tools View Window Help 8 x Ofc 11 male x 415 515 lele alm re 12 358 7390 revs 1000 revs m Connected Figure 117 PowerTools Pro Status Bar The Status Bar is broken into 5 segments to clearly display the necessary information Figure 118 shows a more detailed view of the Status Bar 122 www emersonct com Profile 1 Motion Position and Velocity Feedback Profile 0 Motion Overall Status 7 inications Status gt xD 2863 revs 1000 es ere onnecl Figure 118 S
72. user programs The following section details how each of the different motions are initiated from both assignments and from user programs 9 1 1 From Assignments In order to initiate motion from an assignment a Source must be assigned to one ofthe Destinations listed below on the Assignments view in PowerTools Pro Some Destinations are level sensitive while others are edge sensitive Each of the Destinations associated with starting Jog 1 Velocity Jog 1 Accel Jog 0 Velocity Jog 0 Accel motion are listed below 9 1 1 1 Jog PlusActivate Jog PlusActivate will when active cause the motor to run ata specified Jog Velocity in the positive direction Jog PlusActivate is a level sensitive assignment meaning that as long as the Destination is active the Jog will be active The status of the Jog Select destination determines which jog profile is used when Jog PlusActivate activates If Jog Select is off or inactive then the Jog 0 profile will be used If Jog Select is active then the Jog 1 profile is used To stop the jogging motion simply deactivate the Jog PlusActivate Destination The motor will then decelerate using the selected Jog Deceleration ramp If Jog Select activates or deactivates while Jogging is active the motor will change to the new Jog Velocity using the new Jog Acceleration ramp Jog Deceleration is only used when Jogging motion is stopped Figure 110 shows an example of changing Jog Select while Jog is acti
73. 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 The final index will honor the deceleration ramp If the last index is not long enough to perform a decel ramp at the programmed rate the motor will backup at the end of the last index Each index can be used in multiple places as both a standard index with a deceleration ramp and a compound index without a deceleration ramp The program instruction www emersonct com 71 Index 0 Initiate or Index 0 Compoundinitiate not the index itself determines whether or not the index will execute a deceleration ramp For example Index 0 can be used multiple times in multiple programs It can be initiated at different times using the Index 0 Initiate instruction and the Index 0 Compoundinitiate instruction A comment is automatically inserted after the index instruction that shows key data about the particular index The comment starts with the apostrophe character Examples Index 0 CompoundInitiate Index 1 CompoundInitiate Index 2 Initiate Wait For Index AnyCommandComplete Index 0 CompoundInitiate SPIO 1 OUT ON
74. window changes value or state it will change to a red color It will remain red until it hasn t changed for a period of 4 seconds After 4 seconds the parameter will turn back to black in color This allows the user to see what has changed recently without looking directly at every parameter The following are descriptions of the buttons and controls on the Select Drive Parameters window Clear All By clicking on the Clear All button all of the parameters in the Watch Window will be erased Save Selections By clicking on Save Selections the user Diagnostics can save the specific parameters that have been added to the Watch Window Once the selections have been saved the Restore Selections button can be used to monitor all the same parameters the next time the user opens the Watch Window Therefore if there is a list of helpful diagnostic parameters the user wishes to see when online those specific parameters can be saved and recalled in the Watch Window at any time The settings are saved in a file named EZwatch wch Restore Selections By clicking on the Restore Selections button the Watch Window will be filled with the list of parameters that were last saved using the Save Selections button Select Defaults The Select Defaults button adds the most commonly used parameters to the Watch Window Select I O The Select I O button will add the Drive and Module digital inputs and outputs to the Watch Window Clo
75. 0 Next seconds Example For Count 1 To 10 Wait For ModuleInput 1 ON Index 0 Initiate Wait For Index AnyCommandComplete EZOutput 1 ON Wait For Time 1 000 seconds EZOutput 1 0FF Next 8 4 1 4 Do While Loop This program instruction is used for repeating a sequence of code as long as an expression is true To loop forever use TRUE as the test expression as shown in the third example below The test expression is tested before the loop is entered If the test expression is evaluated as False 0 the code in the loop will be skipped over Logical tests AND OR NOT can be used in the Do While Loop instruction Parenthesis can be used to group the logical tests Example Do While EZInput 1 ON Index 1 Initiate Dwell For Time 1 000 seconds Loop Example Do While Slot2 Input 4 ON AND Slot2 Input 4 OFF Index 1 Initiate Dwell For Time 1 000 seconds Loop Example Do While TRUE Index 1 Initiate Dwell For Time 1 000 Loop 8 4 1 5 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 Output events EZ ON AtVel etc as well as comparisons PosnFeedback gt 1234 VelFeedback lt 100 etc can be used in a Wait For instruction
76. 0 Ax Ala le alolode 50 FS eine r Drive 1 0 Setup a f axis 1 y Digital 1 0 ES Hardware Drive 1 01 Input Y Setup E 1 0 Setup Drive 1 0 2 Input Y 4 Drivel 03 Input y Selector Drive 1 0 4 Input Et Motion Divel 05 input E 8 Programs Program Drive 1 0 6 Input S Network L p Relay Output Drive 1 07 Relay Output Digital 1 0 1 Digital 1 0 2 Digital 1 0 3 Digital Input 4 Digital Input 5 Digital Input 6 Drive Enable Status Relay Ready Disconnected a Figure 88 7 4 3 EZ Motion I O Setup View Drive I O Setup View Eile Edt Device Options Tools View Window Help 18 x oema tla 2 45 815 Gel e ess 1 2192 Selector Input Destinations fs Lt Selector Output Sources TE EA Axis 1 Hardware H Setup 4 1 0 Setup 4 Assignments Drive 1 0 Setup Destination Set From Source EzMotion 1 0 Setup O ER Assignments Assigned to Selector Selection0 Selector Selection1 Selector Selection2 Selector Selection3 Selector Selection Selector SelectionS Selector Selection6 Selector Selection Selector Selection8 Selector Selection9 Selector Selection10 Selector Selection1 1 Selector Selection12 Selector Selection13 Selector Selection14 Selector Selection15 Selector SelectO Selector Selector Selectl EBA Motior Selector Select2 Programs Selector Select3 t Network Selector SelectorInitiate
77. 1 Each of these Profiles can run any type of motion i e Home Index Jog Gear at any time Both of the Profiles can generate motion simultaneously For example while Gearing an incremental index can be initiated on top of the Gear velocity using two separate profiles The distance and velocity of the two profiles is summed to generate the overall position command and velocity command for the motor In order to run motion on both Profiles simultaneously a program must be used To specify which profile a motion object runs on the On Profile instruction is used The default Profile is Profile O and therefore itis unnecessary to specify On Profile 0 in user programs If no Profile is specified the default profile is used All motion run from the Assignments screen is automatically run on Profile 0 It is not possible to change How Motion Works the Profile on which motion run from the Assignments screen operates Therefore in order to run motion from both the Assignments screen and from a program simultaneously motion initiated by the program must be run on Profile 1 Figure XX below shows an example to two separate profiles Index O and Index 1 Each profile is shown individually and then a summed profile diagram is shown to demonstrate what the overall profile looks like when the profiles are summed www emersonct com 29 Index 0 Initiate Velocity 200 gt Index 0 Time Profile O Velocity Time 100
78. 10 2 3 From PowerTools Pro Programs can be stopped while online with PowerTools Pro using the following methods 10 2 3 1 Stop All Main Toolbar The Stop All icon on the PowerTools Pro toolbar can be used stop all motion and programs that are active The Stop All can be toggled on and off from the toolbar Click the icon once to toggle the Stop on Motion and programs will be prevented from running until the icon is clicked www emersonct com 83 again 10 2 3 2 Stop All Program Toolbar Motion and Programs can also be stopped from the Program Toolbar using the Stop All icon This icon is like an edge sensitive function that will not prevent motion or programs from being initiated again 84 www emersonct com SM EZMotion Module User Guide 11 Parameter Descriptions This section lists all programmable and feedback parameters available The parameters are listed alphabetically by variable name shown in italics below the on screen name and give a description Range is dynamic and depends on User Unit scaling The units of the parameters are dynamic and depend on selected User Units Absolute Position Valid AbsolutePosn Valid This source is activated when either the DefineHome destination is activated or any home is successfully completed sensor or marker found This source is deactivated if the drive is rebooted an encoder fault occurs the drive is powered down or a home is re initiated Accelerating Acceleratin
79. 10 Revs The programmed ramp is always maintained and therefore the final index will travel greater than 10 Revs and then travel backwards and finally come to a stop 10 Revs from the point that the index started 9 1 2 6 Gear Initiate Gear Initiate is used in a program to initiate Gearing motion The user must specify the Gear Ratio that will determine the velocity and direction of the motion Since Gear is level sensitive the gear will remain active until a Gear Stop instruction is used in the program If the program ends while gearing motion is active the gear will automatically be stopped This instruction should not be used within a loop in the user program If the Gear Initiate instruction is processed while gearing is active the program wil hang on this instruction 9 1 3 From PowerTools Pro Some views in PowerTools Pro have an Online tab that allow the user to initiate motions while online with the device The specific views that have Online tabs to initiate motion are the Home View Jog View and Index View On the Home view Online tab there is a Start button that will initiate the Home sequence from PowerTools Pro On the Jog view Online tab there are two buttons that will initiate jog motion in the positive and negative directions The button must be held active to maintain the jog motion If the button is released the jog will stop On the Index view Online tab there is a Start button that initiates the specif
80. 55 M ble Edit Device Options Tools View Window Help 18 x oema taua 1 AE Bla ee 510105 05 e Slot Configuration SlotNumber Slot 1 Slot Module EZMotion Bf axis 1 Hardware Drive Encoder hna Slot 1 EZMotion aha Slot 2 empty nad Slot 3 empty Y Drive Menu Watch Drive Menu Initialize m f Setup 4 4 1 0 Setup 68 89 Motion amp 8 Programs 4 2 Network Ready Disconnected Z Figure 55 Slot View SM EZMotion Module 7 2 2 3 SM 1 0 Plus Module View If I O Plus is selected in the Slot Module combo box the remainder of the view should have configuration parameters for the modules Digital Inputs and Outputs The hierarchy automatically updates to show that an SM I O Plus module is populated in that specific slot see Figure 56 7 2 2 4 SM Universal Encoder Plus Module View If Universal Encoder Plus is selected in the Slot Module combo box the remainder of the view should have configuration parameters to define what type of encoder is being used and to define the encoder properties The hierarchy automatically updates to show that a SM Universal Encoder Plus module is populated in that specific slot see Figure 57 M file Edit Device Options Tools View Window Help 18 x Djsjala ma 15 AE jc aleje sisi m2 ne Slot Configura a CES j Slot Nunber i Slot 1 4 SA Hardware e ie Encoder Slot Module Uriversal Encoder Plus
81. Activate is active Parameter Descriptions Travel Limit Plus Active TravelLimitPlusActive This source is active when the TravelLimitPlusActivate is active Variable Decimal Var Var Decimal This parameter specifies the number of decimal placed of resolution that this particular user variable will use Minimum value is 0 default and the maximum number of decimal places in 6 0 000000 When assigning the value of a User Variable to different parameters make sure that the parameter and the User Variable have the same number of decimal places Variable Value Var Var Value This parameter specifies the current value of a user variable In a program the Value portion of the parameter name can be left off For example Var Var0 Value 12345 is the same as Var Var0 12345 When assigning the value of a User Variable to different parameters make sure that the parameter and the User Variable have the same number of decimal places Velocity Command VelCommand The Velocity Command is the velocity that the SM EZMotion module is commanding the motor to run at This command is generated by the drive velocity control loop It is displayed in user units Velocity Feedback VelFeedback This is the feedback or actual velocity It will always return the actual motor velocity even in synchronized applications in which the master axis is halted during a move Velocity Feedforward Enable VelocityFeedforwardEnable T
82. Al Toggling this icon will lock and unlock the program for editing When locked the user is not able to modify the program code After downloading the program automatically locks to prevent the user from inadvertently changing program statements To unlock the program simply click the icon 8 3 13 Run Program M Clicking on this icon will automatically initiate the program that is currently being viewed The drive must first be enabled in order to run a program Only available while online 8 3 14 Program Where Am I Ml Clicking on this icon will show the line of the program that is currently being executed A blue arrow will point to the line in the program that was executing when the icon was How User Programs Work clicked The arrow will not continue to follow program flow If the program is not currently running then the arrow will point to the top of the program or to the last line of the program that was processed before it was stopped Only available while online 8 3 15 Stop Ei This icon is the same as the Stop destination found in the assignments screen Clicking on this icon will stop all programs and motion If in motion the motor will decelerate to a stop using the StopDeceleration ramp value Only available while online 8 3 16 Disable Enable Error Check Y This icon can be used to temporarily disable the program parser The parser is what detects errors in a user program When user programs are ver
83. Assignments view the four Inputs are called EZInput and the two Outputs are called EZOutput where represents the specific I O number 6 3 Unidrive SP I O The Unidrive SP has three I O points that are configured by the user to be Inputs or Outputs along with three dedicated Inputs The scan rate of the I O on the Unidrive SP depends on what they are being used for If the I O are being used by the SM EZMotion module functions then they are updated every trajectory update user configured If the I O are being used solely for Unidrive SP functions i e Threshold Detectors Programmable Logic Binary Sum etc then they are updated every 4 milliseconds To use the Unidrive SP I O in the PowerTools Pro Assignments view the three Input Output lines are called SPIO In or SPIO Out depending on how they are configured where represents the specific I O number The configured Input Output lines will be listed both on the Inputs group of Sources and the Outputs group of Destinations Therefore it is important for the user to know how the Inputs Outputs have been configured The dedicated Inputs are referred to as SPInput where represents the specific I O number How I O Works 6 4 SM I O Plus Module 1 0 The SM I O Plus module has three I O points that are configured by the user to be Inputs or Outputs along with three dedicated Inputs The scan rate of the I O on the SM I O Plus module depends on how many SM I O Plus
84. At Velocity segment When indexes are compounded to create a complex motion profile only the last index may contain a decelerating segment 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 On the rising edge of the DefineHome function the Commanded Position is set equal to the DefineHomePosn and the AbsolutePosnValid source is activated Characteristic Distance DistUnits CharacteristicDist This parameter is the distance the load travels in user units when the motor travels the characteristic length in motor revolutions This parameter is used along with the DistUnits CharacteristicLength to establish the relationship between user distance and actual motor travel distance See User Units View on page 37 Characteristic Length DistUnits CharacteristicLength This parameter is the distance the motor travels in whole number of revolutions to achieve one characteristic distance of load travel This parameter is used along with the DistUnits CharacteristicDist to establish the relationship between user distance and motor tra
85. CaptureActivate signal activated Capture CapturedPositionFeedback The feedback position in user units at the time when the CaptureActivate signal activated Capture CapturedMasterPostion The master axis feedback position in master axis distance units at the time when the CaptureActivate signal activated The captured data remains in these parameters until the capture component is reset and CaptureActivate is activated the next time When the capture component is reset and CaptureActivate is activated the data related to the previous capture will be over written by the most recent capture data SM EZMotion Module User Guide Capture Sources and Destinations Figure 77 shows a block diagram of the Capture object CaptureEnable Captu re CaptureActivate _ Time gt CaptureTriggered Command Position Feedback Position CaptureReset_ gt Master Position Captured Data Figure 77 Capture Object Sources CaptureTriggered The CaptureTriggered signal is read only and indicates that the Capture component was activated and that data has been captured CaptureTriggered will activate on the leading edge of CaptureActivate if the Capture component is enabled and reset Capture Triggered will remain active until CaptureReset is activated Destinations CaptureEnable The CaptureEnable is used to enable or arm the capture component If the CaptureEnable is not
86. Control Techniques is a Division of EMERSON Co Control Techniques is not affiliated with Microsoft Corporation owner of the MicroSoft Windows and Windows NT trademarks Microsoft Windows and Windows NT are registered trademarks of Microsoft Corporation MODBUS is a registered trademark of Gould Inc DeviceNet is a registered trademark of the Open DeviceNet Vendor Association This document has been prepared to conform to the current released version of the product Because of our extensive development efforts and our desire to further improve and enhance the product inconsistencies may exist between the product and documentation in some instances Call your customer support representative if you encounter an inconsistency Customer Support Control Techniques 12005 Technology Drive Eden Prairie Minnesota 55344 3620 U S A Telephone 952 995 8000 or 800 397 3786 It is Control Techniques 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 it s by phone fax or modem you can access Control Techniques support information 24 hours a day seven days a week Our wide range of services include FAX 952 995 8099 You can FAX questions and comments to Control Techniques Just send a FAX to the number listed above Website and Email www emersonct com We
87. Error 0 0000rews CurrentDemand 2 4 Ezlnput 1 True Ezlnput 2 False Ezlmput 3 False Ezlnput 4 False EzOutput 1 False EzDutput 2 False Figure 114 Watch Window Example To setup the Watch Window select Tools gt Watch Window from the PowerTools Pro menu bar If not online with the module Watch Window will be a greyed out choice on the menu Upon selecting Watch Window the Select Drive Parameters window will appear The Select Drive Parameters window as seen in Figure 115 allows the user to specify which parameters are to be viewed in the Watch Window To select a parameter forthe Watch Window simply click once on the parameter and it will be added to the Watch Window The parameters already in the Watch Window will be highlighted in the Select Drive Parameters window Select Drive Parameters x Select the parameters you wish to watch The watch window will be created updated automatically PLS 3 RotaryRolloverEnable PLS 3 RotaryRolloverPosn Gear l PLS 3 Source ack Restore Selections le 0 Accelerating Profile 0 AtVel Select Defaults Profile 0 CommandComplete FProfile 0 CommandinProgress Profile 0 Decelerating ssl Profile 0 Feedhold Profile 0 MotionStop xl Close User Level Detailed Mode Help Group ALL E Figure 115 Select Drive Parameters Window Once a parameter is added to the Watch Window its current value or state is constantly monitored If a parameter in the
88. F file is a text file setup with carriage returns as parameter separators It can be accessed and edited with any general purpose text editor such as Windows Notepad In order for some text editors to read the file you will have to create an association of the ddf file extension to a text editor in Windows Explorer This can be done by right clicking on the ddf file to be edited and then selecting Open With from the list In the Open With pop up select the text editing software you wish to use After you have completed editing the file be sure to save the changes You must be careful to save the edited file as a ddf file and not a txt file If the file is saved with a txt extension it will be unusable as a ddf file Creating a Custom Motor File Header Definition Information revision 0x4132 nameCount 2 Motor0 name User1 folder UploadedMotor peakCurrent 9 73 continuousCurrent 3 8 motorPoles 6 rotorInertia 0 000110 motorKE 51 0 phaseResistance 2 9 phaselnductanceSP 3 7 maxOperatingSpeed 3000 thermalTimeConstant 400 Motor encoderPhaseAngle 0 Definition Information Motor1 name User2 folder 400VICustomMotors peakCurrent 8 1 continuousCurrent 2 7 motorPoles 6 rotorinertia 00025 motorKE 98 phaseResistance 6 8 phaselnductanceSP 12 15 maxOperatingSpeed 3000 thermalTimeConstant 400 encoderPhaseAngle 60 Figure 120 Example ddf file Figure 120 above is an example of a
89. Help icon on the Program Toolbar This will place www emersonct com 73 PowerTools Pro into Red Dot Help Mode While in this mode the mouse pointer should have a red and yellow question mark next to it After going into Red Dot Help Mode simply click on the line of the program that has a red dot next to it Some description of the error should appear that helps indicate what the error is or how to fix it When finished checking Red Dot Errors once again click the Red Dot Help icon on the Program Toolbar to exit Red Dot Help Mode A user program that has a red dot on an empty line often indicates that the second part of a two part instruction is missing i e Do While with a missing Loop If with a missing Endlf etc If a variable or parameter name is spelled incorrectly the Red Dot Help message will indicate XXXX Error Couldn t find Variable named from Text where XXXX is the parameter name typed by the user If this message is displayed make sure that the parameter names on the specific line are spelled correctly 8 6 Program Code Window The Program Code Window is where the program instructions are inserted to create the user program Program instructions can be inserted into the Program Code Window using either of two methods The two methods available are to drag amp drop or to type the instructions into the window Drag amp Drop Method The most popular method for inserting program instructions is to drag
90. Index 1 Profile 1 Velocity 200 100 Time Index O plus Index 1 Summed Profile Index 1 Initiate 30 Figure 52 Two Indexes www emersonct com SM EZMotion Module User Guide 6 How I O Works 6 1 1 0 Scan When used to activate SM EZMotion functions the Unidrive SP and SM EZMotion module I O are scanned every trajectory update If the Unidrive SP I O is used to trigger functions in the base drive itself i e Threshold Detectors Programmable Logic Binary Sum etc then the Unidrive SP I O is only scanned every 4ms The scan rate is different when the Unidrive SP I O is used with SM EZMotion functions because the SM EZMotion processor scans the I O faster than the base drive firmware does 6 2 SM EZMotion Module 1 0 There are four digital inputs and two digital outputs on the SM EZMotion module These I O are scanned normally at the trajectory update rate user configured If an input is assigned to a function that does not use captured data then it will be updated every trajectory update The SM EZMotion module I O can also be captured with 1 microsecond accuracy by using the High Speed Capture object in the SM EZMotion module If an input is assigned to a function that uses captured data i e Index Initiate then the input will automatically be captured with 1 microsecond accuracy and the data is passed to the destination To use the SM EZMotion module I O in the PowerTools Pro
91. Minutes These values must be used in combination to find the actual time This parameter can be found on the Errors view while Online with PowerTools Pro EZ Total Run Time SPRunTimeYearsDays 108 www emersonct com SPRunTimeHoursMinutes Unidrive SP Stack Temperature 1 StackTemperature1 This read only parameter is read from the Unidrive SP parameter database parameter 7 04 StackTemperature1 can be used a user program to monitor the temperature of the drive Start Up StartUp This source can be used to trigger an event to occur on startup when the SM EZMotion module powers up or is rebooted This source is typically used to initiate a program or to initiate a home so that a machine will automatically home on power up or reboot StartUp will activate when the SM EZMotion module has powered up and no faults are active Startup may take as long as five seconds to activate Depending on what the Startup source is assigned to the drive may need to be enabled to perform the function If the drive is not enabled the startup source cannot initiate programs or motion The source will remain active until the SM EZMotion module is powered down Stop Stop Activate this destination to stop all motion and programs If Stop is activated when a Jog Index Home or Program is in progress they will decelerate to zero speed at the Stop Decel ramp When Stop is active all Jog Home Index and Program initiate destinations will be ignor
92. Motion module the values that were last downloaded are uploaded and put into a 18 www emersonct com PowerTools Pro configuration file Arrow A on Figure 24 above At the completion of the upload the user will be asked if they wish to upload the NVM values This dialog box is shown below 3 7 Do you want to upload the NYM values Ho Figure 25 Upload NVM Option Window By selecting Yes the values of all parameters stored in NVM will be uploaded and entered into the PowerTools Pro configuration file values Arrow H on Figure 24 above If No is selected the values entered into the PowerTools Pro configuration file will remain the same as those that were last downloaded to the SM EZMotion module 4 4 3 2 Downloading When downloading to the SM EZMotion module the user will be required to select how to handle the NVM parameters upon downloading Figure 26 below shows the dialog box asking the user to select one of three options for the download What would you like to do with the existing NVM parameters Overwrite Reset the NVM configuration Update Upload the values into the current PowerT ools configuration Keep Remember the values and restore them after the download Update Keep Download NVM Option Window Figure 26 A description of each of the options is as follows Overwrite This option will overwrite all the parameters stored in NVM with the current values in the user configuration Just Arr
93. Number 5 Parameter Number 7 is accessed using 5 07 In order to configure the drive to operate as desired the MM PP parameters must be set to a specific value To make configuration of the base drive parameters behind the scenes Since some advanced users may wish to utilize various drive parameters it is important to know which parameters are being used by the SM EZMotion module and how they are being used The chart in 12 2 details the drive parameters used by the SM EZMotion module 12 2 Chart The parameters outlined in bold are used in some way by the SM EZMotion module Each parameter outlined in bold has a note associated with it to further describe how the SM EZMotion module uses that particular parameter The chart is followed by a detailed description of each of the notes Drive Parameters Used by SM EZMotion Module www emersonct com 111 Menu 1 Menu 2 Menu 7 Menu 8 Menu 9 Menu 10 Menu 11 pl Logic Mot x General Drv Analog I O Digital VO Status Trips Current Motor Control Control 1 11 311
94. San hd lee I dore A OF BCE aoe 36 7 3 Configure Setup Parameters 2 25e test Soe ee EE SMe bles dad Mle a bres 36 TIL Sep VIEW 2s db A ee ds wale te a betwee ii ean tl 37 ESA User Units Vaew ARA sete oe ete aes SY ese stiles E et enr tenir a 37 7 33 Master Units Setup View es rosee ren DR Ra Re Ne le ee alarm se He e A Ve een 38 11 324 e POSO ITEM A A a ne ah cae alae A e AR EM de a 40 EBD Velocity VIEW ii A A yi A dele ete edd 41 1 3 6 Ramps VIEW ta A A A 41 71 319 A A NA ANN 42 1 38 Tunne VIEW AAA AAA fn aa 42 SAS O A M en le Entre Da tae burn a Mie ida oid tel denna ow er a 43 Ted Or RIGS VIe ta ate edt a e E e ehh EA e me aan ne E A CT a nt oes 45 73 11 Setup NVM Vie Wa eit eh ee an et Aa SEN eG eee andere e 46 LIZ Capture VIEW conie A Ve Gatos a an Abas ae duals A se uae di 46 7 313 LOueues VIEW 2525 cou Seid poche esha bse doe inte eh eel ek ete eda ee eM Lhd dhe ce the E 48 TES LA Us r Variables id id 49 73 15 User Bits VW A A hh CY BE E E Pres ane 50 TA Contigure VO 00 Fo 58s nek Aa AA sa dan en esac ett E 52 TAL ASSignments VI Were RE cdt ats 52 TAZ SPTO Setup View ses hante a Re Sed Shab eel dit el ed 54 74 3 EZ Motion I O Setup View A de et dr ee dun et 54 AA SEE EN TE T E E E AE A a 54 To Define Motion Profiles td di A ti ee 55 TIL Jos VIEW A AAA A A AE 55 EIA Home VIEW aee A E A NA 57 ES OI A E ae EN 59 TA Gearing Vi A ii et 63 7 6 Create User Programs cubra aos FO gt Program VieW 23 S
95. Total Power Up Time SPPowerUpTimeYearsDays SPPowerUpTimeHoursMinutes SPRelay Name SPRelay Name The relay output on the Unidrive SP can be given a name The name can be used in a user program to reference a specific output if desired The name can be up to 12 alphanumeric characters but must begin with a non numeric character SPRelay State SPRelay Out The Unidrive SP has relay output that can be used to control devices that require more current than a digital output The Out at the end of the parameter name is optional so this parameter is often referred to simply as SPRelay This parameter can be used in a user program to activate the output i e SPRelay 7 On or can be assigned to a Source on the Assignment view Unidrive SP Run Time Hrs Min SPRunTimeHoursMinutes The drive Run Time is the Total Time that the drive has been powered up with the Bridge Enabled since last reset by the factory The format for this parameter is Years Days and Hours Minutes These values must be used in combination to find the actual total run time This parameter can be found on the Errors view while Online with PowerTools Pro EZ Total Run Time SPRunTimeYearsDays SPRunTimeHoursMinutes Unidrive SP Run Time Yrs Days SPRunTimeYearsDays The drive Run Time is the Total Time that the drive has been powered up and the Bridge Enabled since last reset by the factory The format for this parameter is Years Days and Hours
96. Unidrive SP Parameters View To the view the menu parameters PowerTools Pro must upload the parameter values To upload the parameters click on the Get Menu Values control button on the right www emersonct com 35 side of the view The values displayed are only the values at the time the Get Menu Values button was selected The values are NOT continuously updating Control Button Get Menu Values Pressing the Get Menu Values control button will cause PowerTools Pro to read the current value of all the parameters in the selected menu and display them in the memory column If the value in the memory is different from the default value The parameter value will be highlighted in yellow in the default column 7 24 SP Menu Initialization View The SP Menu Initialization View is a utility to aid the user in configuring the Unidrive SP base drive setup Because the Unidrive SP can operate in many different modes and has many different features it must be put into a known state so that the SM EZMotion module can control it To get into this state certain menu parameters must be set to specific values The SP Menu Initialization View is simply a list of parameters that are written by the SM EZMotion module to the Unidrive SP on powerup so that the Unidrive SP is in a known state that the SM EZMotion module can control it A default list of parameters is included so the user does not need to enter each of these parameters by hand The
97. able 86 CaptureReset 86 CaptureTriggered 86 ClearFollowingError 87 CommandingMotion 87 Configuring Communications in PowerTools Pro 17 Connecting Motor Encoder Feedback to the Unidrive SP 3 Creating a Custom Motor File 125 Current View 42 CurrentDemand 87 CurrentLevel 87 CurrentLevelActive 87 CurrentLimit 87 CurrentLimitActive 87 CurrentLimitEnable 87 16 Index D Decelerating 87 DefineHome 88 DefineHomePosn 88 Digital I O Connections 3 DistUnits CharacteristicDist 88 DistUnits CharacteristicLength 88 DistUnits Decimal 88 DistUnits Name 88 Drive Parameters 111 Drive Encoder View 33 DriveActive 88 DriveEnableStatus 88 DriveHealthy 88 DriveSerialNumber 88 E Electrical Connections 3 Errors and Error Codes 117 Errors View 43 EZ Motion I O Setup View 54 EZConnect DigitallOReadWord 88 EZInput DebounceTime 88 EZInput f Force 89 EZInput ForceEnable 89 EZInput f In 89 EZOutput Name 89 EZOutput Out 89 F Fault DriveOK 89 Fault Reset 88 FeedforwardsEnable 89 Feedhold 89 FeedholdDecelTime 89 FeedRateDeactivate 89 FeedRateOverride 90 FollowingError 90 FollowingErrorEnable 90 FollowingErrorLimit 90 G Gear Accel 90 Gear AccelEnable 90 Gear Accelerating 90 Index www emersonct com 133 Gear Activate 90 Gear AtVel 90 Gear CommandComplete 90 Gear CommandInProgrees 90 Gear Decel 90 Gear DecelEnable 91 Gear Decelerating 91 Gear Reco
98. achinery The product has been designed and tested to a high standard and failures are very unlikely However the level of integrity offered by the product s control function for example stop start forward reverse and maximum speed is not sufficient for use in safety critical applications without additional independent channels of protection All applications where malfunction could cause injury or loss of life must be subject to a risk assessment and further protection provided where needed WARNING General warning Failure to follow safe installation guidelines can cause death or serious injury The voltages used in this unit 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 this equipment The installation must comply with all 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 Allow at least 6 minutes for the Epsilon 205 3 minutes for Epsilon 202 203 and 30 seconds for E Series drives after removing the supply before carrying out any work which may involve contact with electrical co
99. ack reaches the OnPosn the PLS Status will activate As the motor continues in the same direction the PLS Status will deactivate when feedback position reaches or exceeds the OffPosn If motor travel changes to the negative direction the PLS t Status will activate when position feedback reaches the OffPosn and will 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 If the PLS has a rollover point and the OnPosn is greater than the OffPosn the PLS will be active whenever the axis www emersonct com 97 is not between the On and Off positions and inactive whenever the axis is between the two positions However the PLS t Status will not turn on until it reaches the OnPosn the first time PLS On Point PLS OnPosn PLS Status will be active when the selected source position is between the PLS OnPosn and the PLS OffPosn The terms On and Off assume the motor is traveling in a positive direction Assume that the PLS Direction is set to Both When traveling in the positive direction and the position feedback reaches the OnPosn the PLS Status will activate As the motor continues in the same direction the PLS Status will deactivate when feedback
100. active This command will stop either Jog O or Jog 1 without specifying which one to stop If jog is active on the alternate profile Profile 1 then the SM EZMotion Module User Guide On Profile 1 modifier must be added to the Jog Stop command If this instruction is used while gear motion is not active it will be ignored and the program will move to the next instruction 9 2 2 2 Gear Stop The Gear Stop command is used to stop gearing motion that is active If gear is active on the alternate profile Profile 1 then the On Profile 1 modifier must be added to the Gear Stop command If this instruction is used while gear motion is not active it will be ignored and the program will move to the next instruction 9 2 2 3 Stop The Stop command can be used in a program to stop all programs and motion that are active at that time To use this command Stop must be set equal to ON to activate it i e Stop ON This presents a bit of a problem since the program that turns the stop on will also stop and then there is no way to deactivate the stop If Stop is activated from a program it is necessary to create an Assignment to clear the Stop function Programs and motion will be prevented from initiating while Stop is active 9 2 2 4 Feedhold The Feedhold instruction functions identically in a program as it does from an assignment To activate Feedhold from a program it must be set equal to ON Feedhold will remain act
101. acts as a digital input or digital output Valid entries for this parameter are sellnput or selOutput This parameter is modified automatically when the user changes the settings on the Slot X view SlotX 10 Status SlotX 0 In This parameter is only available when an SM I O Plus module has been populated in one of the Unidrive SP slots The X in SlotX defines the slot number that the SM I O Plus module has been fitted in For example if the I O Plus module is in slot 2 the parameter would be named Slot2 10 In The first three digital I O points on the SM I O Plus module pins 2 3 and 4 are configured as Inputs or Outputs using PowerTools Pro EZ software The In at the end of the parameter name is optional therefore this parameter is often referred to as simply SlotX 1O If the I O point has been configured as a digital input then the SlotX IO In signal can be used in a user program to check the status of inputs or on the Assignments view to activate different signals Note This parameter will appear on the Assignments view under the Inputs group of Sources even if the I O point has been configured as a digital output SlotX 10 Name SlotX IO Name This parameter is only available when an SM I O Plus module has been populated in one of the Unidrive SP slots The X in SlotX defines the slot number that the SM I O Plus module has been fitted in For example if the I O Plus module is in slot
102. ad from or write to does not Parameter Doesn t Exist number exist The SP Menu Parameter that you are Avoid writing eed ony PARMA 42 y SP Parameter Access Error tuto write tois a Read Oni Use Drive Menu Watch view in Parameter is Read Only tying y PowerTools Pro or Unidrive SP User parameter a a Guide to verify parameter accessibility Avoid reading from Write Only 43 y SP Parameter Access Error The SP Menu Parameter that you are parameters Use Drive Menu Watch view Parameter is Write Only trying to read from is Write Only in PowerTools Pro or Unidrive SP User Guide to verify parameter accessibility Modify value that you are trying to write SP Parameter Access Error Written The value you are trying to write to the Senet it iswithin valig rangs ormie 44 Y parameter Use the Unidrive SP User Value Out of Range SP Menu Parameter is out of range A f Guide to verify the range of the parameter and try again 73 Y SP Database Setup Error Select lower switching frequency in SM EZMotion module temperature PowerTools Pro configuration or reduce 74 Y Module Overheat Error motion performance i e lower accel has exceeded 83 degrees Farenheit decel lengthen dwells If problem persists please contact factory 101 Y Invalid Configuration Error 102 Y NVM Invalid Error 103 y Power Up Test Failure Error SM EZMotion module Power Up Test Cycle power to the system If problem failed persists please contact factory Diagnostics ww
103. am This program flow instruction is used to call another program When the called program finishes the controller seconds seconds www emersonct com 69 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 then calling that program the total number of program lines can be reduced This can also make the program easier to understand Care should be taken notto nest more than four program calls due to processor stack overflow Therefore no more than four different programs should be called without returning to the original program In the diagram below gt Represents a Call Program instruction Example Call Program 10 Example Call Program 8 4 1 8 End This program flow instruction is used to halt the execution of the program It can be used in multiple places within the program It is not required on the last line of every program It is implied that after the controller executes the last line of code in a program the program will halt It is commonly used inside of If Then Endif constructs to end the program if a certain condition has been met Example If EZInput 1 OFF Then End Endif Example If EZInput 1 ON Then EZOutput 1 0N End Endif 8 4 1 9 Formula This program instruction can be used to enter a formula or assignment into a program All SM EZMo
104. ame Button names are in italic OK button Source code is printed in Courier font Case ERMS In addition you will find the following typographic conventions throughout this manual This Represents Characters that you must type exactly as they appear For example if you are directed to type bold a setup you should type all the bold characters exactly as they are printed italic Placeholders for information you must provide For example if you are directed to type filename you should type the actual name for a file instead of the word shown in italic type ALL CAPITALS Directory names file names key names and acronyms SMALL CAPS Non printable ASCII control characters KEY1 KEY2 A plus sign between key names means to press and hold down the first key while you press example Alt F the second key KEY1 KEY2 D DRE o i o example Alt F A comma between key names means to press and release the keys one after the other WARNING Warning indicates a potentially hazardous situation that if not avoided could result in death or serious injury CAUTION Caution indicates a potentially hazardous situation that if not avoided may result in minor or moderate injury Caution used without the safety alert symbol indicates a potentially hazardous situation that 1f not avoided may result in property damage Note For the purpose of this manual and product N
105. ample 2 If Selector Select2 is inactive Selector Select1 is active and Selector SelectO is active then the total binary value would be as follows S2 0 S1 1 and SO 1 Therefore Total Binary Value 0 x 22 1 x 21 1 x 20 Total Binary Value 0 2 1 Total Binary Value 3 Therefore when Selector Selectorinitiate activates Selector Selection3 will activate The Selector Select lines can change without any action Configuring an Application www emersonct com until the Selector Selectorlnitiate destination is activated Selector Selection sources can be tied to any destination in the Assignments view Figure 92 shows the four Selection lines being assigned to Index O through Index 3 Initiates and the two Select lines being assigned to digital inputs By doing this we could initiate up to four indexes with only two Select lines and a Selector Initiate This helps to minimize the number of inputs required to initiate a large number of indexes or programs IM File Edt Device Options Tools View Window Help 8 x Deals rv 4014 Sete 00110 mew Selector Input Destinations 4 ja 9 Fy Sas Selector Output Sources a 1 0 Setup EE 4 Assignments Input Lines Destination Set From Source Assigned to Output Lines Selector SelectO Selector SelectionO Y Analog Inputs Selector Select Selector Selection Analog Outputs Selector Select2 Selector Selection2 69 49 Motion Selector Select3 S E Progr
106. ams Selector Selectorinitiate Program0 Selector SelectionS Eh Network Selector Selection Th Modbus Selector Selection Selector Selection8 Selector Selection Selector Selection 0 Selector Selection 1 Selector Selection 2 Assignments Selector Selection3 Selector Selectiond Selector Selection 3 Selector Selection 4 Selector Selection15 Ready Disconnected 7 Figure 92 Selector Assignments Example 7 5 Define Motion Profiles 7 5 1 Jog View TB Ele Edit Device Options Tools View Window Help l xl oema aa gt AA BE SHAE TEE m exe p asi Jog Number o Y Velocity 0 0000 tevs m H Hardware Jog Name Jogo Acceleration 0 revs m s sn de Setup H 1 0 Setup Time Base Realtime Deceleration 0 revs m s Calculations dog Calculations Accel Distance AccelTime 0 Seconds Decel Distance DecelTime 0 Seconds B A Indexes A Indexo A Indexi A Index2 A Index3 Index4 A Index5 z Index6 M Index de Gearing A Profiles H E Programs e Network Disconnected 7 E Ready Figure 93 Jog Number Jog View This scroll box allows you to select between Jog0 and Jog1 setup views 55 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 op
107. archy in PowerTools gives the user a basic template on how to configure an application The user should start at the top of the hierarchy filling out necessary parameters on the different views working all the way to the bottom of the hierarchy Once the user is more familiar with the software they may choose to skip various views By following the hierarchy from top to bottom the user will start by configuring the hardware that the SM EZMotion module will be used with Drive Type Motor Type etc The user will then configure the different Setup views for all the different configuration parameters i e User Units Tuning PLS Torque Limits etc Next the user configures the Digital and Analog I O for the drive SM EZMotion module and any SM I O Plus modules The user then defines all of the different motion profiles Jogs Homes Indexes Gears to be used in the application After the hardware setup parameters I O and motion have been configured the user writes programs to tie the entire application together Once the programs are complete the user can create the interface for Modbus communications to the different drive module parameters 7 2 Define Hardware 7 2 1 Drive Encoder View The Drive Encoder view allows the user to configure the Drive Type and Encoder Type being used in the application Figure 53 shows the Drive Encoder view Configuring an Application M Fie Edt Device Options Tools View Window Help 18 x D
108. arker profile is a combination of the two home types described above Because in many applications the load will be more than one revolution away from the desired home position a Home to Marker cannot be used because the marker activates once every revolution of the motor Therefore an external sensor is mounted on the machine to determine the home position The SM EZMotion module allows the user to home first to the external sensor followed by a home to the next marker pulse The Home to Sensor then Marker combines the accuracy of homing to the encoder marker with the flexibility of homing to an external sensor The Home to Sensor then Marker routine begins by accelerating up to the Home Velocity The motor then continues at the Home Velocity until the external sensor activates After the sensor activates the motor continues at the Home Velocity until the next rising edge of the encoder marker is detected Once the encoder marker activates the motor either begins to decelerate immediately or continues for a specified offset distance before stopping Figures 37 and 38 show examples of the Home to Sensor then Marker profile with calculated offset and specified offset respectively SM EZMotion Module User Guide 4 Velocity Home Velocit 4 y Home Accel i Home Decel x UR Time gt 1 Home Initiate Encoder Marker x _ External Sensor Activates wait External Sensor for next Enc
109. art of the index is greater than the Index PLSOnDist and less than the Index PLSOffDist Index Registration Offset Index RegistrationOffset This parameter is the Distance the motor will travel after a valid registration sensor or analog limit value has been detected Index Registration Type Index RegistrationType This selects either sensor or analog as the registration mark for a registration index Index 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 Index 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 Index direction does not affect this parameter The Registration Window start position is greater than or equal to the Registration point and less than the Registration Window End position If a registration sensor is seen outside of this window not between the WindowStart and WindowEnd positions then it will be ignored Index Window Start Index RegistrationWindowStart This parameter defines the start of the Registration Sensor Valid Window relative to start position of this index This is an unsigned value and is relative only to starting positi
110. atch the module yp type actually fitted and then re download the configuration Diagnostics www emersonct com 119 Error Code Cause s r x 50 Trip Error Possible Reason Possible Solution Switch module located in Slot 2 to match i Is P Option module selected for Slot 2 in ea lo 172 Y Invalid Slot 2 Selection PowerTools Pro file does not match f ee act al module five fited Pro configuration to match the module yp type actually fitted and then re download the configuration Switch module located in Slot 3 to match F i Is P Option module selected for Slot 3 in module type APRES TOR Ero 173 Y Invalid Slot 3 Selection PowerTools Pro file does not match Me AISNE update the PowerTools nya cone A module type fitted Pro configuration to match the module yP type actually fitted and then re download the configuration 174 Y File Corruption Error Consult Factory SM EMON module canorily Supply Modify circuitry of devices connected to 20mA maximum total output current If y f ie the SM EZMotion module digital outputs 175 Y Module Output Overload this fault occurs the digital output so that they draw no more than 20mA device attached to the module outputs total is drawing too much current 13 2 Analog Outputs The Unidrive SP has two Analog Outputs that can be configured to represent any base drive parameter 00 00 21 51 The default configuration for the two drive analog outp
111. back device is connected to the Unidrive SP Early released of PowerTools Pro and SM EZMotion only allow selection of Drive Trajectory Update Rate This parameter configures the interrupt interval for the processor This defines how often the motion program is interrupted and the Control Loop is processed In the Control Loop the feedback information is processed and a new position command is generated Also in the Control Loop the l O is scanned Available selections for Trajectory Update are 1 1 25 1 5 1 75 and 2 milliseconds The longer the update the more time is dedicated to the user programs and the less time dedicated to servo performance The shorter the update the more precise the servo performance but less time is available to process user programs Diagnostics are Configuring an Application available on the Status Online tab when online with the device to help select the ideal setting See description of Control Loop Group of online parameters for further information Positive Direction The Positive Direction 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 CW Motor Rotation Radio Button Select this radio button for applications in which CW motor rotation is considere
112. been homed properly It is will be deactivated by the Home Initiate destination an encoder fault a reboot or when the device is powered down unless using Auxiliary Logic Supply ALP Home AnyCommandComplete This source is activated when any home motion command is completed If a drive stop destination is activated before the home has completed this source will not activate It will be deactivated when another home is initiated Home Accelerating This source is active while a home is accelerating to its target velocity Once the home reaches the target velocity the Home Accelerating source will deactivate This source will also activate during the back off sensor motion before the actual home Home AtVel This source activates when the home reaches its target velocity It deactivates when a home deceleration ramp begins Home AtVel will not be activated during the back off sensor portion of the home Home CommandComplete The Home CommandComplete source will activate when the specific home completes its deceleration ramp It will remain active until the specific home is initiated again If the drive stop destination is used during a home then the Home CommandComplete will not activate Home CommandinProgress Activated when the Home is initiated and remains active until all motion related to the Home has completed Home Decelerating This source is active while a home is decelerating from its targe
113. box after it has been enabled When a fault occurs the drive will still be disabled and no motion will be possible For this reason it may be necessary to reset the fault in the Run Anytime program prior to initiating motion again If a motion instruction is processed while the drive is disabled the program will stall on that particular line of the program but the program will not be stopped Certain conditions will still cause a program designated as Run Anytime to stop These conditions are listed below e Stop Function is activated e Run Anytime program has a Program Fault Multiple programs may be configured as Run Anytime programs Run Anytime programs can be called from a user program just the same as any other program If a Run Anytime program calls another program which is not configured to as Run Anytime while the drive is faulted or disabled the task will be stopped Resetting Errors in Run Anytime Programs To reset an error from a Run Anytime program use the Error Reset ON command in the user program The Error Reset command does not clear all types of errors Some errors require power to be cycled in order to clear the error For more information on the method used to clear individual errors see Diagnostics on page 117 After using the Error Reset command in a user program use a Wait For Time 0 100 seconds command to give the drive time to clear the error and re enable the drive before
114. bsite www emersonct com Email info emersonct com If you have Internet capabilities you also have access to technical support using our website The website includes technical notes frequently asked questions release notes and other technical documentation This direct technical support connection lets you request assistance and exchange software files electronically Technical Support 952 995 8033 or 800 397 3786 Email service emersonct com Control Techniques Motion Made Easy products are backed by a team of professionals who will service your installation Our technical support center in Eden Prairie Minnesota is ready to help you solve those occasional problems over the telephone Our technical support center is available 24 hours a day for emergency service to help speed any problem solving Also all hardware replacement parts if needed are available through our customer service organization When you call please be at your computer with your documentation easily available and be prepared to provide the following information e Product version number found by choosing About from the Help menu e The type of controller or product you are using e Exact wording of any messages that appear on your screen e What you were doing when the problem occurred e How you tried to solve the problem Need on site help Control Techniques provides service in most cases the next day Just call Control Techniques technical su
115. cale time so that all motion runs twice as fast as it would in real time FeedRate Override is always active and this parameter may be modified via Modbus or in a program When changed the new value takes effect immediately Following Error FollowingError Following Error displays the difference between the Position Command and the Position Feedback Enable Following Error FollowingErrorEnable This parameter can be setup from the Position view or from a program When enabled a following error fault will be generated if the absolute value of the Following Error exceeds the Following Error Limit 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 Gear Accel Gear Accel This parameter sets the acceleration of the realtime gearing ramp Gear Accel units are in Follower Units Velocity Time Base Acceleration Time Base The Gear Accel functions only when the follower is ramping its speed up to meet the Masters at the specified Gear Ratio 90 www emersonct com Gear Accel Enable Gear AccelEnable Gear AccelEnable is a Destination that when it is on allows a gear to run a specified accel ramp after the gearing command is turned on Gear Accelerating Gear Accelerating If Gear AccelEnable is act
116. causes any task to stop and the control loop to update The timing of the interrupt is dependent on the Trajectory Update Rate parameter configured by the user on the Setup view default update rate is 1 msec Within the control loop update the SM EZMotion updates the motion trajectory captured data SM EZMotion digital inputs and outputs and other control parameters Between each control loop update the SM EZMotion processes messages i e Modbus Errors etc and then runs as much of the user program as possible until the next interrupt begins Each update a different task is processed Therefore the time it takes a given user program to complete depends how many tasks are being processed The task assignment is performed on the Program view Figure 106 shows the Program view with the Task Number parameter Use the up and down arrows next to the Task Number to change the task number To create a new Task simply click on the up arrow until PowerTools Pro asks if you wish to create a new Task ob six TD ble gdt Device Options Tools yew Window Heip oslas tale gt 41 Se lee zima m el 2e ala Aa ef a mm o Pete Figure 106 Program View The SM EZMotion module allows up to four different tasks in a single application If the user wishes to operate two programs simultaneously the two programs must be assigned to two different tasks Multiple pro
117. ce the index is selected click on Edit gt Delete gt Index on the Menu Bar Doing so will delete the index instance Once the index is deleted the data stored on the index view cannot be recovered 3 3 1 2 8 2 Home Homes cannot be deleted in the initial release of SM EZMotion 3 3 1 2 8 3 Program To delete a program the user must select the specific program they wish to delete on the hierarchy Once the program is selected click on Edit gt Delete gt Program on the Menu Bar Doing so will delete the program instance Once the program is deleted the program code cannot be recovered 3 3 1 3 Device Figure 10 shows the Device Menu as selected from the PowerTools Pro Menu Bar Index Index i File Edit Device Options Tools View Window Help Change Address Change Baud Rate Download Disconmect Upload Drive Update Drive Reset Errors View Faults Reboot Drive Feedhold Where ml Figure 10 3 3 1 3 1 Change Address Selecting Change Address from the Device menu allows the user to change the Modbus node address of a drive module system The user must be online with the device for Change Address to be available The user will be prompted for the new node address After entering the new node address click OK The drive will immediately change to the new address 3 3 1 3 2 Change Baud Rate Selecting Change Baud Rate from the Device menu allows the user to change the Baud Rate for
118. celTime parameter The motion will remain stopped as long as the function is active When deactivated the motion will accelerate back up to the programmed speed in the same amount of time to finish its profile Profile Motion Stop Profile MotionStop This function is used to stop any motion operating on the specified profile This allows the user to stop motion running on one profile without stopping motion on both profiles When activated motion running on the specified profile will decelerate to a stop using the deceleration rate programmed in the StopDecel parameter The profile will decelerate using a real time deceleration ramp regardless of the original timebase of the move www emersonct com 99 Program Any Complete Program AnyComplete This source is activated when any program ends normally If a program ends due to a fault or the stop destination this source does not activate Deactivates when any program is initiated Program Initiate Program Initiate When activated this destination initiates the specified program unless an index home or jog is already executing a stop is active or a program is already executing with the same task number Program 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 p
119. character More information on this parameter to be provided later Initially select from 200V or 400V values If a motor is automatically entered into the daf file by PowerTools Pro EZ when uploading or opening an existing file this parameter will be set to UploadedMotor 126 www emersonct com peakCurrent Specifies the peak current allowed by the motor The valid range is 0 00 to 9999 99 Amps rms The motor manufacturer typically provides the peak current data If a system is drive limited meaning that the motor can handle more current than the drive can deliver the peak current actually used by the system may be lower than the value specified here continuousCurrent Specifies the continuous current allowed by the motor It is used to determine the Unidrive SP continuous current and peak current limits The drive can also limit the continuous current to the motor based on the drive capacity The range is 0 00 to 9999 99 Amps rms The motor manufacturer typically provides the continuous current data If a system is drive limited meaning that the motor can handle more current than the drive can deliver the continuous current actually used by the system may be lower than the value specified here motorPoles Specifies the number of magnetic poles on the motor The supported values are 4 to 120 The motor manufacturer typically provides the motor pole information rotorlnertia This parameter spe
120. cifies the inertia of the motor rotor The range is 0 000010 to 90 000000 kg m 2 The SM EZMotion module uses this parameter to interpret the Inertia Ratio parameter found on the Tuning view Inertia Ratio is specified as a ratio of reflected load inertia to motor inertia motorKE Specifies the Ke of the motor The units are Vrms kRPM The line to line voltage will have this RMS value when the motor is rotated at 1000 RPM The range is 1 0 to 5000 0 The motor manufacturer will typically provide the Ke data phaseResistance Specifies the phase resistance of the motor You can determine this value by measuring the resistance between any motor phase and ground with an ohm meter The range is 0 000 to 30 000 Ohms The motor manufacturer will typically provide the phaseResistance data Note This parameter is not the same as the phaseResistance parameter found in the ddf file used for En Epsilon MDS drives Do not copy this value from stdmotor ddf phaselnductanceSP Specifies the phase inductance of the motor This is the inductance measured from phase to ground and NOT phase to phase The range is 0 00 to 5000 00 mH SM EZMotion Module User Guide maxOperatingSpeed e Motor Continuous Current Specifies the maximum operating speed of the motor It is used by the drive to limit the Velocity Command The valid range for this parameter is 0 0 to 40 000 0 RPM thermalTimeConstant Specifies the Thermal Time Constant
121. ck 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 Start This parameter defines the start 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 Start position or distance should be less than the Registration Window End position www emersonct com 61 If a registration sensor is seen outside of this window not between the WindowStart and WindowEnd positions then it will be ignored 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 If a registration sensor is seen outside of this window not between the WindowStart and WindowEnd positions then it will be ignored Example Index 0 is defined as a Registration type of index The user wants the index to run at velocity for 10 Revs or until the Torque Feedback reaches 50 continuous torque and then continue for another 0 5 Revs In the Limit Distance parameter enter 10
122. ck on the Open button This will download the secure file to the target device A secure file EZs cannot be opened or modified The file extension cannot be changed to allow the user to open it The secure file is only valid for use by the secure download function If a user attempts to upload a secure file a message will appear indicating that the file that resides in the SM EZMotion module has been protected by the user An example of this message is shown in Figure 31 EMERSON Control Techniques PowerTools Pro x A PowerTools FM4 cannot upload the current application because it is protected by the author y Figure 31 Upload Failure File Protected By User message www emersonct com 21 22 www emersonct com SM EZMotion Module User Guide 5 How Motion Works 5 1 Introduction The SM EZMotion module offers four different motion object types These four types are Jog Home Index and Gear All motion objects run on what is called a Profile Only one motion object can run on a Profile at a time For applications that need to run multiple motion objects simultaneously the SM EZMotion module has two different Profiles This will be discussed further in the Summing Multiple Profiles subsection below This section will concentrate on how the different motion objects work and not on how they are configured using PowerTools Pro For more information on how to configure the motion objects in PowerTools Pro see
123. control capability is provided through the use of assignments to the sources SP Inputs SM EZ Motion Inputs and l O Plus Inputs or the destinations SP Outputs SM EZ Motion Outputs and I O Plus Outputs Assignments provide a mechanism for the user to define the internal and external dynamic control structure to separate complex motion profiles These functions directly correspond to any input or output line on the drive or option modules External controllers such as a PLC or other motion controllers may be connected to affect or monitor the device s operation The Unidrive SP is equipped with up to six input lines three can be configured as Input or Output and up to five output lines three can be configured as Input or Output and two are Relay outputs The SM EZ Motion module has an additional four input and two output lines The SP drive s input and output lines can be accessed through the two removable 11 pin control connectors The SM EZ Motion input and output lines are located on the front face of the SM EZ Motion module All inputs and outputs are configured as sourcing and are designed to operate from a 10 to 30 VDC power source The user is responsible for limiting the output current to less than 10 mA or less for each digital output Assignments View The Assignments View is used to tie a source to a 52 www emersonct com destination Destinations are found on the right side of the Assignments view and are func
124. ct Usage 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 If both jog input functions are On there is no motion after a jog deceleration they effectively cancel each other The drive s display will show R for ready 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 Jog Motion can be used to jog off of a Travel Limit Switch Use the Jog Initiate for the opposite direction of the Limit Configuring an Application Switch that is active 7 5 2 Home View TB Eie Edit Device Options Tools View Window Help 18 x oeae tal tal 224 415 05 Sle ere 2100 15 In Len Home Number 0 Y velocity 0 0000 revs m Name Homen Accelerati o revs m Home Reference Sensor x Deceleration o revs m Time Base Realtime y If on sensor Home Offset Back off before homing C Calculated offset 0 000 revs G
125. ctivate when the index is initiated The Index ProfileLimited flag will remain active until cleared using the Index ResetProfileLimited assignment or program instruction In this situation the index will still operate but the time will be extended In other words the profile will be performed using the maximum values and still cover the specified distance but not in the specified time Index Reset Profile Limited Index ResetProfileLimited If a timed index was not completed in the specified time the Index ProfileLimited source will activate Index ResetProfileLimited is used to clear the ProfileLimited flag and acknowledge that the index was not completed in the specified time This can be activated through an assignment or through a user program This function is edge sensitive so holding Reset Profile Limited active will not prevent ProfileLimited from activating Index Acceleration Index Accel This parameter is the average Acceleration rate used during the index Units are specified on the User Units view in the PowerTools Pro software Index Accelerating Index Accelerating This source is active while an index is accelerating to its target velocity Once the index reaches the target velocity or begins to decelerate the Index Accelerating source will deactivate Index At Velocity Index AtVel This source activates when the target index velocity is reached If Feedrate override is changed or FeedHold is activate
126. ctivated Travel Limit Disable TravelLimitDisable TravelLimitDisable can be used from the Assignments screen or through a user program It can be used to temporarily disable the travel limit fault capability of the SM EZMotion module When TravelLimitDisable is activated the SM EZMotion module travel limits hardware or software are no longer valid If disabled using a program the travel limits will automatically be re enabled when the program ends if they haven t already been enabled This feature is typically used when a machine must use one of its limit switches as a home switch The user disables the travel limits then homes to the limit switch and then re enables the travel limit Travel Limit Minus Activate TravelLimitMinusActivate This destination is used to activate the travel limit minus fault It should be assigned to the travel limit minus sensor When itis activated the drive will decelerate to a stop using the deceleration rate defined in the TravelLimitDecel parameter This is level sensitive Travel Limit Plus Activate TravelLimitPlusActivate This destination is used to activate the travel limit plus fault It should be assigned to the travel limit plus sensor When it is activated the drive will decelerate to a stop using the deceleration rate defined in the TravelLimitDecel parameter This is level sensitive Travel Limit Minus Active TravelLimitMinusActive This source is active when the TravelLimitMinus
127. d the icon will become disabled again until another parameter is changed e If the user performs a full download while the button is enabled the Update to RAM button will be disabled when the download is complete e Ifthe user modifies parameters and then disconnects stops communications the update button will be disabled and the changes will not be sent 4 4 5 PowerTools Pro Operation Preferences To avoid getting all the option windows described above every time an Upload or Download is performed the user can set certain preferences To configure the preferences select Options gt Preferences gt Ptools Operation from the Menu Bar Figure 28 shows the Preferences Configuration window 19 x PopUps Download CN Overwrite Reset the NVM configuration Update Upload the values into the current Update PowerTools configuration C Keep Remember the values and restore them after the download Ask on each download Upload Always convert Application to latest Ptool capability Always leave Application matching Module capability Ask on each upload m Upload Non olatile Memory NVM Alway upload NVM C Always bypass NVM upload Ask on each upload Cancel Apply Help Figure 28 PowerTools Pro Operation Preferences Window Following is a description of each of the preference settings 4 4 5 1 Download Group 4 4 5 1 1 Ignore saving file on Ptools
128. d AtVelocity shall remain active Index AtVel will deactivate at the start of any deceleration or acceleration During a synchronized index this source could be active even without any motor motion if the master axis stops Index Command Complete 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 Parameter Descriptions Stop destination is used during an Index then the Index CommandComplete will not activate Index Command In Progress Index CommandinProgress The Index CommandinProgress source is active throughout an entire index profile The source activates at the beginning of the index acceleration ramp and deactivates at the end of the index deceleration ramp Index Compound Initiate Index Compoundinitiate When activated will initiate the specified Index to compound into the next index in the program Only allowed in a program Index Deceleration Index Decel This parameter is the Average Deceleration rate used during the index Units are specified on the User Units page Index Decelerating Index Decelerating This source is active while an index is decelerating from its target velocity Once the index reaches zero velocity or its next target velocity the Index Decelerating source will deactivate Index Distance Index Dist This parameter
129. d Master Position Homed Captured CapturedMasterPosHomed On the rising edge of the Capture Activate event the master axis position is captured in counts The captured counts value is then converted into Master Distance User Units and stored in the Captured Master Position parameter If the user redefines the zero position of the master axis the master position in User Units is zeroed out however the counts parameter is not Therefore if another capture occurs after the position has been zeroed the value stored in the Captured Master Position parameter will be off by the value of the master axis before the position was zeroed out This parameter is to be used if the master axis position is redefined after power up Clear Following Error ClearFollowingError Clear Following Error is a destination found in the Position group on the Assignments view When this destination is activated any following error that has accumulated will be erased Following Error is cleared by setting the commanded position to the feedback position automatically resulting in a zero following error The SM EZMotion module will deactivate the Clear Following Error destination as soon as Following Error is zero Commanding Motion CommandingMotion This source activates when VelCommand is non zero Current Demand CurrentDemand The current demand is read from the Unidrive SP parameter 4 04 The units for the Current Demand are of rated current 100 rate
130. d current is defined as the rated current of the system Motor Rated Current lt System Rated Current lt Drive Rated Current This read only parameter can be found on the Online tabs of the Status and Current views Current Level CurrentLevel The SM EZMotion module constantly monitors the amount of current being output from the Unidrive SP The user can set the Current Level parameter such that when the Current Demand from the drive is equal to or greater than the Current Level the Current Level Active event will activate This is simply a flag that can be used to indicate to the user that a certain amount of current torque is being Parameter Descriptions generated by the Unidrive SP Units for the Current Level are Continuous This means that 100 is equal to the system rated current Motor Rated Current lt System Rated Current lt Drive Rated Current This parameter is found on the Current view Current Level Active CurrentLevelActive The Current Level Active event activates when the Current Demand meets or exceeds the Current Level parameter value This event can be found on the Assignments view and can be assigned to a digital output or other event to signal to the user when the current level is exceeded The event will deactivate when the Current Demand is less than the Current Level value Current Limit CurrentLimit The user can limit the amount of current that the Unidrive SP can generate by configuring the
131. d for each option module slot If an error occurs the error code is written to this parameter and the drive may produce a SLx Er trip where x is the slot number A value of zero indicates that the module has not detected an error A non zero value indicates that an error has been detected See Errors and Error Codes in Diagnostics section of this manual When the drive is reset this parameter is cleared for the relevant option module All parameters between x 00 through x 50 not listed above are not used by the SM EZMotion module 116 www emersonct com SM EZMotion Module User Guide 13 Diagnostics There are many different tools available to the user to help diagnose problems or errors in the Unidrive SP and SM EZMotion module The most common tools used are the Error Codes Analog Outputs and PowerTools Pro utilities such as the Watch Window Fault View Status Bar and Online View Tabs Any or all of these can be used to figure out why an application may not be running properly The following section gives detailed information about each of the tools listed above 13 1 Errors and Error Codes The Unidrive SP and SM EZMotion module fault handling system is made of a series of Trips Trip Codes Errors and Error Codes Following is a definition of each A Trip is an action that happens in the Unidrive SP that causes the drive bridge to be inhibited therefore stopping all motion When the drive inhibits the drive does not ha
132. d to be motion in the positive direction increasing absolute position CCW Motor Rotation Radio Button Select this radio button for applications in which CCW motor rotation is considered to be motion in the positive direction increasing absolute position Switching Frequency This parameter defines the switching frequency of the Unidrive SP Available switching frequencies are 3kHz 4kHz 6kHz 8kHz 12kHz and 16kHz For more information on how the switching frequency effects drive performance refer to the Unidrive SP User Guide 7 3 2 User Units View The User Units view allows the user to configure the distance velocity and acceleration units to be used for the motor axis throughout the application Figure 66 shows an example of the User Units View M Fie Edit Device Options Tools View Window Help 18 x oeme rail 2 415 BS ee 6 00 05 IT 2121 Distance Velocity Units Name vs Time Scale Minute y Decimal Places 00000 2 aS Max Speed 3000 000 revs m 1 0000 tevs Scaling 1000 RPM 1000 000 revs m per Revs Acceleration Time Scale Second Y One Encoder Count 0 000061 revs 1 Rev CW 1 0000 revs 100 revs min ms 100000revs m s Disconnected Figure 66 User Units View www emersonct com 37 Distance Units Name This is a 10 character name for the distance user units you want to use in your application Decimal Places The number of decimal places set in this parameter
133. ddf file that has two custom motors entered into it The ddf file is made up of two sections called the Header and the Motor Definition sections Following is a detailed description of the two sections Header Section The header includes the revision and serial number information along with a count of how many motor definitions are included in the particular file Revision This parameter is fixed and is set by the PowerTools Pro EZ software revision during installation This parameter is not to be changed by the user NameCount The NameCount parameter defines the number of motor definitions contained in the ddf file For example if four motor definitions exist in the ddf file this parameter should be set equal to 4 which will cause PowerTools Pro EZ to recognize only the first four 4 motor definitions in the file www emersonct com 125 Motor Definition Section The motor definitions section contains the names and parameters of one or more user defined motors The order of the parameters in the motor definition must match the example in Figure 120 The motor parameters do not define with which drive s the motor may be used Therefore any motor in the ddf file may be used with any drive Abbreviated parameter identifiers are used in the ddf file The table below shows the abbreviated identifier for each parameter followed by a description of each DDF File Parameter Parameter Description Units Motor name
134. dea deta AE EE dE tn init re 16 3 39 VIEW LADS ia ds e a e ati Lt ak a da ni D da AR ue ne 16 33 07 STATUS Barre a a E eE E A Rte SO IES 16 4 Communications 4 1 Communications Protocol 25280 ek Le pee nains pages EE REGS A E Rat Rene le a 17 4 2 Connecting the PC to the SM EZMotion Module 2 17 4 3 Configuring Communications in PowerTools Pro 2 17 4 4 Uploading and Downloading using PowerTools Pro 2 17 44 plodding 2 2 84 ee nent eee See CR eke EEA ent Ed Meter 18 4 42 Downloading 3 04 0 Hits Sake hed Peed LE AE ta date ie day eo ie edd te den ttes 18 44 3 Non Volatile Memory NVM Options for Uploading and Downloading 18 4 4 4 Updatine to RAM ti A RA A A A ee ee an 19 4 4 5 PowerTools Pro Operation Preferences 19 46 Secure Downloading rreren di eae EN eels ead 21 5 How Motion Works Xl Feli gora AAA A A A A ann As Li GWM aa gh 23 SM EZMotion Module Technical Manual ZO A A A A A AA a die E 23 A et ee eae bed eda eee dace ee aes EE E E edits 23 2 3315 Home to Marker zs eu ors A SS BASE A BL ae beeen le 23 5 3 2 Home to Sensor eee A eae beta ee 24 5 3 3 Home to Sensor then Marker 24 5 34 Tr On Sensor Op
135. ded into SM EZMotion Module User Guide the queue and remain inactive until all data has been removed from the queue Queue Exit Queue QueueExit This event activates when the source parameter is equal to the QueueExitPosition Queue Exit deactivates when the Queue Remove instruction is processed Queue Exit Position Quene ExitPosition Queue Exit Position is the sum of Queue Data Out and the Queue Offset When the Queue Exit Position is equal to the selected source parameter Then the Queue Exit event activates Queue Exit position is only updated when the first piece of data is put into the queue or when a Queue Remove instruction is processed Queue Full Queue QueueFull The Queue Full source will activate if the number of pieces of data in the queue equals or exceeds the Full Level parameter The source will deactivate when the number of pieces of data in the queue is less than the Full Level Queue Offset Queue QueueOffset The Queue Offset is the value that is added to the Queue Data Out and then compared to the source parameter to determine when the Queue Exit event activates For instance if Comparator Select is set to Feedback Position and the Queue Offset is set to 10 and the user puts the value 5 into the queue the queue exit function will activate when the Feedback Position is equal to 5 10 or 15 Queue Overflow Queue QueueOverflow This source activates when there is no more room in the queue
136. der Plus user guide parameter x 13 SlotX Encoder Type SlotX EncoderType This parameter is only available when an SM Universal Encoder Plus option module has been populated in one of the Unidrive SP slots The X in SlotX defines the slot number that the SM Universal Encoder Plus module has been fitted in For example if the Universal Encoder Plus module is in slot 2 the parameter would be named Slot2 EncoderType The SM EZMotion module only supports use of Quadrature Incremental Encoders in early releases even Parameter Descriptions though the Unidrive SP is capable of handling other encoder types This parameter is found on the SlotX view after a SM Universal Encoder Plus module has been selected for the Module Type This parameter is read only from within a user program For more information on this parameter please refer to the SM Universal Encoder Plus User Guide parameter x 15 SlotX Input Status SlotX Input 4 In This parameter is only available when an SM I O Plus Option module has been populated in one of the Unidrive SP slots The X in SlotX defines the slot number that the SM I O Plus module has been fitted in For example if the I O Plus module is in slot 2 the parameter would be named Slot2 Input In The last three digital I O points on the SM 1 O Plus module are defined as digital inputs only pins 6 7 and 8 The In at the end of the parameter is optional so this signal is
137. e a given section from the printout uncheck the specific box by clicking on the check mark 3 3 1 1 8 Print Preview Print Preview will open a new window that displays what an actual hardcopy printout would look like This can be helpful to determine if formatting is correct 3 3 1 19 Print Setup Selecting Print Setup allows the user to change the Target Printer Paper Type Paper Source Print Orientation and other printer related parameters 3 3 1 1 10 Recently Used Files Also displayed on the File Menu are the last four files that were edited using PowerTools Pro To quickly access one of these last four files simply click on the file name in the File Menu Clicking on one of these files will open the configuration for editing 3 3 1 2 Edit Figure 9 below shows the Edit Menu as selected from the PowerTools Pro Menu Bar SM EZMotion Module User Guide M File Edit Device Options Tools View Window Help Undo Ctrl Cut Ctrl X Copy Ctrl C Paste Ctrl y Find Replace New Delete Figure 9 Edit Menu 3 3 1 2 1 Undo Selecting Undo will undo the last change made to a user program Up to the last ten changes made can be undone 3 3 1 2 2 Cut Selecting Cut will remove the highlighted text from a user program To highlight text in a program place the mouse point at the leftmost character to be selected then press and hold the left mouse button Move the cursor over the text until the
138. e generated if the module temperature reaches or exceeds 89 C Available only in Too Much Mode When temperature reported by module reaches or exceeds 84 C the internal fan of the Unidrive SP will be forced to full speed The fan will remain at full speed until the temperature drops below 79 C Motion Stop MotionStop This destination is used to stop all motion operating without stopping programs MotionStop can be activated through an assignment or in a user program This function is level sensitive meaning that as long as MotionStop is active all motion will be prevented If a program has a motion statement the program will wait on that line of code until the MotionStop function has been deactivated If motion is in progress when MotionStop is activated the profile will decelerate to zero velocity at the deceleration rate specified in the Stop Decel parameter All motion will stop using a realtime deceleration regardless of the motions original timebase Motor Type MotorType This parameter is used to select the motor type Name Name User name for this SM EZMotion axis can have a length up to 12 characters This can be used to help differentiate setup files Parameter Descriptions Unidrive SP Overload Accumulator OverloadAccumulator This parameter gives an indication of the motor temperature based on a simple thermal model The formula for the thermal model is a function of the current demand and a thermal tim
139. e Jog Stop will cause the motor to decelerate to a stop at the Jog Decel rate for the jog that is active Jog Acceleration Jog Accel This parameter is the average acceleration ramp for the specific jog Jog Accelerating Jog Accelerating This source is active while a jog is accelerating to its target velocity Once the jog reaches the target velocity the Jog Accererating bit will turn off Jog 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 Jog 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 Jog Command In Progress Jog CommandinProgress The Jog CommandinProgress source is high throughout an entire jog profile The bit goes high at the start of a jog acceleration ramp and turns off at the end of a jog deceleration ramp Jog Deceleration Jog Decel This parameter is the average deceleration ramp for the specific jog Jog Decelerating Jog Decelerating This source turns on at the beginning of a jog deceleration ramp and turns off at the completion of the ramp Jog Initiate Minus Jog Minusinitiate This is used inside a program to initiate a specific jog When this bit is active joggi
140. e Position Valid is active 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 Unidrive SP I O Status Word SPConnect DigitallOReadWord This parameter is a bitmap that contains the status of the digital I O on the Unidrive SP This parameter is read only and is used to control the virtual LED s on the Drive I O Setup view Unidrive SP Encoder Supply Voltage SPDrive EncoderSupplyVoltage The Unidrive SP is capable of supporting multiple voltage Parameter Descriptions levels for external encoders This parameter defines the supply voltage put out to the external encoder and can be found on the Hardware gt Drive Encoder view in PowerTools Pro EZ For all of the standard motors offered in the Motor Type list box the Encoder Supply Voltage should be set to 5V default This parameter is read only from within a user program Unidrive SP Encoder Revolution Counter SPDriveEncRevCount This read only parameter displays the number of whole revolutions that the motor encoder signal has moved since powered up absolute and can be found on the Online tabs on the Status and Position views The units for this para
141. e SM EZMotion module is 1 1 2 axis controller with a Slot 1 Slot 2 Slot 3 Figure 1 Slot Diagram The SM EZMotion module is powered from the Unidrive SP internal power supply When using PowerTools Pro to program the SM EZMotion module the user must indicate which options slot the module is fitted in By default PowerTools Pro will select Slot 3 for the SM EZMotion module 1 3 Development Software Applications for the SM EZMotion module are developed by the user using PowerTools Pro software PowerTools Pro is an easy to use Windows based setup and diagnostics tool lt provides you with the ability to create Introduction www emersonct com dedicated processor that allows the user to write their own application specific software The Unidrive SP drive also offers powerful networking capabilities in addition to the SM EZMotion module so that many drives and other equipment can be linked together to communicate process wide information thus offering a complete application solution 1 2 SM EZMotion Module for Unidrive SP The SM EZMotion module for the Unidrive SP is an option module that can be fitted to any one of the three expansion slots in the Unidrive SP Figure 1 shows the three slot positions spirti PSS RIA TIPA RIATIATATOS OS edit and maintain your system setup You can download or upload your setup data to or from a device You can also save it to a file on your PC or prin
142. e been entered correctly paying close attention to the Motor Rotor Inertia and the Motor Ke 3 Enter the calculated Inertia Ratio into the edit box on the Tuning view 4 Set the Position Loop Response to zero 5 Enable the Velocity Feedforward parameter 6 Configure an index that will simulate a step signal make sure not to configure accel decel values that you cause the motor to be current limited 7 Initiate the index while recording velocity feedback on an oscilloscope Configuring an Application 8 Gradually increase the Velocity Loop Bandwidth until the velocity plot shows less than 20 velocity overshoot with no ringing instability 9 Audible noise may be introduced by increasing the Velocity Loop Bandwidth due to velocity jitter The Current Demand Filter can be used to reduce the noise Begin with a 1 ms value in the Current Demand Filter and gradually increase until the noise is reduced 10 After adding the Current Demand Filter you may be able to slightly increase the Velocity Loop Bandwidth again 11 Gradually increase the Position Loop Response until Following Error is minimized Often a value approximately 1 4th of the Velocity Loop Bandwidth will work well Increase until oscillation is introduced and then slightly decrease 12 Save file 7 3 9 Errors View The Errors View contains information about Drive Trips and Module Errors that are currently active as well as a log of the last ten dr
143. e button down drag the Source until the mouse pointer is positioned over the desired Destination and release the left mouse button Once the mouse button is release the assignment is created The view will update to show that the assignment is created In the Sources side the Assigned To column will show which Destination the Source is assigned to In the Destinations side the Set From column will show SM EZMotion Module User Guide which Source has been assigned to it Destinations can also be dragged from right to left over to Sources Assign Button Method Click on both the Source and Destination that are to be assigned to each other Once both are highlighted the Assign button in the lower left corner of the view will become enabled Click on the Assign button to complete the assignment Once the mouse button is release the assignment is created The view will update to show that the assignment is created In the Sources side the Assigned To column will show which Destination the Source is assigned to In the Destinations side the Set From column will show which Source has been assigned to it Any source can be assigned to up to ten different destinations maximum Any destination can have as many sources as desired assigned to it Deleting An Assignment Delete Button Method Click on both the source and destination for the assignment to be deleted Once both are highlighted the Delete button in the lower le
144. e constant of the motor parameter 4 15 and found in ddf file This read only parameter gives an estimated motor temperature as a percentage of maximum motor temperature When the calculated temperature reaches 100 the drive will limit the amount of current available to the motor until this parameter falls below 95 Note The overload accumulator is reset to zero on power up Therefore if a motor is already hot near its thermal limit and power is cycled quickly the accumulator is no longer a good indicator of motor temperature PLS Direction PLS Direction This parameter specifies the direction of motion that a particular PLS output will function If set to Both the PLS will activate regardless of whether the axis is moving in the positive or negative direction If set to Plus the PLS will activate only when the axis is moving in the positive direction If set to Minus the PLS will activate only when the axis is moving in the negative direction 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 PLS Off Point PLS OffPosn PLS Status will be active when the selected source position is between the PLS OnPosn and the PLS OffPosn The terms On and Off assume you are traveling in a positive direction Assume that the PLS Direction is set to Both When traveling in the positive direction and the position feedb
145. e direction to get to its programmed position The programmed position for a Rotary Minus Index must be within the Rotary Rollover range Posn lt Rotary Rollover Figure 49 compares a Rotary Minus Index to an Absolute Index Rotary Rollover is enabled PERD Position pho C U ye ase Rotary Rollover 360 Index Position 180 270 Position After Index Va A T os 7 Y 4 NE Rotary Minus Absolute Forced Negative Shortest Path Figure 49 Rotary Minus Index Profile 5 4 6 Timed Index A Timed Index is not a specific type of index like the other types listed above Timed Index is simply an option for the other types of indexes Each index type other than registration indexes can be configured as a Timed Index In many applications the user knows how far the load must move in a certain period of time Rather than making the user calculate an acceleration velocity and deceleration so that an index takes the right amount of time the SM EZMotion module allows the user to enter the distance and the time instead In a Timed Index the user provides the distance and time and the firmware automatically calculates the accel velocity and decel to finish in the right period of time Figure 50 shows an example of a Timed Index profile www emersonct com 27 Velocity Index Accel Time 2 Seconds Figure 50 Timed Index Profile In some cases an index time is calculated based on
146. e for each solutions module slot Slot 1 Error Code This will show the error code that is active for the module in Slot 1 of the Unidrive SP If O is displayed then the module in this slot does not have an active error Slot 2 Error Code This will show the error code that is active for the module in Slot 2 of the Unidrive SP If 0 is displayed then the module in this slot does not have an 44 www emersonct com active error Slot 3 Error Code This will show the error code that is active for the module in Slot 3 of the Unidrive SP If O is displayed then the module in this slot does not have an active error The error code for each slot is simply being read directly from the Unidrive SP The error code can be found in parameter 50 in each of the different option module slot menus Parameter 50 stores the active trip error code for the particular solutions module The Menu number depends on which slot is being referenced Following is a list of the different error code references Parameter 15 50 Slot 1 Error Code Parameter 16 50 Slot 2 Error Code Parameter 17 50 Slot 3 Error Code For a list of the individual trip error codes please refer to the specific solutions module reference manual Error Codes for the SM EZMotion module can be found in Diagnostics on page 117 Trip Log The Trip Log is history of the last 10 Trips that occurred on the Unidrive SP This information is read directly from the
147. e motion has reached its programmed velocity this function will deactivate This allows the user to see when any motion being run on this profile is accelerating rather than having to monitor each motion object individually Profile At Velocity Profile AtVel This source is active when the motion being run on the specified profile is running at the programmed velocity This function will activate after the acceleration ramp is completed and before the deceleration ramp begins This allows the user to see when any motion being run on this profile is at its programmed velocity rather than having to monitor each motion object individually Profile Command Complete Profile 4 CommandComplete This source activates when the commanded motion for a motion object running on the specified profile is completed The function will remain active until the next motion is initiated on the same profile If the MotionStop of the Stop function is used to stop the motion running on the specified profile the CommandComplete will not activate The CommandComplete does not activate after a stop because the motor may not be in the desired end position of the motion This allows the user to see when any motion being run on this profile is complete rather than having to monitor each motion object individually Parameter Descriptions Note Activation of the CommandComplete signal does not mean that the motor is no longer moving If there is any following e
148. e 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 Velocity The rate of change in position in a given direction during a certain time interval View Portion of screen within frame Windows Microsoft Microsoft Windows is an operating system that provides a graphical user interface extended memory and multi tasking The screen is divided into windows and the user uses a mouse to start programs and make menu choices www emersonct com 131 132 www emersonct com SM EZMotion Module User Guide A Absolute Index 25 AbsolutePosition Valid 85 Accelerating 85 AccelType 85 AccelUnits Decimal 85 AccelUnits TimeScale 85 Assignments View 52 AtVel 85 Bit B 85 BitRegister Value 85 BitRegister ValueMask 85 BrakeOverloadAccumulator 86 BrakeResistorAlarm 86 BusVoltage 86 C Capture View 46 Capture CapturedMasterPostion 86 Capture CapturedPositionCommand 86 Capture CapturedPositionFeedback 86 Capture CapturedTime 86 Capture Name 86 Capture Number 86 CaptureActivate 86 Captured CapturedMasterPosHomed 87 CaptureEn
149. e travel They are often setup inside the hardware travel limits to SM EZMotion Module User Guide add a level of protection from exceeding the machines travel limits The Software TravelLimitMinusActive source output function is active when the SoftwareTravelLimitMinusPosn 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 Absolute Position Valid is active Software Travel Limit Minus Active SoftwareTravelLimitMinusActive The Software TravelLimitMinusActive source is active when the SoftwareTravelLimitMinusPosn is reached or exceeded Motion will come to a stop using the TravelLimitDecel ramp Software travel limits are not active unless enabled and Absolute Position Valid is active Software Travel Limit Minus Position SoftwareTravelLimitMinusPosn The SoftwareTravelLimitMinusActive source will activate when the SoftwareTravelLimitMinusPosn is reached or exceeded Motion will come to a stop using the TravelLimitDecel Software travel limits are not active unless enabled and Absolute Position Valid is active Software Travel Limit Plus Active SoftwareTravelLimitPlusActive The SoftwareTravelLimitPlusActive source is active when the SoftwareTravelLimitPlusPosn is reached or exceeded Motion will come to a stop using the TravelLimitDecel ramp Software travel limits are not active unless enabled and Absolut
150. e value specified the calculations could result in extremely high Velocities Accels and Decels To avoid damage to mechanical parts or potentially dangerous situations the user is allowed to enter the Maximum Velocity Acceleration and Deceleration used for the calculations The results of the firmware calculations will never exceed the maximum values specified Figure 98 shows a screen capture in which the Timed checkbox has been enabled Notice how the parameters that normally say Velocity Acceleration and Deceleration have changed to say Max Velocity Max Acceleration and Max Deceleration When the Time checkbox is enabled these parameters automatically become maximums for use in the calculations ID Ele Edt Device Options Tools view Window Help la xl eles a 404 ALS GE See 6100105 to 2 02 Index Number 0 Distance 100 0000 revs Index Name index0 Max Velocity 000 00000 1evs m Index Type increment tal E MaxAccelerati 10000 tevs m s Time Base Realtime Y MaxDecelerati 10000 revs m s M Timed 1 250 Seconds I Enable Index PLS PLS OnPoint ooo Calculations Registration Index Calculations ion oo Peak Velocity Attainable 2000 00000 revs m Index Distance 100 0000 revs Index Time 3 2000 Seconds Accel Distance 3 3333 revs Accel Time 0 2000 Seconds At Velocity Distance 93 3393 revs At Velocity Time 2 8000 Seconds Decel Distance 3 3333 re
151. ector must be configured properly Master Axis Encoder Position MasterAxis MasterEncRevPosition This read only parameter displays the number of fractions of a revolution that the master encoder signal has moved and can be found on the Online tabs of the Status and Master Setup views The units for this parameter are always 1 2416 of a revolution since those are the units used by the Unidrive SP and its option modules The value for this parameter comes from parameter x 05 of the feedback module menu In order for this parameter to work properly a master encoder must be connected to a position feedback module and the MasterAxis SpeedFeedbackSelector must be configured properly SM EZMotion Module User Guide Master Axis Feedback Selector MasterAxis SpeedFeedbackSelector The MasterAxis Speed Feedback Selector parameter determines where the feedback device for the master signal is connected to Early releases of the SM EZMotion module only support a value of Slots 1 2 or 3 and NOT Drive The master encoder feedback signal must be connected to a SM Universal Encoder Plus module fitted into one of the Unidrive SP option slots This parameter is read only from within a user program Module Serial Number ModuleSerialNumber This is the SM EZMotion module serial number SM EZMotion Module Temperature ModuleTemperature This parameter displays the current temperature measured on the SM EZMotion module A module error will b
152. ects ta ii ii 8 How User Programs Work 8 1 Program Window Components 8 2 Program Parameters reran Joe nasal as 8 2 1 Propram Name s iii e a ey rt arret dant 82 2 Program Number coo tenu ed SEAS in ne neue EMA 8 233 Task NUDE 00 A shards A Rene sand dede vote ee 8 2 4 Run Anytime Enable 8 3 Program Toolbar cian nn dti ter Sou en wa Sy eyes SIM Undo ovario id meme metier SGAM LE IZ REGO rie A ld 8323 o RS AR 8 34 Find Nexte cuts ae A AAA ere ee ee i 8 3 5 Bookmark iti 2er een ms metres Siw he dote de eee 8 3 6 Goto Next Bookmark 8 3 7 Goto Previous Bookmark 8 3 8 Clear All Bookmarks 8 3 9 Red Dot Help iia A EAE eh E ee eed 8 3 10 Drag In Operando Sees yee bees Sabie Maw beets 83 11 Drag In Variables ua a norbere r Bb Bee BSE ean ois 8 3 12 Lock Programs thee A Ae deed 8 33 Run Program nica A ue naar RTE EA 8 3 14 Program Where Am1I 8 3 15 Stop nia dG lees ps a a 8 3 16 Disable Enable Error Check 8 4 Program Instruction List 8 4 1 Program Flow Instructions 8 4 2 Motion Instructions 8 4 3 Mot
153. ed When it is deactivated all level sensitive and active input functions Jog 0 PlusActivate Jog 0 MinusActivate etc will become operational For example if the Jog PlusActivate input function is active when the Stop input function is deactivated the Jog Plus motion will initiate using the acceleration found in the Jog 0 Accel parameter This is level sensitive Stop Deceleration StopDecel Deceleration rate used when the Stop destination is activated Unidrive SP Switching Frequency SwitchingFrequency This parameter defines the switching frequency for the Unidrive SP under normal conditions Higher values for switching frequency will eliminate audible high frequency noise but can require derating of system performance in some cases This parameter is found on the Setup view and can be changed within a user program Valid selections for this parameter are 3kHz 4kHz 6kHz 8kHz SM EZMotion Module User Guide 12kHz and 14kHz SM EZMotion Total Power Up Time TotalPowerUpTime Total Power Up Time is the total elapsed time that the SM EZMotion module has been powered up since reset by the factory The units for the parameter are Hours with a resolution of 0 1 Hours This parameter is stored in the SM EZMotion module and is not reset if the module is switched to another drive Travel Limit Deceleration TravelLimitDecel This parameter defines the ramp used to decelerate the motor to a stop when any travel limit is a
154. ed square and OFF or 0 is indicated by an empty square Bit 31 is the most significant bit in the word and bit 0 is the least significant bit If the bit is shaded it means www emersonct com 51 that particular bit will be passed through when written Each additional group of 32 User Bits that are added a new Mask parameter will appear for that group Mask O will control the mask for User Bits O through 31 Mask 1 will control the mask for Bits 32 through 63 This sequence repeats for each additional 32 bits that is added To configure the mask in a user program the parameter named BitRegisiter ValueMask is written to The mask can be written to using Hexadecimal based values or decimal based values To write a hexadecimal value to the parameter the hex value must be preceded with the characters Ox To write a decimal value to the parameter normal notation is used For examples of writing the Mask to a value in a program see below For example BitRegister 0 ValueMask OXFFFFO000 This example writes a 1 into all bits of the upper sixteen bits and 0 into each of the lower sixteen bits using hexadecimal value To write the same value using decimal notation the following instruction would be used For example BitRegister 0 ValueMask 4294901760 This instruction would also write a 1 into each of the upper sixteen bits and a 0 into each of the lower sixteen bits 7 4 Configure I O 7 4 1 Assignments View External
155. el i 1 4 Home Velocity i 1 A 1 External Home Sensor Clears 1 Home Initiate 1 i 1 r External Home Sensor Figure 39 Home to Sensor Back Off Before Homing 5 3 4 2 Go Forward To Next Sensor On some machines motion in a certain direction may be prohibited due to mechanical design In this case the Back Off Before Homing option may not be practical In this case if the Home Sensor is active when the Home is initiated the motor continues in the programmed direction until the next Rising Edge of the external home sensor is detected Figure 40 shows the Home to Sensor profile when the Home Sensor is active when home is initiated and Go Forward To Next Sensor is selected 4 Velocity Home Velocit a y Home Accel Home Decel Se D Time gt 1 Home Initiate External Home Sensor First rising edge is used as Home reference Figure 40 Home to Sensor Go Forward To Next Sensor 5 4 Index An Index profile is used to move the motor a precise distance or to a specific position There are many different applications that can be solved using different combinations of Index types The five major types of Indexes are Absolute Incremental Registration Rotary Plus and Rotary Minus Each of these Index types are described in detail below 5 4 1 Absolute Index An Absolute Index is used to move the motor to a specific www emersonct com 25
156. elta tala 2 ALE 015 ere sil Ier Configuration Diive Type sp1201 Motor Type C 75UMB Drive Encoder Pott Motor Lake Encoder Setup Encoder Supply Voltage 5 Volts E ncoder Encoder Type Quadrature Incremental w Commutation Output E Lines Per Rev pre Quadrature 4096 Ready Figure 53 7 2 2 Slot View The Slot View s allow the user to configure which option modules are populated in which slots Some of the views depending on the option module selected have configuration or setup parameters associated with the module Each of the views for the different option modules are shown below 7 2 2 1 Empty Slot View If Empty Slot is selected in the Slot Module combo box the remainder of the view should be blank The hierarchy automatically updates to show that no module is populated in the specific slot see Figure 54 Drive Encoder View M Ele Edt Device Options Tools View Window Help 18 x ae ALE GE la Era sis eine Slot Configuration Slot Number Slot 1 Slot Module Empty Slot Ready Disconnected Figure 54 Slot View Empty Slot www emersonct com 33 7 2 2 2 SM EZMotion Module View If SM EZMotion is selected in the Slot Module combo box the remainder of the view should be blank The hierarchy automatically updates to show that an SM EZMotion module is populated in that specific slot see Figure
157. ensor 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 Index PLSStatus Controlled by the PLSOn and PLSOff Points which are relative to the distance commanded since the start of the index Activated when index distance command is in between the PLSOn point and PLSOff points Index ProfileLimited For timed indexes if the values for Max Velocity Max Acceleration and Max Deceleration are such that the distance cannot be covered in the specified time the Index ProfileLimited flag will activate when the index is initiated indicating that the index cannot be performed as desired The Index ProfileLimited flag will remain active until cleared using the Index ResetProfileLimited assignment or program instruction In this situation the index will still operate but the time will be extended In other words the profile will be performed using the maximums values and still cover the specified distance but not in the specified time Destinations Index ResetProfileLimited If a timed index was not able to complete in the specified time the Index ProfileLimited source will activate Index ResetProfileLimited is used to clear the ProfileLimited flag and acknowledge that the index did not complete in the specified time This can be activated through an assignment or through a user program This function is edge sensitive so holding i
158. er of digits up to 6 to be used after the decimal point for the specific variable This is the maximum resolution that the parameter will have Initial Value This is the initial value of the user variable that will be used on power up If the user variable has been configured as a Save to NVM parameter then the value in NVM will overwrite the initial value on power up www emersonct com 49 Adding and Deleting Variables The default number of variables is ten To add more user variables click on the up arrow next to the Number of User Variables spinner box on the User Variables view The maximum number of user variables is 256 Only the last variable in the list can be deleted To delete the last variable simply click on the down arrow next to the Number of User Variables spinner box User variables are all Global variables A Global variable means that it can be accessed from any program Using User Variables in a Program Once setup User Variables can be used inside a program for calculations motion profile setup or any other user desired function To access User Variables click on the Drag In Variables icon in the user program toolbar User Variables is a branch in the Drag In Variables selection box 7 3 15 User Bits View User Bits act just like User Variables except that they allow the user to store bit level parameters rather than 32 bit parameters The user may customize each User Bit by giving it a Name
159. erates to a stop assuming the index is not compounded 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 SM EZMotion module reset InitiallyActive can be assigned to any destination that does not create motion i e indexes jogs homes programs In Position InPosn This source activates when commanded velocity is zero and the absolute value of the following error is less than the InPosnWindow for at least the amount of time specified in the InPosnTime parameter In Position Time InPosnTime This parameter is the minimum amount of time that Parameter Descriptions commanded motion must be complete and the absolute value of the following error is less than the InPosnWindow parameter for the InPosn source to activate In Position Window InPosnWindow The absolute value of the following error must be less than this value at the completion of a move for the InPosnTime before InPosn will activate Jog Any Command Complete Jog AnyCommandComplete The Jog AnyCommandComplete bit will activate when either Jog O or Jog 1 completes its deceleration ramp and reaches zero commanded speed It deactivates when another jog is initiated Jog Minus Activate Jog MinusActivate T
160. es or other windows editing mechanisms The Views are designed to separate parameters into logical groups so that they are easier to find and use The View that is visible at any time is dependant upon what branch is selected on the Hierarchy To see a specific View it must be selected on the PowerTools Pro hierarchy 3 3 5 View Tabs Some Views in PowerTools Pro see explanation of View above have tabs at the bottom half of the View to organize more specific parameters Some examples of View Tabs are Calculations and Online Online Tabs are only visible when online with a module On the Calculations Tab the user will find simple calculations to help realize how much time a motion will take or how much time or distance is covered during certain segments of a motion profile On Index Calculation Tabs a graph is created based on data entered by the user to give some visualization of what the profile looks like The Online Tab is used to show feedback and other diagnostic information to the user while online with a module The parameters shown on an Online view will change depending on which View is being displayed PowerTools Pro must be online connected in order to see the Online Tab 3 3 6 Status Bar The Status Bar is used to give quick diagnostic information to the user about the status of the drive module what motion is active Position and Velocity Feedback and Online Status For more details see the Diagnostics
161. estination is usually a sensor input used as a reference for the home This event is only used if the home is defined by sensor or by sensor and marker Home Specified Offset Home SpecifiedOffset The specified offset parameter allows the user to specify an exact offset relative to the Home Reference The commanded motion will stop at exactly the offset distance away from the sensor or the marker as specified Home 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 Home Velocity Home Vel This parameter sets the target velocity for all of moves in the home The sign 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 sensor Index Any Command Complete Index AnyCommandComplete This source is active when any index motion command is completed If a stop is activated before the index has completed this destination will not activate Deactivated when any index command is initiated SM EZMotion Module User Guide Index Profile Limited Index ProfileLimited For timed indexes if the values for Max Velocity Max Acceleration and Max Deceleration are such that the distance cannot be covered in the specified time the Index ProfileLimited flag will a
162. evs 5 4 3 Registration Index A Registration Index functions much the same as a Home profile The index runs at a specified velocity until a registration signal activates Once the signal activates the index either beings to decelerate immediately or it continues at velocity for a specified offset distance 5 4 3 1 Registration to Sensor In a Registration Index with Sensor defined as the registration signal the index travels at velocity until an external sensor or switch activates The sensor or switch must be wired to a digital input on the SM EZMotion module SP drive or SM IO Plus module To get the highest accuracy for the Registration to Sensor an SM EZMotion module digital input must be used to take advantage of the high speed capture capability Three Figures below show examples of a Registration Index to Sensor using different Offset values 4 Velocity Z Index Velocity Index Registration Offset Index Accel Index Decel la Time gt i 1 Index Initiate i 1 Registration Sensor Figure 45 Registration to Sensor Profile Offset gt 0 4 Velocity Index Velocit ra y Index Accel AS Two areas are equal so motor Index Decel cs ends at exact registration position Index Accel Index Index Velocity Decel 1 1 Index Initiate Figure 43 Incremental Index Profile gt i gt gt lt T T l l T T gt Registration Sensor
163. f the realtime gearing ramp Gear Decel units are in Follower Units Velocity Time Base Acceleration Time Base The SM EZMotion Module User Guide Gear Decel functions only when the follower is ramping its speed down after the gearing function has turned off Gear Decel Enable Gear DecelEnable Gear DecelEnable is a Destination that when itis on allows a gear to run a specified decel ramp after the gearing command is turned off Gear Decelerating Gear Decelerating If Gear DecelEnable is activated this source is activated during the time between Gear Initate Off and Gear CommandComplete On Gear Recovery Distance Gear RecoveryDist This variable measures the distance the follower loses from the master This distance lost is measured between a Gear Initiate and the Gear At Velocity SlotX Module Type Hardware SlotXModuleType This parameter defines the type of module fitted in the specified slot number This parameter can be found on each of the SlotX views This parameter is read only in a user program If the module type specified in the PowerTools Pro EZ configuration does not match the actual module type fitted the SM EZMotion module will generate an error and the Unidrive SP will trip Home Any Command Complete Home AnyCommandComplete This source is active when any home motion command is completed if a stop is activated before the home has completed the function will not be activated Inactivated when a ho
164. fic incremental distance or to an absolute position 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 In PowerTools Pro the input function is connected to the action through click and drag operations in PowerTools Software on the Assignment View Input Line The terminals of a device or circuit to which energy is applied Jog A jog produces rotation of the motor at controlled velocities in a positive or negative direction Least Significant Bit The bit in a binary number that is the least important or having the least weight LED Light Emitting Diode used on the front display of drives and function modules 130 www emersonct com List Box In a dialog box a list box is an area in which the user can choose among a list of items such as files directories printers or the like mA Milliamp which is 1 1000th of an Ampere MB Mega byte MODBUS Communication Protocol by Modicon The drives follows the Modbus specification outlined in the Modicon Modbus Protocol Reference Manual PI MBNS 300 Revision G November 1994 Module SM EZMotion Module Most Significant Bit The bit in a binary number that is the mos
165. for this PLS When enabled it causes the PLS to repeat every time this distance is passed The repeating range begins at an absolute position of zero and ends at the RotaryRolloverPosn For example in a rotary 98 www emersonct com application a PLS could be setup with an OnPosn of 90 degrees and an OffPosn of 100 degrees If the RotaryRolloverPosn 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 Source PLSs can be assigned to three different sources MotorPosnFeedback MotorPosnCommand or MasterPosnFeedback This parameter determines which position signal the PLS uses to reference its OnPosn and OffPosn in order to determine its PLS t Status parameter PLS Status PLS Status This source is active when the position of the PLS source motor or master is greater than or equal to the OnPosn and less than the OffPosn Position Loop Response PositionLoopResponse The Position Loop Response is effectively a proportional gain for the SM EZMotion position loop The units for the parameter are Hz A larger value for the Position Loop Response will result in a tighter position loop less following error however if it is set too high instability can occur See the Tuning section of this manual for tuning procedure Positive Direction PositiveDirect
166. formula is as follows of Selection outputs 2n where n is the number of Select inputs 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 For example if the user enters 2 for the number of Selector Input Destinations we would have 4 Selection lines Selector SelectionO through Selector Selection3 The Selector Selection number that activates is determined by the status of the Selector Select lines when the Selector Selectorinitiate bit is activated Each select line has a specific binary value The binary value is determined as follows Sn x 2n where Sn Status of Selector Select line n Sn 0 if Selector Select line n is inactive and Sn 1 if Selector Select line n is active The sum of all the binary values determines which Selector Selection line will be active The following examples demonstrate how to determine which Selector Selection will activate based on the Selector Select lines Example 1 If Selector Select2 is active Selector Select1 is inactive and Selector Select0 is active then the total binary value is as follows S2 1 S1 0 and SO 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 Selector Selection5 will activate Ex
167. from the starting position and deactivate 4 Revs from the starting position every time Example 2 Index 1 is an Incremental index with a distance of 10 revs The PLS On Point is set to 4 Revs and the PLS Off Point is set to 6 Revs A home is completed and Position Feedback is equal to 0 0 Revs 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 If an index is so short possible in the case of an absolute index that it reaches the On Point or incremental distance into the index but never reaches the Off Point the Index PLSStatus will remain active until the index is Configuring an Application run again Similarly if the index is so short that it never reaches the On Point the Index PLSStatus will never activate Registration Parameters The following parameters are only used if Registration is selected as the Index Type Analog or Sensor Radio Buttons Select one of these radio buttons to determine what signal will be used as your registration trigger If Sensor is selected a source must be assigned to the Index SensorTrigger Typically
168. ft corner will become available Click on the Delete button to remove the assignment Right Click Method Position the mouse pointer over the specific assignment to be deleted and click the right mouse button A selection box will appear From this selection box choose Delete After either of these procedures the assignment will disappear The Assigned To and Set From columns should no longer have any data for the specific Source and Destinations Assignment Polarity The active state of an assignment can be programmed to be Active Off Active On or Custom using PowerTools Pro Making an assignment Active On means that the Destination will become active when the Source it is assigned to becomes active and is inactive when the Source is inactive Making an assignment Active Off means that the Destination will be active when the Source it is assigned to becomes inactive and will be inactive when the Source is active The polarity of the assignment can also be changed to Custom when required Custom polarity allows you to make a Destination activate and deactivate based on two different Sources Note Destination functions that initiate motion Jog PlusInitiate Jog MinusInitiate Index Initiate Home Initiate and Gear Activate should not be set to Active Off Configuring an Application This could cause motion to initiate on loss of I O Power Default polarity for a new assignment is Active On There are tw
169. g This source is active when the SM EZMotion module is executing an acceleration ramp A normal index consists of 3 segments Accelerating At Velocity and Decelerating The Accelerating source will be set active during this acceleration segment regardless of whether the motor is speeding up or slowing down Therefore this source can sometimes be active when the motor is decelerating This could be true when compounding indexes together Acceleration Type AccelType This parameter is used to select the accel decel type for all motion homes jogs and indexes The S Curve ramps offer the smoothest motion but lead to higher peak accel decel rates Linear ramps have the lowest peak accel decel rates but they are the least smooth ramp type 5 8 S Curve ramps and 1 4 S Curve ramps use smoothing at the beginning and end of the ramp but have constant linear accel rates in the middle of their profiles The 5 8 S Curve is less smooth than the S Curve 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 Below is a comparison of the 4 ramp types e S Curve Peak Accel 2 x Average Accel e 5 8 S Curve Peak Accel 1 4545 x Average Accel e 1 4 S Curve Peak Accel 1 142857 x Average Accel Para
170. g edge on CaptureActivate will be ignored The capture object can not activate again until it has been reset 2 When CaptureEnable is deactivated CaptureTriggered automatically deactivates because the capture object is automatically reset The captured data is retained until the capture component is re enabled and CaptureActivate is activated 3 CaptureActivate has no effect while the capture component is not enabled Sources That Can Accurately Capture Data Only a select few sources can accurately capture data The reason that only certain signals can accurately capture data is because they are wired directly to the SM EZ Motion FPGA or the signal is generated internally by the processor and can be activated in the FPGA Signals that are not wired to the FPGA or sent to the FPGA can be used to capture data but it will only be accurate to the Trajectory Update Rate This means that the capture will only occur the next time the signal is updated and not when it actually activates Sources that CAN accurately capture data e SM EZ Motion Inputs e Motor Encoder Marker Channel Index CommandComplete Jog CommandComplete e Index AtVelocity e Jog 0 AtVelocity e PLS Status All other Sources are only accurate to the Trajectory Update Rate Assignments that Automatically Use Position Capture The sources listed above automatically capture data each www emersonct com 47 time they activate even when a capture object is not
171. gal command please contact factory 130 Y File Corruption Error Consult Factory 131 Y File Corruption Error Consult Factory 132 Y File Corruption Error Consult Factory 133 Y File Corruption Error Consult Factory 134 Y File Corruption Error Consult Factory 118 www emersonct com SM EZMotion Module User Guide shes ae Error Possible Reason Possible Solution a Math addition operation in user veny thakte sum of all the operands a Program Error Math Addition addition formulas will not result in a value 135 Y program has resulted in an overflow of a Overflow the r suliant parameter in the following range p 231 lt SUM lt 291 1 136 y Program Error Math Divide By Zero Formula in user program causes a Make sure that the denominator in all divide by zero division formulas is not equal to zero Program Error Math Divide Operand 137 Y Too Large Program Error Math Multiplication Normalization of multiplication 138 Y e f 4 3 Normalization Failed parameters in user program has failed 139 y Program Error Math Multiplication Operand Too Large 140 Y Program Error Overflow Program Error Math Subtraction 141 Y Overflow 142 Y Program Error Math Stack Overflow User Program maprocess Stack has overflown 143 Y File Corruption Error Consult Factory 144 Y File Corruption Error Consult Factory 145 Y File Corr
172. gram will wait on the Home Initiate instruction until the home is complete before moving on to the next line of the program 9 1 2 4 Index F Initiate Index Initiate is used in a program to initiate an index profile The user must specify which Index is to be initiated in the instance location should be replaced with the index number If Index Initiate is held active the index will initiate only once until the next rising edge of the Destination signal The program will wait on the Index Initiate instruction momentarily until the index starts before moving on to the next line of the program 9 1 2 5 Index Compoundinitiate The Index Compoundinitiate instruction is unique to user programs There is no way to compound indexes using assignments Compounding indexes is a way to link two or more indexes together so that the motor does not come to a stop in between the given indexes Instead of stopping between indexes the initial index will complete its distance at its programmed velocity Once the initial index distance is complete the motor will ramp to the secondary indexes programmed velocity using the secondary indexes acceleration ramp Regardless of whether the secondary index velocity is less than or greater than the primary index velocity the ramp from the primary velocity to the secondary velocity is the secondary indexes acceleration In the program the user can compound together as many indexes as desired T
173. grams can be assigned to the same task if desired but that means that the two programs can not be run at the same time If a given program calls another program then calling and the called programs must be on the same task All programs default to task zero and therefore will not run simultaneously unless specified to do SO SM EZMotion Module User Guide Control Loop Modbus Task 0 Control Loop Modbus Task 1 Control Loop Modbus Task 2 Control Loop Modbus Task 3 Update Rate Update Rate Update Rate Update Rate Control Loop Update Modbus messages Control Loop Update Figure 107 In Figure 107 the Update Rate represents the Trajectory Update Rate that the user selects on the Setup view The first routine to be processed in the update is the control loop update Next all messages will be handled If no message has been sent from a Modbus master and no faults are active then this step is skipped After all messages are processed then execution switches to the user programs The user programs are assigned to tasks and the tasks are handled in ascending order starting with task O If a task has been assigned but not initiated then that task can be skipped When the next interrupt occurs the task is stopped and the process is repeated using the next available task Once each task has been processed depends on how many have been assigned by the user the whole
174. guration If multiple files are open simultaneously the active file is the one in which the Title Bar is highlighted 3 3 1 1 4 Save Selecting Save will save the active file on the users PC The location to which the file is saved is based on where the file was previously saved If the file has not yet been saved the Save As control box will open instead 8 www emersonct com 3 3 1 1 5 Save As Save As allows the user to save the active file using a different name or to save an existing file to a different directory location Navigate to the directory to which the file is to be saved and click on the Save button 3 3 1 1 6 Import Import allows the user to import an existing FM 3 file into an FM 4 configuration or an existing FM 3 or FM 4 file into an SM EZMotion configuration To import the file open a new file and select the configuration type that you wish to convert to Once the new file of the desired configuration type is open select Import and find the file that is to be converted Select the file to be converted and then click Open The existing file will then be converted into the new file type The new file must then be saved with the new file name and extension 3 3 1 1 7 Print Print will send the active file to the printer specified by the user A Print Options box will open allowing the user to specify which sections of the configuration are to be printed By default all sections will be printed To remov
175. guring the operation parameters for the system such as User Units Position Limits Torque Limits Tuning Values PLS points etc To complete the application start with the Setup view and work down to the last view in the Setup group User Bits SM EZMotion Module User Guide 7 3 1 Setup View The Setup view allows the user to setup various parameters related to how the overall system operates Figure 65 shows an example of the Setup view M file Edt Device Options Tools view Window Help 18 x Deals ral 0 ALE 015 Sle lee sisi fr 1x2 Identification Name Fais 1 Modbus Node Address T Configuration Update Rate Motor Feedback Source Div Treiectory 1 0 msec y r Positive Direction Cw Motor Rotation amp Fi 12KHz hd C COW Motor Rotation ipii dl P Switching Frequency Figure 65 Name Setup View This is a 12 character alpha numeric user configured name for this axis Enter the name for the device you are currently setting up Assigning a unique name for each device in your system allows you to quickly identify a device when downloading editing and troubleshooting All keyboard characters are valid This will default to Axis 1 SP Modbus Node Address This is the Modbus address of the target drive to which you will download the configuration The default target drive address is 1 Motor Feedback Source Motor Feedback Source allows the user to specify where the motor feed
176. he PLS does not matter the Index PLSStatus will activate and deactivate the same incremental distance from the start of the index PLS On Point This parameter is an incremental distance from the start position of the index at which the PLS t Status will become active It is an unsigned value in user units The On Point must always be less than the Off Point PLS Off Point This parameter is an incremental distance from the start position of the index at which the PLS t Status will deactivate It is an unsigned value in user units The Off Point must always be greater than the On Point If the Off Point is larger than the Distance parameter in an Incremental type of index the PLS Status will never deactivate until the index is run again Example 1 Index 0 is an Incremental index with a distance of 5 Revs The PLS On Point is set to 1 Rev and the PLS Off Point is set to 4 Revs A home is completed and Position Feedback is equal to 0 0 Revs If Index O is run the Index 0 PLSStatus will activate when the feedback position reaches 1 Rev and remain active until feedback position reaches 4 Revs and deactivate At the end of Index 0 position feedback is equal to 5 Revs If we initiate Index 0 again Index 0 PLSStatus will activate 1 Rev into the index or at 6 Revs It will remain active until position feedback reaches 9 Revs and deactivate This index could be run over and over again and Index 0 PLSStatus will activate 1 Rev
177. he Stop on Motion will be prevented from running until the icon is clicked again 9 2 3 2 Feedhold The Feedhold icon on the PowerTools Pro toolbar can be used to Feedhold all motion that is currently active The icon toggles on and off each time it is clicked Click the icon once to activate Feedhold and then click it a second time to deactivate feedhold 9 2 3 3 Stop All Program Toolbar Motion and Programs can also be stopped from the Program Toolbar using the Stop All icon This icon is like an edge sensitive function that will not prevent motion or programs from being initiated again www emersonct com 81 82 www emersonct com SM EZMotion Module User Guide 10 Starting and Stopping Programs 10 1 Starting Programs The user can initiate programs using multiple different methods The following section describes how programs can be initiated from Assignments from Programs and from PowerTools Pro while online with the system 10 1 1 From Assignments In order to initiate a user program from an assignment a Source must be assigned to the Destination listed below on the Assignments view in PowerTools Pro 10 1 1 1 Program Initiate A rising edge on the Program Initiate destination will cause the specified program to start The program number that is to be started is determined by the instance field of the destination represented by above Program Initiate is edge sensitive so the program will only start
178. he Velocity Feedforward applies the calculated velocity command directly to the Unidrive SP velocity loop Enabling the Velocity Feedforward will generally yield faster velocity response reaches programmed velocity much faster but can introduce some velocity overshoot Note If your application requires jogging motion the Enable Velocity Feedforward should always be active www emersonct com 109 Velocity Loop Bandwidth VelocityLoopBandwidth The Velocity Loop Bandwidth parameter is the theoretical bandwidth of the velocity controller how fast the system can respond to change in velocity command The value of this parameter depends heavily on the correct values for the motor data particularly the Motor Rotor Inertia and the Motor Current Constant Ke Units for this parameter are Hz 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 Pro software 110 www emersonct com SM EZMotion Module User Guide 12 Drive Parameters Used by SM EZMotion Module 12 1 Description The Unidrive SP is configured using a database of parameters The parameters are grouped according to functionality Each function group is given a Menu Each parameter in the drive is accessed using a Menu Number and Parameter Number in the following format Menu Number Parameter Number or MM PP An example of this is Menu
179. he feedhold was activated When the feedhold is deactivated time will ramp back up and the index will continue on to its programmed distance or position Feedhold affects indexes homes and programs A jog is not affected by the feedhold unless it is initiated from a program This is level sensitive Feedhold Deceleration Time FeedholdDecelTime When Feedhold destination is activated the motor will decelerate to a stop in the time specified by the FeedholdDecelTime parameter While the feedhold destination is active the motion profile is stopped FeedRate Deactivate FeedRateDeactivate This destination allows the user to deactivate the www emersonct com 89 FeedRate Override feature When FeedRate Deactivate is enabled FeedRate Override will be disabled and all index or home motion will operate at its programmed velocity When FeedRate Deactivate is disabled FeedRate Override will be enabled and index and home motion is subject to scaling by the FeedRate Override parameter The default value for FeedRate Override is 100 so even when FeedRate Override is enabled default motion will run at programmed velocity FeedRate Override FeedRateOverride 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 A setting of 50 will scale time so that all motion runs half as fast as it runs in real time A setting of 200 will s
180. he last index in the group of compounded indexes should use a standard Index Initiate to signify that it should stop at the end of the index Figures 111 and 112 show examples of Compound Indexing SM EZMotion Module User Guide Example 1 Index 0 CompoundInitiate Dist 10 Vel 100 Accel 100 Decel 100 Index 1 CompoundInitiate Dist 20 Vel 500 Accel 5000 Decel 5000 Index 2 Initiate Dist 30 Vel 1000 Accel 10000 Decel 10000 1000 RPM 500 RPM H 30 Revs 20 Revs 100 RPM 10 Revs Figure 111 Compound Index Example 1 Example 2 Index 2 CmpoundInitiate Dist 30 Vel 1000 Accel 10000 Decel 10000 Index 1 CompoundInitiate Dist 20 Vel 500 Accel 5000 Decel 5000 Index 0 Initiate Dist 10 Vel 100 Accel 100 Decel 100 1000 RPM 500 RPM 30 Revs 20 Revs 100 RPM Figure 112 Compound Index Example 2 Starting and Stopping Motion www emersonct com 79 It is important to understand that when compounding indexes together the acceleration and deceleration will override the index distance Figure 112 above shows the scenario where the final index in the compound string has a short distance and a slow acceleration ramp Index 0 will start from a velocity of 500 RPM Index 1 Vel and accelerate down to its programmed velocity of 100 RPM at a rate of 100 Revs Min Sec The distance required to accelerate from 500 to 100 RPM is greater than the index distance of
181. he selected source position is between the PLS OnPosn and the PLS OffPosn Assume that the PLS Direction is set to Both When traveling in the positive direction and the feedback position reaches the OnPosn the PLS Status will activate As the motor continues in the same direction the PLS Status will deactivate when feedback position reaches or exceeds the OffPosn If motor travel changes to the negative direction the PLS Status will activate when feedback position reaches the OffPosn and will deactivate when it continues past the OnPosn PLS Status will be active if PLS 0nPosn lt Feedback Position PLS OffPosn If using negative values for your OnPosn and OffPosn the most negative value should go in the OnPosn parameter and the least negative value should go in the OffPosn If the PLS has a rollover point and the OnPosn is greater than the OffPosn the PLS will be active whenever the position feedback is not between the On and Off positions and in active whenever the position feedback is between the two positions However the PLS Status will not turn on until it reaches the OnPosn the first time All on off positions are defined in user units Direction This parameter specifies the direction of motion that a particular PLS output will function If set to Both the PLS will activate regardless of whether the motor or master motor is moving in the positive or negative direction If set to Plus the PLS wi
182. hen coupled into sensitive electronic circuits may cause problems 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 SM EZMotion module 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 www emersonct com 129 Global Where Am PowerTools feature that indicates which line of which user program is executing Home Routine The home provides motion in applications in which the axis must precisely align with some part of a machine Hysteresis For a system with an analog input the output tends to maintain its current value until the input level changes past the point that set the current output value The difference in response of a system to an increasing input signal versus a decreasing input signal 1 0 Input Output The reception and transmission of information between control devices In modern control systems I O has two distinct forms switches relays etc which are in either an on or off state or analog signals that are continuous in nature generally depicting values for speed temperature flow etc Index An index is a complete motion sequence defined motion profile that moves the motor a speci
183. his destination is used to initiate jogging motion in the negative direction using the jog parameters of the jog selected by the Jog select input function Jogging will continue as long as the destination is active The motor will decelerate to a stop when the destination is deactivated This is level sensitive Jog Plus Activate Jog PlusActivate This destination is used to initiate jogging motion in the positive direction using the jog parameters of the jog selected by the Jog select input function Jogging will continue as long as the destination is active The motor will decelerate to a stop when the destination is deactivated This is level sensitive Jog Select Jog SelectO This destination is used to select between the jogs It is used along with the Jog PlusActivate and Jog MinusActivate destinations If the Jog SelectO destination is not active then the Jog 0 setup parameters will be used for jogging If the Jog SelectO input function is active the Jog 1 setup parameters will be used for jogging If the Jog Select destination is changed during jogging motion the axis will ramp smoothly from the previously selected jog velocity to the new jog velocity using the specified jog acceleration This is level sensitive Jog Stop Jog Stop This is used only in programs to halt jogging motion Jogging motion is initiated in programs using the www emersonct com 95 Jog MinusActivate or Jog PlusActivate instructions and using th
184. ic index that is being displayed in the Index view 9 2 Stopping Motion 9 2 1 From Assignments There are numerous different methods that can be used to stop or pause motion using Assignments in the EZMotion module Listed below are the various assignment destinations 9 2 1 1 Stop The Stop destination will when activated stop any motion that is active along with any user programs that are active Stop is level sensitive so that while it is active all motion and programs are prevented from starting Stop will override any other functions that are active 80 www emersonct com 9 2 1 2 MotionStop The MotionStop destination will stop all motion that is currently active It will not stop any user programs Stop Motion is level sensitive so that all motion will be prevented from starting while Stop Motion is active 9 2 1 3 Feedhold The Feedhold destination will pause all motion other than gearing by effectively bringing time to a halt Feedhold is level sensitive meaning that Feedhold will be active as long as the Destination is held active When Feedhold deactivates the motion will continue While Feedhold is active any active motion profiles do not stop even though the motor will decelerate to zero speed Even though the motor is stopped the motion profile remains active All of the motion attributes will remain active i e In Progress At Velocity Accelerating Decelerating etc For instance if Feedhold activa
185. ick the down arrow on the parameter list box to select the desired type of Index Profiles as follows Incremental Indexes run a specified distance from the current position Absolute Indexes move to an exact position with respect to the home reference point The absolute index could run in either a clockwise CW or counterclockwise CCW direction dependent on the current position when it is initiated A Registration Index runs at the specified velocity until a registration sensor is seen or until it reaches the Registration Limit Distance If a Registration Sensor is seen then the index runs an additional Registration Offset distance Rotary Plus and Rotary Minus type indexes are typically used in applications which use rotary rollover These absolute indexes are forced to run in a specific direction regardless of the starting point TimeBase This list box selects the Time Base for the index velocity and acceleration deceleration Realtime and Synchronized are the available selections Distance Position The Distance Position parameter is a signed value that specifies the distance the index will travel incremental index or the absolute position the index will move to absolute index In the case of an incremental index this parameter also determines the direction the index will travel If an index type of Registration is selected then this is a limit distance or the maximum distance the index will travel if a registration
186. ifferent than from an assignment Following is a list of instructions used to initiate motion types from a user program 9 1 2 1 Jog t Plusinitiate Jog Plusinitiate is used in a program to initiate jogging motion in the positive direction The user must specify which jog is to be used in the instance location should be replaced with 0 or 1 for Jog 0 or Jog 1 respectively Since Jog is level sensitive the jog will remain active until a Jog Stop instruction is used in the same program If the program ends while jogging motion is active the jog will automatically be stopped 9 1 2 2 Jog Minuslnitiate Jog Minusinitiate is used in a program to initiate jogging motion in the negative direction The user must specify which jog is to be used in the instance location should be replaced with 0 or 1 for Jog 0 or Jog 1 respectively Since Jog is level sensitive the jog will remain active until a Jog Stop instruction is used in the same program If the program ends while jogging motion is active the jog will automatically be stopped 78 www emersonct com 9 1 2 3 Home f Initiate Home Initiate is used in a program to initiate the Home sequence The user must specify which Home is to be initiated in the instance location should be replaced with 0 for Home 0 even though there is only one instance available Since Home is edge sensitive the Home will initiate only once until the next Home Initiate instruction The pro
187. il x 415 5151 sel glm ro 21 Parar gt Description Defaut_ Memo Get Menu Values SA Axis 1 Menu 0 3 0 Parameter 0 0 SK Hardware EX Parameters 3 1 Final speed ref 0 0 Drive Encoder Menu 1 Hua Slot 1 EZMotion ay Slot 2 Universal Encoder Plus 3 2 Speed feedback 0 0 33 Speed error 0 0 peed controller output 0 0 SS Zero speed threshold 5 36 At speed lower limit 5 817 At speed upper limit 5 CE atch Drive Menu Initialize 3 4 Setup SE overspeed threshold 0 EY 1 0 Setup 3 9 Absolute at speed det o EAM Motion 310 speed ctl kp1 0 0100 SM Speed ctl kit 1 00 BAZ Speed cti kdt 0 00000 3 13 Speed ctl kp2 0 0100 3 14 Speed ctl ki2 1 00 3 15 Speed ctl kd2 0 00000 3 16 Speed ctl gain sel o 317 Speed ctl set up method 0 Motor load inertia 0 0000 3 19 Compliance angle 4 0 3 20 Speed ctl bandwidth 10 3 21 Speed ctl damping factor 1 0 3 22 Hard speed reference 0 0 3 23 Hard speed ref select o 25 Encoder phase angle 0 0 Speed fbck selector o rive enc speed Fock 0 rive enc rev count o rive enc position o rive enc fine position o Drive enc mpos reset dis 0 32 Drive enc marker flag 0 Drive enc turns 16 Brive enc lines per rev 2048 Drive enc comms resolution 0 al 0 1984 revs 0 00000 revsjm Connected a Programs Programo Network Menu 17 Menu 18 Menu 19 Menu 20 Drive Disabled Figure 62
188. in several different ways depending on what type of Home Reference is used The Home Reference determines what action or signal defines the Home position The three types of Home Reference supported by the SM EZMotion module are Marker Sensor and Sensor then Marker Following is a description of the three different Home types 5 3 1 Home to Marker Most motors used with the Unidrive SP have an encoder mounted in the back end of the motor This encoder is used to feed positional data back to the Unidrive SP or SM EZMotion module for position control Each encoder has a special signal called the Encoder Marker Channel that activates once every revolution of the motor The SM EZMotion module can use this Marker as a reference signal when executing a Home The Marker provides an extremely accurate means of homing the system The SM EZMotion module will detect a rising edge ofthe Encoder Marker signal every revolution of the motor shaft The Home routine begins by accelerating up to the Home Velocity The motor continues at the Home Velocity until the Encoder Marker activates The motor then decelerates to a stop immediately or continues for a specified offset distance Figures 33 and 34 show examples of the Home to Marker profile with calculated offset and with specified offset respectively 4 Velocity Home Velocit e y Home Accel Home Decel Sa la Time gt Home Initiate Encoder Marker Home to Marker Profile Calc
189. ion This bit is used to select which direction of motor rotation is considered motion in the positive direction Select from CW or CCW Position Command PosnCommand Position command sent to the Unidrive SP by the SM EZMotion module This parameter does not take following error into account See also PosnFeedback and FollowingError Units are in user units Position Feedback PosnFeedback Feedback position is the actual motor position in user units PosnCommand minus the PosnFeedback is the FollowingError SM EZMotion Module User Guide SM EZMotion Power Up Count PowerUpCount Power Up Count is the current value of how many times the SM EZMotion module has been powered up Each time power is cycled to the system this number increments by one This parameter is stored in the SM EZMotion module and is not reset if the module is switched to another drive This parameter is read only and can be found on the Errors view while online with PowerTools Pro EZ SM EZMotion Power Up Time PowerUpTime The Power Up Time is the time elapsed since power has been cycled to the SM EZMotion Module The units for the parameter are Hours with a resolution of 0 1 Hours This parameter is read only and can be found on the Errors view while online with PowerTools Pro EZ Profile Accelerating Profile Accelerating This source will be active when the motion being run on the specified profile is accelerating to its programmed velocity When th
190. ion The jog velocity is determined by which jog Jog0 or Jog1 is active or not A jog stops when this destination is deactivated If the jog velocity is negative Jog MinusActivate will cause the motor to jog in the positive direction Jog Select0 This destination is used to select between Jog0 and Jog1 When the Jog Select0 destination is not active the target velocity for the jog is the Jog 0 Velocity If the Jog SelectO destination is active the target velocity of the jog is the Jog 1 Velocity Jog SelectO can be toggled On or Off while jogging Jog acceleration and deceleration ramps are used to ramp between jog velocities Below is a description of jog operation using these destinations Note In the table below Jog 0 Velocity 100 RPM and Jog 1 Velocity 500 RPM Jog PlusActivate Jog MinusActivate Jog SelectO Motion Off Off Off 0 RPM On Off Off 100 RPM Off On Off 100 RPM On Off On 500 RPM Off On On 500 RPM On On Off 0 RPM On On On 0 RPM All Jog destinations are level sensitive SM EZMotion Module User Guide On Off Jog PlusActivate Velocity l l l l l l l l Time Figure 94 Jog Activate On Off Jog PlusActivate A On Off i I I I I Jog Select O 1 l 1 I l 1 l l 1 l l I I l 1 Velocity i Jog 1 Accell l Jog0 Decel Ne ul I Nel x 1 Jog 0 Accel l N Jog 0 Decel Y Time Figure 95 Jog Sele
191. ion of the motor are dependent upon actual time minutes or seconds Selecting a Timebase of Synchronized means that all units of velocity and acceleration are a function of Master Distance rather than time Therefore the motor velocity acceleration and position are all functions of the position and velocity of the master axis The units for velocity of a Synchronized move are as follows Follower Distance Units Master Distance Unit Therefore the user specifies the number of follower distance units that the motor will travel per Master Distance Synchronized Unit If the distance units for master and follower are the same then the user in effect specifies a ratio for the velocity The acceleration units for a synchronized move are again a function of Master Distance Acceleration and Deceleration units are as follows Follower Distance Units Master Distance Unit Master Distance Unit A few examples of Synchronized motion units are listed in the table below Follower Distance Units Master Distance Units Vel Timescale Accel Timescale Velocity Units Accel Decel Units Inches Mstrinch N A N A Inches Mstrinch nches Mstrinch Mstrinch Revs MstrRev N A N A Revs MstrRev Revs MstrRev MstrRev Degrees Mstrinch N A N A Degrees Mstrinch D grees Mstrinch Mstrinch 5 7 Summing Multiple Profiles Motor motion or Axis motion may be generated from either of two Profiles Profile O and Profile
192. ion Modifier Instructions 8 3 Red Dot Error Bar 2 io A eee en ee ies ee Les 8 6 Program Code Window 8 7 Program Multi tasking 9 Starting and Stopping Motion 9 1 Starting Motion sssr tes 2S ae di Ea E ee Cale aa eA 9 1 1 From Assignments 9 1 2 From Programs iso rra pind ee de beens ddr aa ls 9 1 3 From PowerTools Pro 9 2 Stopping Motions 5 8 42 a die ns Re de Se ee de 9 2 1 From Assignments 9 2 2 From Programs 2 225 5 bake a cds 9 2 3 From PowerTools Pro 10 Starting and Stopping Programs 10 17 Starting Programs ecu caen ete E MAAS ok a ss no 4 10 1 1 From Assignments 10 132 From Programs eiae Looneo tie eae ss eee nes 10 1 3 From PowerTools Pro 102 Stopping Programs tudo at niet e anis ak Mew eee REE tone 10 2 1 From Assignments 10 22 From Programs sut tuner nos ra Lie Rese Dhs eu 10 2 3 From PowerTools Pro xi SM EZMotion Module Technical Manual 11 Parameter Descriptions 12 Drive Parameters Used by SM EZMotion Mod
193. ion code of the currently fitted module is saved in EEPROM If the drive is subsequently powered up with a different module fitted or no module fitted where a module was previously fitted the drive will have a SLX dF trip To clear the SLX dF trip follow the Clearing the SLX dF Trip instructions in the diagnostics section of this manual x 02 Option Software Version This parameter indicates the SM EZMotion module firmware revision that is currently stored in the module It is possible for the user to flash upgrade the firmware using PowerTools Pro EZ software The format for this parameter is XX YY where XX is the major revision and YY is the minor revision The firmware is released by Control Techniques using an alphanumeric revision code The first fully released revision is A1 Anything with a major revision of 50 or greater is considered non released firmware When Beta firmware is made available for testing it is given a beta firmware revision starting at 60 01 The beta firmware revision will increment for each new beta release that is made available e g 60 02 60 03 etc SM EZMotion Module User Guide Example Parameter x 02 Value Firmware Revision Al A3 B1 Beta Y1 X 13 EZOutput 1 Status This parameter shows the status of digital Output 1 on the SM EZMotion module A value of 1 indicates that the Output is active A value of 0 indicates that the Output is inactive This equates
194. is enabled the sensor must be activated inside the window to be recognized Index Name Index Name The user can specify an Index name of up to 12 characters Enable Index PLS Index PLSEnable When Activated this parameter enables the PLS programmable limit switch function for the specified index It can be controlled from index view check box or from a program Index PLS Off Point Index PLSOffDist This an incremental distance from the start of the index to the Index PLS off point This is an unsigned value and is relative only to starting position of this index Index direction does not affect this parameter Index PLSStatus will be active if the distance traveled from the start of the index is greater than the Index PLSOnDist and less than the Index PLSOffDist Index PLS On Point Index PLSOnDist This an incremental distance from the start of the index to the Index PLS On Point This is an unsigned value and is relative only to starting position of this index Index direction does not affect this parameter Index PLSStatus will be active if the distance traveled from the start of the index is greater than the Index PLSOnDist and less than the Index PLSOffDist Index PLS Status Index PLSStatus Controlled by the PLSOn and PLSOff Points this is relative 94 www emersonct com to the distance commanded since the start of the index Index PLSStatus will be active if the distance traveled from the st
195. is made up of the combination of the 32 Bit B The BitRegister Value The BitRegister Value register may be accessed bitwise by using Bit B or double word wise by using BitRegister Value Bit Register Number Value Mask BitRegister ValueMask This parameter is the Mask for the BitRegister Value Each bit location is set to either transfer the current data in www emersonct com 85 the corresponding bit location of BitRegister Value by setting the bit location to 1 or to clear the current data in BitRegister t Value by setting the bit location to 0 Unidrive SP Braking Resistor Overload Accumulator BrakeOverloadAccumulator This parameter gives an indication of braking resistor temperature based on a simple thermal model The formula for the thermal model is a function of parameters 10 30 and 10 31 set in the initialization file A value of zero indicates that the resistor is close to ambient and a value of 100 is the maximum temperature trip level An OVLd warning is given if this parameter is above 75 and the braking IGBT is active This parameter can be found on the Online tabs of the Status and Current views Unidrive SP Braking Resistor Alarm BrakeResistorAlarm This parameter is set when the braking IGBT is active and the braking overload accumulator is greaterthan 75 This parameter when activated is automatically kept active for 0 5 seconds so that it can be displayed on the keypad display This pa
196. is most often a second encoder or possibly another upstream drive Figure 67 shows an example of the Master Setup view Select from Drive Slot 1 Slot 2 or Slot 3 If Drive is selected then that means that the motor feedback must be routed to one of the option module slots 38 www emersonct com M Ele Edit Device Options Tools View Window Help laj xi ojsaja val 1 aL SE See Em 1x Feedback Setup Master Distance Units Master Feedback Source Slot2 Units Name Revs Encoder Polary Postive z Decimal Places 0 0000 1 0000 Revs pon 1 1 per 8192 Counts p Master Postion Setup a Define H Pode 0 0000 R laster Position Filter efine Home Position evs Pen Samples 16 y D Rotay Rollover 00 i Enable Feedforward Disconnected Figure 67 Master Position Source Master Setup View Master Feedback Source indicates the hardware location of the master encoder input Define Home Position Define Home Position is the value that the Master Position Feedback will be set to when the MasterAxis DefineHome destination is activated After the MasterAxis DefineHome has been activated the MasterAxis AbsolutePosnValid source will activate Rotary Rollover Check Box If checked the rotary rollover feature for the Master Axis will be enabled Rotary Rollover If enabled the Master Position will rollover to zero at the value specified here As the master encoder counts up the master positio
197. is the distance traveled during the deceleration ramp from the home velocity The specified offset allows the user to choose an exact offset from the Home Reference If On Sensor Home OnSensorAction If the home sensor input is active when the home is initiated this parameter determines the direction of motion Two selections are possible If Back off before homing is selected the motor will turn in the opposite direction of the home until the home sensor is clear and then begin the home If Go forward to next sensor is selected the motor will turn in the commanded direction until the next rising edge of the sensor is seen If using Modbus to view or modify this parameter 1 Back off before homing 0 Go forward to next sensor 92 www emersonct com Home Reference Home Reference This parameter determines how the reference position is determined The parameter can have one of three different values Sensor Marker Sensor then Marker When the home reference is Sensor the rising edge of the Home Sensor input function is used to establish the reference position When the home reference is Marker the rising edge of the motor encoder s marker channel is used to establish the reference position When the home reference is Sensor then Marker the reference position is established using the first marker rising edge after the Home Sensor input function goes active Home Sensor Trigger Home SensorTrigger This d
198. ivate Jog AtVel This source activates when the individual jog reaches its target velocity It deactivates when a jog deceleration ramp begins Jog CommandinProgress The Jog CommandinProgress source is active throughout an entire jog profile The source activates at the beginning of a jog acceleration ramp and deactivates at the end of a jog deceleration ramp Jog CommandComplete The Jog CommandComplete source will activate when the specific jog completes its deceleration ramp It will remain active until the specific jog is initiated again If the Stop 56 www emersonct com destination is used during a Jog then the Jog CommandComplete will not activate Jog Decelerating This source is active while a jog is decelerating from its target velocity Once the Jog reaches zero velocity or its new target velocity the Jog Decelerating source will deactivate Destinations The following destination functions can be found in the Assignments view under the l O setup group Jog PlusActivate When this destination is activated jogging motion will begin in the positive direction The jog velocity is determined by which jog JogO or Jog1 is active or not A jog stops when this destination is deactivated If the jog velocity is negative Jog PlusActivate will cause the motor to jog in the negative direction Jog MinusActivate When this destination is activated jogging motion will begin in the negative direct
199. ivated this source is activated during the time between Gear Initate On and Gear AtVel On Gear Activate Gear Activate The Gear Activate destination is used to start gearing from an assignment Itis a level sensitive function which means that as long as Gear Activate is active gearing will be in progress When deactivated gearing motion will come to a stop without deceleration This function is only available through the assignments screen When gearing from a program the Gear Initiate instruction is used Gear at Velocity Gear AtVel The Gear AtVel source indicates that the motor is running atthe programmed gear ratio In early releases of Gearing acceleration and deceleration will not be used with gearing so this source will always be active when gearing is active Gear Command Complete Gear CommandComplete This source will activate when gearing has been stopped and will remain active until the gear is initiated again Gearing does not use a deceleration ramp so this source will activate immediately after a Gear Activate destination is deactivated Gear Command In Progress Gear CommandinProgrees This source will activate when Gearing is initiated either from a program or through an assignment The source will remain active as long as gearing is in operation This source can be active even if the motor is not in motion as long as gearing is active Gear Decel Gear Decel This parameter sets the deceleration o
200. ive trips PowerTools Pro must be online with the module to obtain this information Figure 73 shows an example of the Errors View when Online with the module Ie Edt Dewe pons Toos yew widow He is1x olema uke x 15 515 kelele Bimm 1 2 12 Active Errors Power Up le Power r Module Total Drive Power Up Tme 0 000 Years Days 0 00 Hrs Min 0 001 Years Days 0 00 Hrs Min Drive Run Time Error Codes Slot1 Error Code o Slot2 Error Code 0 Slot3 Error Code 0 unin Reset PLS Setup nvm Trip Log Capture Trip O Time 0 000 Years Days 23 50 Hrs Min Trip Code Time Hours Minutes 200 0 00 Drive Disabled 0 0000 revs 0 00000 revs m Connected Figure 73 Active Errors Errors View The Active Errors box shows any drive trips or module errors that are currently active The user can reset any drive trip or module error by clicking on the Reset control button underneath the Active Errors box If the situation that caused the trip or error has not been fixed then the trip or error will activate again immediately www emersonct com 43 Power Up The Power Up box contains information related to the lifetime of the Unidrive SP and SM EZMotion module Following are the parameters listed in the Power Up information box Module Power Up Count Module Power Up Count is a current value of how many times the SM EZMotion module has been powered up Each time
201. ive until it is deactivated from a program Feedhold OFF See Feedhold from Assignments above for further details 9 2 2 5 Profile Feedhold The Profile Feedhold instruction functions identically in a program as it does from an assignment To activate Profile Feedhold from a program it must be set equal to ON Feedhold will remain active on the specified profile until it is deactivated from a program Profile Feedhold OFF See Profile Feedhold from Assignments above for further details 9 2 2 6 Profile ProfileStop The Profile ProfileStop instruction in a program acts much the same as the Profile MotionStop assignment When the Profile ProfileStop instruction is processed any motion on the specified profile is stopped using the stop deceleration ramp This instruction acts like an edge sensitive instruction therefore after the active motion is stopped any motion can again be started on the profile Profile ProfileStop does not prevent then next motion from starting Starting and Stopping Motion 9 2 3 From PowerTools Pro Motion can be stopped while online with PowerTools Pro in a number of different ways Following is a list of ways to stop motion while online with the device 9 2 3 1 Stop All Main Toolbar The Stop All icon on the PowerTools Pro toolbar can be used to stop all motion and programs that are active The Stop All can be toggled on and off from the toolbar Click the icon once to toggle t
202. l 64 www emersonct com SM EZMotion Module User Guide 8 How User Programs Work 8 1 Program Window Components There are 5 major components to the Program View or programming window These components are the Program Parameters Program Toolbar Instruction List Red Dot IM Ele Edit Device Options Tools View Window Help Error Bar and the Code Window Figure 102 points outthe components listed above Program Parameters Program Toolbar osma tas 4 415 018 sel SSI 13 2 2 Program Name Program Edit Assignments E axis 1 9g Setup 1 0 Setup EAA Motion E Programs 3 Run Anytime Program Flow a 1f Then Endif EG Network Else Th Modbus For Count Next Do While Loop Wait For Wait For Time Call Program End Formula Label GoTo Motion Dwell For Time Dwell For MasterDist lt a Index Initiate ME Index Compoundinitiate a Home Initiate Jog Stop 3 Jog Plusinitiate Jog MinusInitiate E Program ProgramStop a Program Initiate Gear Stop Gear Initiate MH Profile ProfileStop Motion Modifiers Using Capture Instruction List Using Last On Profile Program Number 0 H Task Number o F Code Window Red Dot Error Bar Ready Figure 102 Program View Components Each of these main components must be used to successfully create a user program Each of the components are described in detail below 8 2 Program Parameters Program Name ExampleProg Prog
203. l be displayed in the Parameter Data box Writing to a Menu Parameter To write to a Menu Parameter enter the Menu Parameter number to be read in the Menu Parameter box The Menu Parameter is entered using the MM PP format where MM is the Menu number and PP is the parameter number Once the Menu parameter is entered then enter the value to be written to that parameter in the Parameter Data box Then click on the Write control button The value in the Parameter Data box will be written to the specified Menu Parameter If the user wishes to verify that the data was written properly they could either click the Read button or navigate to the parameter using the SP keypad manually 3 3 1 5 3 Flash Upgrade Selecting Flash Upgrade will launch the utility that lets the user upgrade the firmware in the SM EZMotion module New firmware becomes available from Control Techniques to add new features or to fix problems in prior releases When the user selects Flash Upgrade PowerTools Pro will search for all devices available on the Modbus network Once PowerTools detects devices a window similar to that shown in Figure 17 will appear 12 www emersonct com Flash Upgrade Description Base Rev Module Rev_ Info Other Na 1 NA Y 2 Arch III EN 204 FM 3 A9 Ag 64MHz Arch III EN 204 FM 4 B3 B3 90MHz DN TEE Flash Info Help Exit Note The list box is updated automatically Please allow time for the drives t
204. ld be named Slot2 EncoderSimulationNumerator The SM Universal Encoder Plus is capable of sending out a simulated encoder signal To configure the simulated encoder signal the user specifies a source parameter and a ratio multiplier The multiplier allows the user to scale the source parameter before it is sent out the Encoder Out port The multiplier is made up of a numerator parameter and a denominator parameter The formula for the value sent out the encoder output is as follows Output Enc Sim Source Enc Sim Numerator Enc Sim Denominator The range for the Numerator is 0 0001 to 3 0000 This parameter is found on the SlotX view after a SM Universal Encoder Plus module has been selected for the Module Type For more information on this parameter please refer to the SM Universal Encoder Plus User Guide parameter x 25 SlotX Simulated Encoder Source SlotX EncoderSimulationSource This parameter is only available when an SM Universal Encoder Plus option module has been populated in one of SM EZMotion Module User Guide the Unidrive SP slots The X in SlotX defines the slot number that the SM Universal Encoder Plus option module has been fitted in For example if the Universal Encoder Plus module is in slot 2 the parameter would be named Slot2 EncoderSimulationSource The SM Universal Encoder Plus is capable of sending out a simulated encoder signal To configure the simulated encoder signal the u
205. ld be swapped E Repeat A through C of Step 1 Step 6 Verify wiring of motor power cables Define CW rotation of the motor with a positive drive command The phasing test of the Unidrive will give a CW rotation during the test To verify this complete the following steps A Enable the drive B Verify that the motor is free of any load C Navigate the keypad to display parameter 0 40 D Set the parameter to 1 The phasing test will command the motor to move one rev CW It will also reset the parameter to 0 E If the motor moves in the CCW direction the motor power is wired incorrectly F Swap the U and V phases and repeat A through D of Step 2 Note Disregard any encoder phasing trip at this time tunEx trips Installation www emersonct com Step 7 Verify wiring of commutation signals The Unidrive SP Advanced User Guide section 3 parameter 3 25 is helpful for this step If no trips were encountered during Step 2 this step can be skipped To verify correct commutation follow the steps below A Enable the drive B Navigate the keypad to display parameter 0 40 and set the parameter to 1 C If an tunE3 or other tunEx trip results rewiring is needed D Swap the U and V commutation signals at the drive end Repeat steps A through C to verify www emersonct com SM EZMotion Module User Guide 3 PowerTools Pro Configuration Software 3 1 Introduction PowerTools Pro is the software used to configu
206. lector uses a binary to decimal conversion which requires fewer I O points than direct assignments Figure 90 shows an example of the Selector view Module I O Setup View 54 www emersonct com gt Selector Selection7 gt Selector Selection8 H Selector Selection9 gt Selector Selection10 gt Selector Selection11 Selector Selection12 gt Selector Selection13 t Selector Selection14 Selector SelectorInitiate gt gt Selector Selection15 Figure 91 Selector Block Diagram The Selector is configured by using a series of Sources and Destinations on the Assignments view The inputs to the selector are Selector Select and Selector Selectorinitiate These inputs to the Selector can be found under the Selector group of Destinations on the Assignments view The outputs from the selector are called Selector Selection and can be found under the Selector group of Sources on the Assignments view In most cases hardware inputs are assigned to the Selector Select functions Based on the status of the binary select lines a selector selection source will be active when the Selector Selectorlnitiate destination is activated At the top of the Selector view see Figure 90 the Selector Input Destinations field defines how many Select lines will be used The number of Selector Selection outputs is a SM EZMotion Module User Guide direct result of the number of Select lines The
207. lely a means of changing the state from within a user program EZInput Force Enable EZinput ForceEnable EZInput Force must be active to force a specified input on or off in a user program See EZInput Force above for further information EZInput Status EZinput In EZinput In is the status of the specified digital input on the SM EZMotion module The In at the end of the parameter is optional so this signal is most often referred to simply as EZInput This signal can be used in a user program or on the Assignments view These inputs are updated at the Trajectory Update Rate specified on the Setup view These inputs are also used for the high speed capture functionality The SM EZMotion is capable of capturing the motor position master encoder position and time within 1 usec of the rising edge of the EZInputs EZOutput Name EZOutput Name Each digital output on the SM EZMotion module can be given a name The name can be used in a user program to reference a specific input The name can be up to 12 alphanumeric characters but must begin with a non numeric character EZOutput State EZOutput Out EZOutput Out is used to change the state of a specific digital output on the SM EZMotion module The Out at the end of the parameter name is optional so this signal is Parameter Descriptions often referred to simply as EZOutput In a user program EZOutput Out is set On or Off to activate or deacti
208. ll activate only when the motor is moving in the positive direction If set to Minus the PLS will activate only when the motor is moving in the negative direction For example a flying cutoff or flying shear application may use this feature to activate the PLS to fire the knife only when the axis is moving in the positive direction Rotary Enable This parameter is used to enable the RotaryRolloverPosn for this PLS Rollover Position This parameter is the absolute position of the first repeat position for this PLS When enabled it causes the PLS to repeat every time this distance is passed The repeating www emersonct com 45 range begins at an absolute position of zero and ends at the RotaryRolloverPosn For example in a rotary application a PLS could be setup with an OnPosn of 90 degrees and an OffPosn of 100 degrees If the RotaryRolloverPosn 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 7 3 11 Setup NVM View This View allows the user to configure which parameters are saved when power is cycled If a parameter is not in this list the value of the parameter will revert back to the value that was downloaded when power is cycled If a parameter is in the list the value that was being used just before power is cycled will be used when power is restored
209. load into RAM Doing so allows the user to send changes to the system without requiring a complete download Certain parameters when changed require a complete download and cannot be sent to RAM If one of these parameters is changed the Update Drive option will not be available on the Edit menu Parameter values only sentto RAM will be list when power is cycled 3 3 2 8 Upload NVM tal Selecting Upload NVM will read the current value from each of the parameters in the SM EZMotion module s NVM memory and display it in the PowerTools Pro configuration The file can then be saved to retain the current values stored in NVM 3 3 2 9 Disconnect xl Same as Device gt Disconnect from the Menu Bar Selecting Disconnect will terminate communications between the PC and any nodes the PC is online with 14 www emersonct com 3 3 2 10 Add Index Same as Edit gt New gt Index from the Menu Bar Selecting Add Index will add a new index to the configuration Indexes are added in sequential order The new index will be the next highest available index number Adding an index will take you directly to the new index view Can not be used while online 3 3 2 11 Delete Index al Same as Edit gt Delete gt Index from the Menu Bar To delete an index the user must select they specific index they wish to delete on the hierarchy Once the index is selected click on Delete Index on the Tool Bar Doing so will delete the index insta
210. low the install shield instructions to complete the software installation 3 2 2 From the Web PowerTools Pro can be downloaded from the Control Techniques website at the following address PowerTools Pro Configuration Software www emersonct com www emersonct com Ele Edt View Favorites Tools Help gt OAA Qs Favorites CBristory Fh Sh El 5 e Address http www emersonct t com AC Drives J Servo Drives and Controllers e DC Drives e Torge from 7 to 750 Ib in continuous e Vector Servo e 110 240 480 Volts e Powerful Distributed Control e Easy to use High Performance Control le Ja internet A Figure 5 Control Techniques North America Website 3 3 How PowerTools Pro is Organized The PowerTools Pro software is made up of six major components These components are the Menu Bar Tool Bar Hierarchy View View Tab and Status Bar Note that some of these components and sub components are only available under certain conditions e g while online while on a certain view etc Menu Bar Tool Bar Eat se View Hierarchy View Tab _ Status Bar Figure 6 3 3 1 Menu Bar Figure 7 shows the Menu Bar as found in PowerTools Pro The items available on the Menu Bar may change under certain conditions e g online configuration open etc PowerTools Pro Organization QB File Edit Device Options Tools View Window Help Figure 7 Menu Bar
211. me SlotX Relay Name This parameter is only available when an SM I O Plus module has been populated in one of the Unidrive SP slots The X in SlotX defines the slot number that the SM I O Plus module has been fitted in For example if the I O Plus module is in slot 2 the parameter would be named Slot2 Relay Name Each relay output on the SM I O Plus module can be given a name The name can be used in a user program to reference a specific relay output if desired The name can be up to 12 alphanumeric characters but must begin with a non numeric character SlotX Relay State SlotX Relay Out This parameter is only available when an SM I O Plus module has been populated in one of the Unidrive SP slots The X in SlotX defines the slot number that the SM I O Plus module has been fitted in For example if the I O Plus module is in slot 2 the parameter would be named Slot2 Relay Out The SM I O Plus module has two relay outputs pins 21 and 23 that can be used to control devices that require more current than a standard digital output The Out at the end of the parameter name is optional so this parameter is often referred to simply as SlotX Relay This parameter can be used in a user program to activate the output i e Slot2 Relay 8 On or can be assigned to a Source on the Assignment view Enable Software Travel Limits SoftwareTravelLimitEnable Software travel limits can be used to limit machin
212. me command is executed Home Acceleration Home Accel This parameter sets the average Acceleration rate used during the home units are specified on the User Units page Home Accelerating Home Accelerating Active during any acceleration while the specified home is in progress Accelerating may turn off and on again based on the type of Home selected Accelerating will activate Parameter Descriptions during the Home back off sensor motion Home At Velocity Home AtVel This source is activated when the home velocity is reached when a the specified home is in progress It will activate and deactivate base on the home Home At Velocity will not be activated during back off sensor portion of the home Home Calculated Offset Home CalculatedOffset The Calculated offset is the distance travelled during the deceleration ramp from the home velocity to a stop Calculated by PowerTools Home 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 Inactive when a home command is executed Home Command In Progress Home CommandinProgress This source is activated when the Home is initiated and remains active until all motion related to the Home has completed Home Deceleration Home Decel The Deceleration ramp parameter is
213. meter Descriptions e Linear Peak Accel Average Accel Acceleration Decimal Places AccelUnits Decimal This parameter is the decimal point location for all real time accel decel ramps Acceleration Time Scale AccelUnits TimeScale This parameter is the time units for accel decel ramps Possible selections are milliseconds or seconds At Velocity AtVel This source is active when the SM EZMotion module 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 A normal index consists of 3 segments Accelerating At Velocity and Decelerating This source is active during the At Velocity segment and is activated based on the commanded velocity not the feedback velocity During synchronized motion AtVel can be active without actual motor movement Bit Number Value Bit B This read write bit may be used in a program as an intermediary variable bit controlled by the user Bit B is one of 32 bits that make up the BitRegister parameter Assigned to communication networks such as DeviceNet Profibus and Modbus Bit B may be used to transfer events that have occurred in a PLC to the SM EZMotion program Note When the value of Bit B is changed the value of BitRegister Value is changed as well Bit Register Number Value BitRegister Value This parameter
214. meter are always revolutions since those are the units used by the Unidrive SP and its option modules The value for this parameter comes from parameter 3 28 of the Unidrive SP database Unidrive SP Fine Encoder Position SPDriveEncRevFinePosition This read only parameter displays the number of fractions of a revolution that the master encoder signal has moved and can be found on the Online tabs of the Status and Position views The units for this parameter are always 1 232 of a revolution since those are the units used by the Unidrive SP and its option modules The value for this parameter comes from parameter 3 30 of the Unidrive SP database Early releases of the SM EZMotion module do not support use of high resolution encoders Therefore the value for this parameter will always be displayed as 0 Unidrive SP Encoder Position SPDriveEncRevPosition This read only parameter displays the number of fractions of a revolution that the master encoder signal has moved and can be found on the Online tabs of the Status and Position views The units for this parameter are always 1 216 of a revolution since those are the units used by the Unidrive SP and its option modules The value for this parameter comes from parameter 3 29 of the Unidrive SP database Unidrive SP Drive Status Bitmap SPDriveStatus The SPDriveStatus parameter is a decimal value that equates to the state of the Status Bits in the Unidrive SP This is a
215. mitEnable 104 SoftwareTravelLimitMinusActive 105 SoftwareTravelLimitMinusPosn 105 SoftwareTravelLimitPlusActive 105 SoftwareTravelLimitPlusPosn 105 SP I O Setup View 54 SP Menu Initialization View 36 SPConnect DigitallOReadWord 105 SPDrive EncoderSupply Voltage 105 SPDrive SoftwareSubVersion 106 SPDrive SoftwareVersion 106 SPDriveEncRevCount 105 SPDriveEncRevFinePosition 105 SPDriveEncRevPosition 105 SPDriveStatus 105 SpeedFeedbackSelector 106 SPInput In 106 SPInput Name 106 SPIO Direction 106 SPIO In 106 SPIO Name 107 SPIO Out 107 SPMenu Decimal 107 SPMenu DriveDecimal 107 SPMenu ErrorStatus 107 SPMenu MenulD 107 SPMenu ParamID 107 SPMenu Value 107 SPPowerUpTimeHoursMinutes 107 SPPowerUpTimeY earsDays 108 SPRelay Name 108 136 SPRelay Out 108 SPRunTimeHoursMinutes 108 SPRunTimeYearsDays 108 StackTemperaturel 108 StartUp 108 Stop 108 StopDecel 108 Summing Multiple Profiles 29 SwitchingFrequency 108 T Timed Index 27 TotalPowerUpTime 109 TravelLimitDecel 109 TravelLimitDisable 109 TravelLimitMinusActivate 109 TravelLimitMinusActive 109 TravelLimitPlusActivate 109 TravelLimitPlusActive 109 Tuning View 42 U Unidrive SP I O 31 Unidrive SP Parameters View 35 Uploading and Downloading using PowerTools Pro 17 User Bits View 50 User Variables View 49 V Var Var Decimal 109 Var Var Value 109 VelCommand 109 VelFeedback 109
216. mited 93 Index ResetProfileLimited 93 InertiaRatio 95 Initially Active 95 InPosn 95 InPosnTime 95 InPosnWindow 95 Installing PowerTools Pro 7 Introduction Reference Materials v J Jog View 55 Jog Accel 96 Jog Accelerating 96 Jog AtVel 96 Jog CommandComplete 96 Jog CommandInProgress 96 Jog Decel 96 Jog Decelerating 96 Jog MinusInitiate 96 Jog PlusInitiate 96 Jog TimeBase 96 Jog Vel 96 Jog AnyCommandComplete 95 Jog MinusActivate 95 Jog PlusActivate 95 Jog Select0 95 Jog Stop 95 www emersonct com SM EZMotion Module User Guide M Master Position Filter Samples 39 Master Units Setup View 38 MasterAxis MasterEncRevCount 96 MasterAxis MasterEncRevPosition 96 MasterAxis SpeedFeedbackSelector 97 ModuleSerialNumber 97 ModuleTemperature 97 Motion Timebase 28 MotionStop 97 MotorType 97 N Name 97 O OverloadAccumulator 97 P PLS View 45 PLS Direction 97 PLS OffPosn 97 PLS OnPosn 98 PLS PLSEnable 98 PLS RotaryRolloverEnable 98 PLS RotaryRolloverPosn 98 PLS Source 98 PLS Status 98 Position View 40 PositionLoopResponse 98 PositiveDirection 98 PosnCommand 98 PosnFeedback 98 PowerTools Pro Menu Bar 7 PowerUpCount 99 PowerUpTime 99 Profile Accelerating 99 Profile AtVel 99 Profile CommandComplete 99 Profile CommandInProgress 99 Profile Decelerating 99 Profile Feedhold 99 Profile MotionStop
217. mmunications Setup xj Port Baud Figure 21 CT Comms Cable Ent C soo The RJ45 connector is located under a small rubber flap on C Com2 79200 Cancel the front of the Unidrive SP just below the keypad The pin out for this connector is described in the table below C Coma too C Com4 Pin Function 1 Termination Resistor Figure 23 Communications Setup a RAJA Once the COM port and Baud Rate are selected click OK 3 ov 7 When SM EZMotion modules are shipped from the factory l its they are configured to communicate at a baud rate of 5 Not Used 19200 baud 6 TX Enable a 7 RX TX 4 4 Uploading and Downloading 8 Linked to Pin 7 using PowerTools Pro H H H A Figure 24 below will be used throughout the Uploading and 4 3 Configuring Communications Downloading section of the manual to describe certain in PowerTools Pro processes Before attempting to upload or download a configuration using PowerTools Pro the software must be configured to the correct communications settings To configure communications open PowerTools Pro then click on Communications www emersonct com 17 SM EZ Motion Module A A 2 O PC with PowerTools Pro User NVM Non User NVM Figure 24 Memory Storage in the SM EZMotion Module 44 1 Uploading Uploading is the process of reading the configuration stored in the SM EZMotion mod
218. mouse pointer is positioned over the final desired character and then release the mouse button Once the text is highlighted the text can be cut copied or pasted 3 3 1 2 3 Copy Selecting Copy will copy any highlighted text in a user program To highlight text in a program place the mouse pointer at the leftmost character to be selected then press and hold the left mouse button Move the cursor over the text until the mouse pointer is positioned over the final desired character and then release the mouse button Once the text is highlighted the text can be cut copied or pasted 3 3 1 2 4 Paste Selecting Paste will place the last cut or copied text into a user program See Cut and Copy above for further information 3 3 1 2 5 Find Selecting Find will bring up the Find window In the find window the user can type in a specific word number or any character that they wish to find in a user program Once the user enters the text they wish to find the Find Next or Mark All control button is clicked The Find Next button will highlight the next segment of code after the cursor that matches the search text The Mark All control button will put a mark next to each line of the program that has matching text The user also has several other options on searching the program for matching text 3 3 1 2 6 Replace Selecting Replace bring up the Find window see Find above with an additional parameter called Replace With Using thi
219. n Capture object 2 5 Connecting Motor Encoder Feedback to the Unidrive SP Figure 3 can be used to connect the encoder feedback signals for various different motors to the Unidrive SP For further installation information please refer to the Unidrive SP User Guide Encoder Feedback 15 pin D sub or SM ETC CHANNELA CHANNEL A CHANNEL B CHANNEL B CHANNEL Z CHANNEL Z CHANNEL U CHANNEL U CHANNEL V CHANNEL V CHANNEL W CHANNEL W 5 VDC OV COMMON MOTOR THERM GREEN BCE BROWN BLUE ORANGE BLACK YELLOW WHT GRY GRY WHT WHT BRN BRN WHT EEEEBEEEEE RED ORG I ORG RED RED BLU BLU RED lil RED GRN a Encoder Feedback 15 pin D sub or SM ETC CHANNEL A CHANNEL A CHANNEL B CHANNEL B CHANNEL Z CHANNEL Z CHANNEL U CHANNEL U CHANNEL V CHANNEL V CHANNEL W CHANNEL W 5 VDC OV COMMON MOTOR THERM Figure 3 GRY PNK RED BLU RED BLUE WHT GRN BRN GRN GREEN YELLOW GREY PINK BLACK PURPLE RED BLUE EEE BROWN a assess 1 0 Connector 1 1 0 Connector 2 1 0 Connector 4 Encoder Feedback Cable Model Number CFOS xxx for NT MG or MH Motor or SIBAA xxx for UM or EZ Moto
220. n feedback will increase until it reaches the Rotary Rollover value and then reset to zero and continue to count up If rotating in the negative direction the master position feedback will decrease until it reaches zero and then start over at the Rotary Rollover value Master Distance Units The parameters in this group are used to establish the scaling of the master axis into user units Units Name This is a text string up to 12 characters that will be used to define the units of distance traveled by the master axis for incoming synchronization signals 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 SM EZMotion Module User Guide 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 programming resolution Master Distance Units Scaling The scaling factor is defined as following MasterDistUnitsCharacteristicDistance ling Sealing MasterDistUnitsEncoderRevs The numerator top value of the scaling fraction is the Characteristic Distance The Characteristic Distance is the number of Master Distance Units that will be traveled per number of revs defined in the bottom value of the fraction The denominator bottom value of the scaling fraction
221. n module Radio Button Also known as the Option Button In a dialog box radio buttons are small circles only one of which can be chosen at a time The chosen button is black and the others are white Choosing any button with the mouse causes all the other buttons in the set to be cleared RAM RAM is an acronym for Random Access Memory which is a memory device whereby any location in memory can be found on average as quickly as any other location Commonly refers to Read Write memory as opposed to Read Only Memory ROM EPROM EEPROM Flash RAM is considered volatile because its contents are lost during a power loss RMS Root Mean Squared For an intermittent duty cycle application the RMS is equal to the value of steady state current which would produce the equivalent heating over a long period of time ROM ROM is an acronym for Read Only Memory A ROM contains computer instructions that do not need to be changed such as permanent parts of the operating system RPM Revolutions Per Minute Serial Port A digital data communications port configured with a minimum number of signal lines This is achieved by passing binary information signals as a time series of 1 s and s on a single line Glossary Source The terminals at which energy is taken from a circuit or device Travel Limit The distance that is limited by either a travel limit switch or the software Torque The moment of force a measur
222. nce Once the index is deleted the data stored on the index view cannot be recovered Can not be used while online 3 3 2 12 Add Program Same as Edit gt New gt Program from the Menu Bar Selecting Add Program will add a new user program to the configuration Programs are added in sequential order The new program will be the next highest available program number Adding a program will take you directly to the new program view Can not be used while online 3 3 2 13 Delete Program Same as Edit gt Delete gt Program from the Menu Bar To delete a program the user must select they specific program they wish to delete on the hierarchy Once the program is selected click on Delete Program on the Tool Bar Doing so will delete the program instance Once the program is deleted the program code cannot be recovered Can not be used while online 3 3 2 14 View Current Errors 3 Same as Device gt View Errors from the Menu Bar Selecting View Errors from the Edit menu will open the Active Errors pop up window The Active Errors window will show any error or trip conditions that have not been reset SM EZMotion Module User Guide 3 3 2 15 Clear Errors el Same as Device gt Reset Errors from the Menu Bar Selecting Reset Errors will clear any active errors If the fault condition still exists the error may reactivate immediately after clearing it 3 3 2 16 Watch Window se Same as Tools gt Watch Window
223. ng motion will be initiated in the 96 www emersonct com negative direction at the specified jog velocity Jog Initiate Plus Jog Plusinitiate This is used inside a program to initiate a specific jog When this bit is active jogging motion will be initiated in the positive direction at the specified jog velocity Jog Time Base Jog 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 Jog 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 Master Axis Encoder Revolution Counter MasterAxis MasterEncRevCount This read only parameter displays the number of whole revolutions that the master encoder signal has moved since powered up absolute and can be found on the Online tabs on the Status and Master Setup views The units for this parameter are always revolutions since those are the units used by the Unidrive SP and its option modules The value for this parameter comes from parameter x 04 of the feedback module menu In order for this parameter to work properly a master encoder must be connected to a position feedback module and the MasterAxis SpeedFeedbackSel
224. nger it takes to accelerate to the Gear Ratio Figure 51 Gear Acceleration Diagram The GearRatio can be changed on the fly while gearing is active and in motion but acceleration or deceleration must be enabled to use ramps to achieve the new ratio If gearing accel and or decel ramps are not enabled the motor will attempt to achieve the new ratio in one trajectory update 5 6 Motion Timebase Realtime vs Synchronized The Timebase for a profile determines what parameter is used as the denominator for velocity and acceleration units The default Timebase for all motion types other than gear is Realtime A Timebase of Realtime specifies that the denominator for velocity and acceleration units are units of actual time Minutes Seconds or Milliseconds defined on the User Units View Therefore units of velocity for a realtime SM EZMotion Module User Guide profile are as follows Follower Distance Units Velocity Timescale And units of acceleration for a realtime move are Foll Distance Units Velocity Timescale Accel Timescale A few examples of these units are as listed below Realtime Follower Distance Units Master Distance Units Vel Timescale Accel Timescale Velocity Units Accel Decel Units Inches N A Sec Sec Inches Sec Inches Sec Sec Revs N A Min Sec Rev Min Rev Min Sec Degrees N A Sec msec Degrees Sec Degrees sec msec Based on these units we see that velocity and accelerat
225. nnections to the drive Products connected by plug and socket A special hazard may exist where the drive is incorporated into a product which is connected to the AC supply by a plug and socket When unplugged the pins of the plug may be connected to the drive input which is only separated from the charge stored in the bus capacitor by semiconductor devices To avoid any possibility of electric shock from the pins if they are accessible a means must be provided for automatically disconnecting the plug from the drive e g a latching contactor Grounding Earthing equipotential bonding The drive must be grounded by a conductor sufficient to carry all possible fault current in the event of a fault The ground connections shown in the manual must be followed Fuses Fuses protection must be provided at the input in accordance with the instructions in the manual Isolation of control circuits The installer must ensure that the external control circuits www emersonct com vii are isolated from human contact by at least one layer of insulation rated for use at the applied AC supply voltage viii www emersonct com SM EZ Motion Module Reference Table of Contents Customer SUpport so Lies tu do a le E A E o A e tae es 111 Document Conventions A A he ween ce Te we de un end iv s SAaletyIMSHUCHONS 2 empane ar A de E use A at a v General Warning 226 9 A tas Bate A AA AE A AA dede Re E N v Qualified Person E A A A DS a a A a A eR S v
226. ntents of the SP Menu Initialization view resides in the module If the file is uploaded using PowerTools Pro the contents of the SP Menu Initialization list is uploaded as part of the file The SP Menu Initialization data can be modified just like a user program If the user wishes new parameters can be added to the default data or files can be removed from the default data Changes made to the SP Menu Initialization data in PowerTools Pro will change the initialization for that file only not for another new configuration created later If the user wishes to make a change to the initialization for every new file they create then changes can be made directly to the source Splnitialize ini file Using a text editor i e MS Notepad the ini file can be modified to include new parameters or remove existing default parameters Once the modified ini file is saved those changes will be included in every new SM EZMotion configuration created in the future Care should be taken when editing the default list Changes made to this file will directly impact the functionality of the system It could be possible to cause a condition where the SM EZMotion module can not control the drive if an incorrect change is made tot he initialization list Consult CT Applications Engineering with questions 7 3 Configure Setup Parameters Following is a list of the different views in the Setup group on the hierarchy The Setup group is dedicated to confi
227. o activate the Queue Exit function If set to Position Feedback the sum of the data and offset are compared to the Position Feedback parameter If set to Master Position then the sum is compared to the Master Feedback Position parameter and if set to Command Position then the sum is compared to the Motor Commanded Position Name You can assign a descriptive name to each queue making 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 queue to assign a name to it Number of Queue Units This selects the number of Queues available Maximum of eight Queue Sources and Destinations Figure 80 shows a block diagram of the Queue object SM EZMotion Module User Guide IF of Queue QueueEmply Objects 0 QueueClear Set of Queue Objects jects 0 QueueFull and clear data in queue IF of Queue gt Objects or gt Full Level Data In gt Source Select Full Level MasterPosn FeedbackPosn Queue CommandPosn Size j gt Data Out gt QueueExit Comparitor gt Queue Offset XD gt Exit Position gt Sum CompareEnable IF of Queue uev Objects Queue Size Figure 80 Queue Block Diagram Sources Queue Exit This source activates when the Comparat
228. o be recognized when attaching Figure 17 Flash Upgrade Window To upgrade the firmware in a given node click on the Select File control button in the top right corner of the window Navigate to the folder location where the new flash file is stored Select the new flash file and click Open If the selected flash file is compatible with the devices in the list the LED next to the device will turn from red to green If the selected flash file is not compatible with the device the LED will remain red Once the LED next to the desired device has turned green click on the device to be upgraded so that it is highlighted then click the Upgrade control button The upgrade process can take up to fifteen minutes at 19200 baud When complete cycle power on the system for the new firmware to take effect 3 3 1 6 View Figure 18 shows the View Menu as selected from the PowerTools Pro Menu Bar D Fie Edit Device Options Tools View Window Help v Toolbar v Status Bar v Show Navigation Tree Figure 18 3 3 1 6 1 Toolbar By default the Toolbar is visible on the PowerTools Pro screen To hide the Toolbar select Toolbar to remove it from the display If the Toolbar is not visible select Toolbar to make it appear again 3 3 1 6 2 Status Bar By default the Status Bar is visible on the PowerTools Pro screen To hide the Status Bar select Status Bar to remove it from the display If the Status Bar is not visible select
229. o button is selected the Keep option will be used on every download to the module For more details on how the Keep option works see the Download NVM Options above 4 4 5 1 5 Ask on each download When this radio button is selected the user will be prompted on every download to select eitherthe Overwrite Update or Keep option This is the default preference setting 4 4 5 2 Upload Group 4 4 5 2 1 Always convert Application to latest Ptools capability When an Upload is performed PowerTools Pro checks the revision of the SM EZMotion module firmware before uploading the configuration If this radio button is selected and the firmware is older than the matching software revision PowerTools Pro will automatically update the uploaded file to match the current functionality of PowerTools Pro 4 4 5 2 2 Always leave Application matching Module capability When an Upload is performed PowerTools Pro checks the revision of the SM EZMotion module firmware before uploading the configuration If this radio button is selected and the firmware is older than the matching software revision PowerTools Pro will NOT automatically update the uploaded file to match the current functionality of PowerTools Pro 4 4 5 2 3 Ask on each upload When this radio button is selected the user will be prompted on every upload to select whether they wish to convert the uploaded file to latest software capability or not This is the default preference set
230. o forward to next sensor Specified offset 0 000 revs T Limit Distance 0 000 re End Of Home Position 0 000 revs Ready Disconnected 72 Figure 96 Home View Home Number The Home Number parameter displays which home sequence you are editing and allows you to scroll through multiple home sequences using the up and down arrows The first release only allows for one home sequence Name Allows you to assign a descriptive name to the home sequence up to 10 characters in length Home Reference This parameter determines the signal used as the reference The parameter can have one of three different values Sensor Marker or Marker then Sensor When the home reference is Sensor the rising edge of the Home SensorTrigger destination is used to establish the home position When the home reference is Marker the rising edge of the motor encoder s marker channel is used to establish the home position When the home reference is Sensor then Marker the home position is established using the first marker rising edge after the Home SensorTrigger destination activates Time Base Selects the Time Base for the home move velocity and acceleration deceleration Realtime and Synchronized are the allowed selections 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 direc
231. o methods that can be used to change the polarity of an assignment Polarity Button Method Click on both the source and the destination to be changed Once highlighted the Polarity button will become enabled in the lower left corner of the view Click on the Polarity button and change the settings as desired in the Polarity edit box Click OK to apply the changes 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 Pro Tool Bar Choose Options gt Preferences gt User Levels Easy mode filters out all but the most commonly used sources and destinations Detailed mode filters out less expanding the list of sources and destinations for more complex configurations Too Much mode does not filter at all and provides all sources and destinations Only Show Assigned This checkbox removes the unassigned sources and destinations from this view It allows the user to quickly see how many sources and destinations have been assigned www emersonct com 53 7 4 2 SP I O Setup View IM Ele gdt Device Options Tools View Window Help Djsjeje 2
232. o or reading from a Unidrive SP menu parameter in a program use the Menu MM PP instruction instead In this instruction MM represents the desired menu and PP represents the desired parameter number SP Menu Value SPMenu Value This parameter is used behind the scenes in PowerTools Pro EZ when reading or writing to a SP menu parameter using the Drive Watch Window icon These are not to be used inside a user program If writing to or reading from a Unidrive SP menu parameter in a program use the Menu MM PP instruction instead In this instruction MM represents the desired menu and PP represents the desired parameter number Unidrive SP Power Up Time Hrs Min SPPowerUpTimeHoursMinutes The Drive Power Up Time is the time elapsed since power has been cycled to the Unidrive SP The format for this parameter is Years Days and Hours Minutes These values must be used in combination to find the actual time This parameter can be found on the Errors view while Online with PowerTools Pro EZ Total Power Up Time SPPowerUpTimeYearsDays SPPowerUpTimeHoursMinutes 107 Unidrive SP Power Up Time Yrs Days SPPowerUpTimeYearsDays The Drive Power Up Time is the time elapsed since power has been cycled to the Unidrive SP The format for this parameter is Years Days and Hours Minutes These values must be used in combination to find the actual time This parameter can be found on the Errors view while Online with PowerTools Pro EZ
233. ode y Too Much Mode Dee Modbus Too Much Mode b4 DeviceNet Too Much Mode ka Nym Too Much Mode ha Profibus Too Much Mode ji Easy Mode Detailed Mode Too Much Mode Programs most commonly used parameters are available If user level is set to Too Much Mode then all parameters will be visible This feature is designed to make the most common parameters easier to find and use in programs assignments and throughout the software 3 3 1 4 1 3 Ptools Operation Selecting Options gt Preferences gt Ptools Operation allows the user to configure certain setting for the way PowerTools Pro software functions Figure 15 shows the PowerTools preferences window x PopUps Download M ig Em Overwrite Reset the NVM configuration Update Upload the values into the current Update PowerT ools configuration C Keep Remember the values and restore them after the download Ask on each download r Upload Always convert Application to latest Ptool capability C Always leave Application matching Module capability Ask on each upload m Upload Non Volatile Memory NYM C Alway upload NVM Always bypass NVM upload Ask on each upload Cancel Help Figure 15 PowerTools Preferences This window is used to configure several options related to downloading files uploading files and file saving Once the parameters have been set in this wind
234. oder Marker Home to Sensor then Marker Profile Calculated Offset Figure 37 4 Velocity Home Velocity 4 Home Offset Home Accel Home Decel Sa rd Time f gt 1 Home Initiate 1 1 Encoder Marker oS __ External Sensor Activates wait External Sensor at for next Encoder Marker Figure 38 Home to Sensor then Marker Profile Specified Offset 5 3 4 If On Sensor Options In a Home to Sensor or Home to Sensor then Marker profile special conditions must be created to handle the situation when the External Sensor is already active when Home is initiated Different users want the system to act differently in this condition so the SM EZMotion module has pre programmed solutions for this condition The two options are explained below 5 3 4 1 Back Off Before Homing Ifthe Home Sensor is active when home is initiated one option is to move the motor in the direction opposite from the programmed direction until the home sensor deactivates and then again in the positive direction until the home sensor activates Figure 39 shows the Home to Sensor profile when the Home Sensor is active when the home is initiated and Back Off Before Homing is selected How Motion Works Velocity Home Sensor is active when Home Velocity Home is initiated so motor 2 Home Decel travels in negative direction Home Accel gt i Time gt 1 1 a tee A i Home Accel Home Dec
235. omplete If EZInput 2 ON Then GoTo Start EndIf EZOutput 1 ON End See GoTo instruction for additional examples 8 4 1 11 GoTo The GoTo instruction is used in conjunction with the Label instruction to cause program flow to transfer to a specified location within a program The destination label is allowed to be above or below the GoTo instruction within the same program It is not possible to GoTo a label outside of the program containing the GoTo instruction nor is it possible to use a GoTo Label to exit out of a For Count Next loop In either of these conditions a Red Dot error will be generated The Label to which program flow transfers is a character string up to 50 characters in length and can be made up of any alphanumeric character The label name must not start with a number and must end with a colon character Labels are not case sensitive Example Do While TRUE If EZInput 1 ON Then GoTo RunIndex1 Go to RunIndex1 label Else SM EZMotion Module User Guide GoTo RunIndex2 EndIf Go to RunIndex2 label RunIndex1 Index 1 Initiate GoTo EndLoop RunIndex2 Index 2 Initiate EndLoop Wait For Loop Index AnyCommandComplete See the Label instruction for additional examples 8 4 2 Motion Instructions 8 4 2 1 Dwell For Time This motion instruction is used to pause program execution for a very precise amount of time It operate
236. omponent will automatically reset itself if the CaptureEnable signal is removed Capture Triggered CaptureTriggered The CaptureTriggered signal is read only and indicates that the Capture component was activated and that data has been captured CaptureTriggered will activate on the leading edge of CaptureActivate if the Capture component is enabled and reset Capture Triggered will remain active until CaptureReset is activated Name Capture Name You can assign a descriptive name to each capture making 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 capture s line to assign a name to it Number Capture Number This parameter defines the size of the Capture list Captured Time Capture CapturedTime The time in microseconds from a free running 32 bit binary counter at which CaptureTriggered activated Captured Position Command Capture CapturedPositionCommand The command position in user units at the time when CaptureTriggered activated Captured Position Feedback Capture CapturedPositionFeedback The feedback position in user units at the time when CaptureTriggered activated Captured Master Position Capture CapturedMasterPostion The master axis feedback position in master axis distance SM EZMotion Module User Guide units at the time when CaptureTriggered activated Capture
237. on of this index Index direction does not affect this parameter The Registration Window start position is greater than or equal to the Registration point and less than the Registration Window End position If a registration sensor is seen outside of this window not between the WindowStart and WindowEnd positions then it will be ignored Index Registration Sensor Index SensorTrigger If registration to Sensor is selected when this destination activates motor position is captured and is used as the SM EZMotion Module User Guide registration point for registration type indexes Index Time Base Index TimeBase The time base selects either realtime which allows velocities acceleration and deceleration to be based on real time or synchronized which allows for an external synchronization signal Index Timed Index Enable Index TimedindexEnable This parameter is used in conjunction with the Index IndexTime parameter If Index TimedIndexEnable is active then the programmed Velocity Acceleration and Deceleration will be used as maximum values and the Index Time parameter will determine how long it takes to perform an index Index Velocity Index Vel This parameter sets the target velocity of the specific index The units for this parameter are specified in the User Units Setup view When an index is initiated it will ramp up to this velocity at the specified acceleration rate and run at speed until it decel
238. on the Home view Home Initiate is www emersonct com 77 an edge sensitive assignment meaning that the home will start on the rising edge of the Source signal If the Home Initiate Destination is held active the Home will not initiate again until the next rising edge 9 1 1 5 Index F Initiate The Index Initiate Destination is used to start the specified index instance When the Source assigned to the Index Initiate Destination activates the index will accelerate to the specified index velocity If the Index Initiate Destination is held active the Index will not initiate again until the next rising edge 9 1 1 6 Gear Activate Gear Activate will when active cause the motor to run at the specified Gear Ratio The direction that the motor turns is dependent upon the direction the master axis is traveling and the specified ratio Gear Activate is a level sensitive assignment meaning that as long as the Destination is active the Gear will be active To stop the gearing motion simply deactivate the Gear Activate Destination The motor will ramp to zero velocity if deceleration is enabled or it will attempt to stop the motor without acceleration within one update if deceleration is not enabled 9 1 2 From Programs The various motion types function the same whether they are initiated from an assignment or from a user program In certain cases however the syntax used to initiate the motions from a program are slightly d
239. once until the next rising edge of the destination If a program is already running on the same task as the program being initiated the Program Initiate signal will be ignored 10 1 2 From Programs Following is a list of program instructions that can be used to start user programs 10 1 2 1 Call Program The Call Program instruction acts like a subroutine call by suspending the program that is active and starting the program that is called When the called program completes program flow will return to the next line of the program that it was called from The program being called must be assigned to the same task as the program that is calling it 10 1 2 2 Program Initiate The Program Initiate instruction in a program allows the user to start another program that is assigned to a different task If a program is already running on the task as the program being initiated then the Program Initiate instruction will be ignored If the program to be initiated is not assigned to a different task then the instruction will have a Red Dot Error in the program editor 10 1 3 From PowerTools Pro Individual programs can be initiated from PowerTools Pro while online with the system To initiate a program while Starting and Stopping Programs online click on the Run Program icon on the Program Toolbar Doing so will initiate the program number that is currently displayed 10 2 Stopping Programs 10 2 1 From Assignments
240. or Select parameter is greater to or equal to the sum of the data entered into the queue and the queue offset Queue Empty This source is active if no data is stored in the queue It will become inactive when the first piece of data is loaded into the queue and remain inactive until all data has been removed from the queue Queue Full The Queue Full source will activate if the number of pieces of data in the queue equals or exceeds the Full Level parameter The source will deactivate when the number of pieces of data in the queue is less than the Full Level Queue Overflow This source activates when there is no more room in the queue to store data The maximum number of pieces of data is determined by the Queue Size parameter Destinations Queue Clear This destination automatically clears all of the data out of the queue The cleared data is not saved and there is no way to recover the cleared data This is typically activated on power up of the system to make sure no old data remains in the queue Queue Compare Enable The Compare Enable causes the comparator internal to the queue to function If the Compare Enable is inactive then the Queue Exit source will never activate If activated then the Queue Exit source will activate when the Queue Data plus the Queue Offset is greater than or equal to the Comparator Select parameter To fully understand the operation of the queue Figure 81 has a more detailed view of the Q
241. original non secure file over the secure version or to download a completely new file Before performing a secure download the file must first be saved in the secure file format To do this open the file you wish to save in the secure format using PowerTools Pro Then click File gt Save As on the Menu Bar The following Save As window should appear on your screen Save in I Temp e c Er File name Secure File Example EZ Save as type fez Motion EZ y Cancel TT Save also as secure download format EZs Z Figure 29 Secure File Save As Window On this window check the Save also as secure download format check box located at the bottom of the window then click on the Save button Doing so will save your file in BOTH the standard file format EZ as well as in the secure file format EZs The s at the end of the file extension stands for secure The secure file will be saved to the same directory as the standard file To perform the Secure Download close all open files in PowerTools Pro then click on Device gt Secure Download on the menu bar as shown below Communications Emerson Control Techniques PowerTools Pro File Device Options Tools View Help ID Upload All Secure Download Figure 30 Secure File Download A window will then pop up asking the user to select the secure file that they wish to download Select the secure file that was just saved and then cli
242. ormed This can be very useful in many synchronized motion applications The internal calculations are designed to calculate a triangular profile all accel and decel The ratio of acceleration to deceleration will be the same ratio as Max Acceleration to Max Deceleration parameters For example if the deceleration is desired to be twice the acceleration a number twice the value of max acceleration would be entered for maximum deceleration Even in trapezoidal moves the same ratio of acceleration and deceleration is maintained The calculations are based on the assumption that Feedrate Override is set to 100 If set to greater that 100 the motor could run in excess of the specified Max Velocity Max Velocity A Max Decel Max Accel Trapezoidal pue Move Index ProfileLimited activates for this profile Triangle Move Figure 99 Enable Index PLS This check box enables when checked or disables the Index PLS function Timed Index Profile Diagram An Index PLS is similar to a global PLS explained in the PLS View section but is incremental in nature The Index SM EZMotion Module User Guide PLS has On and Off points just like a global PLS but the On and Off points are specified as an incremental distance from the start of the index instead of absolute positions Each index has its own On and Off points and the Index PLSStatus is only updated when Index is run The direction of t
243. os mp Relay Output VO7 Relay Output voe Relay Output Ready I Disconnected 2 gt Ready Disconnected Figure 56 Slot View SM I O Plus Module Figure 58 Slot View SM Resolver Module 34 www emersonct com SM EZMotion Module User Guide 7 2 2 6 SM DeviceNet Module View If DeviceNet is selected in the Slot Module combo box the remainder of the view should have configuration parameters to define the properties of the DeviceNet device and network The hierarchy should automatically update to show that a DeviceNet module is populated in that specific slot see Figure 59 M Ele Edt Device Options Tools View Window Help 5 la x Cfo lal S malta 0 415 616 Sle leer sis Ts 2102 Slot Configuration Bf Axis 1 Slot Number Slot 1 El Slotl Module DeviceNet 7 Hardware Drive Encoder da EEE a Slot 2 empty n Slot 3 empty Y Drive Menu Watch Drive Menu Initialize E J Setup 4 4 1 0 Setup 64 89 Motion amp Programs 4 Network Ready Disconnected Z Figure 59 Slot View SM DeviceNet Module 7 2 2 7 SM Profibus DP Module View If Profibus DP is selected in the Slot Module combo box the remainder of the view should have configuration parameters to define the properties of the Profibus device and network The hierarchy automatically updates to show that a Profibus module is populated in that specific slot see Figure 60 M Ele Edt Device Options Tools view Wind
244. ote indicates essential information about the product or the respective part of the manual Throughout this manual the word drive or SP refers to a Unidrive SP Safety Instructions General Warning Failure to follow safe installation guidelines can cause death or serious injury The voltages used in the product can cause severe electric shock and or burns and could be lethal Extreme care is necessary at all times when working with or adjacent to the product The installation must comply with all relevant safety legislation in the country of use Qualified Person For the purpose of this manual and product a qualified person is one who is familiar with the installation construction and operation of the equipment and the hazards involved In addition this individual has the following qualifications e Is trained and authorized to energize de energize clear and ground and tag circuits and equipment in accordance with established safety practices Is trained in the proper care and use of protective equipment in accordance with established safety practices Is trained in rendering first aid Reference Materials The following related manuals and user guides may be useful with your particular system e Unidrive SP User Guide e Unidrive SP Advanced User Guide e SM I O Plus User Guide SM DeviceNet User Guide e SM Profibus DP Ussr Guide e SM INTERBUS User Guide e SM CANOpen User Guide vi Safety Considerations
245. other parameters in a user program To avoid possible machine damage the user can specify maximum values for accel velocity and decel Therefore when the SM EZMotion firmware calculates accel velocity decel they will never exceed the maximum values specified by the user In this case where the calculation is limited by a maximum value the index will not finish in the specified time If this happens a parameter called Index ProfileLimited will activate It will remain active until cleared by the Index ResetProfileLimited destination 5 5 Gear The Gear motion profile is used to slave the motion of the motor to the motion of a master axis at a specified ratio Gearing is often referred to as electronic line shafting or electronic gearing To gear a follower axis to a master axis a ratio called the gear ratio must be specified The Gear Ratio defines the relationship between the master and follower motion The ratio is calculated as follows of Follower Distance Units Gear Ratio 1 Master Distance Unit The ratio is the number of follower distance units to move the motor per master distance unit of travel Follower Distance Units are configured on the User Units view Master Distance Units are configured on the Master Setup screen The gear ratio can be positive or negative and is a signed 32 bit parameter The resolution of the parameter is determined by the number of decimal places configured for
246. ow the user will no longer be prompted with pop ups when the upload or download files For more information on these options refer to Section 4 Uploading and Downloading Using PowerTools Pro in this manual 3 3 1 5 Tools Figure 16 shows the Tools Menu as selected from the PowerTools Pro Menu Bar File Edit Device Options Tools View Window Help Watch Window Figure 14 User Levels Drive Menu r Flash Upgrade If a given user level is set to Easy Mode then only parameters used in the most basic applications are Figure 16 Tools Menu available If user level is set to Detailed Mode then the PowerTools Pro Configuration Software www emersonct com 11 3 3 1 5 1 Watch Window Selecting Watch Window will launch a diagnostics tool that allows the user to view the current value of multiple SM EZMotion parameters while online with the module For more information on the Watch Window refer to Section 11 Diagnostics of this manual 3 3 1 5 2 Drive Menu The Drive Menu Watch Window allows the user to read or write a single SP Menu Parameter from within PowerTools Pro Reading a Menu Parameter To read a Menu Parameter enter the Menu Parameter number to be read in the Menu Parameter box The Menu Parameter is entered using the MM PP format where MM is the Menu number and PP is the parameter number Once the Menu parameter is entered then click on the Read control button The value read from the Unidrive SP wil
247. ow A in Figure 24 The values that are in NVM prior to the download will be lost Update This option will upload the current NVM parameter values from the SM EZMotion module and enter them into the user configuration Once the NVM values have been stored in the file the file is fully downloaded First Arrow H followed by Arrow A in Figure 24 Data from H is saved in PowerTools Pro configuration Keep This option will download the entire user configuration but then NVM parameters will be restored to the value prior to download This is similar to the Update option but the Keep option does not upload the NVM SM EZMotion Module User Guide values into the user configuration First Arrow H followed by Arrow A but data from H is not stored in PowerTools Pro file The table below shows an example of how these three options work Value After Download Value Before Download Overwrite Update Keep Option Option Option PowerTools Pro Value for 150 150 500 150 Index 0 Vel NVM Value for Index 0 Vel 209 150 500 500 4 4 4 Updating to RAM The Update to RAM button can be used to send changes to the SM EZMotion module without performing a complete download symbolized by Arrow F in Figure 24 The Update to RAM button is found in the PowerTools Pro toolbar This operation will send only those changes that have been made since the last Update to RAM or Device gt Download to the SM EZMotion module
248. ow Help 18 x cst S tlu 24 415 SE see m fs ei Slot Configuration EA Axis 1 SlotNumber slot ES Hardware Drivel Encoder Slot Module Profibus DP 7 Profibus DP ayy Slt 3 empty W Drive Menu Watch Drive Menu Initialize 1 9 Setup 1 0 Setup E B Motion E Programs 4 2 Network Ready F Disconnected Figure 60 Slot View SM Profibus DP Module Configuring an Application 7 2 2 8 Applications Plus Module View If Applications Plus is selected in the Slot Module combo box the remainder of the view should be blank The hierarchy automatically updates to show that an SM Applications Plus module is populated in the specific slot see Figure 61 M Eie Edt Device Options Tools View Window Help la x Deals mal 4 ALE 66 Sle lee 5100105 Ts 12x21 Slot Configuration ef Axis 1 Slot Number Slot 1 Eh Hardware Drive Encoder Slot Module Applications Plus Slot 3 empty 0 Drive Menu Watch Drive Menu Initialize E J Setup E 1 0 Setup 68 484 Motion f Programs 68 Network Ready I Disconnected Figure 61 Slot View SM Applications Plus Module 7 2 3 Unidrive SP Parameters View This view allows the user to view the online value of all the Unidrive SP menu parameters as well as modify the value of a menu parameter Figure 62 shows an example of the Unidrive SP Parameters view M File Edit Device Options Tools View Window Help 8 x olema Sa
249. pecifies which Profile the instruction will run on See Multiple Profiles section for more information Select from Profile O or Profile 1 Both Profiles sum to give a single commanded position and commanded velocity If no On Profile modifier is used the motion dwell will operate on Profile O All motion that is initiated from the assignments screen operates on Profile 0 The On Profile modifier is also used with the Jog Stop and Gear Stop When stopping jog or gear motion that is operating on Profile 1 the On Profile 1 modifier must also be used on the stop instruction Example Index 0 Initiate Index 1 Initiate On Profile 1 Gear Initiate On Profile 1 Wait For EZInput 3 ON Gear Stop On Profile 1 Example Jog 0 PlusInitiate On Profile 1 Index 0 Initiate Wait For Index AnyCommandComplete Wait For EZInput 2 ON Jog Stop On Profile 1 8 5 Red Dot Error Bar The Red Dot Error Bar is used to display if an error exists on a particular line of code in the user program PowerTools Pro uses a program parser that reads the user program and translates it directly into the language that the SM EZMotion processor understands If the parser detects a mistake i e syntax error in an instruction a Red Dot will appear next to that line of code in the Red Dot Error Bar To find out what the error is PowerTools Pro has a utility called Red Dot Help To use Red Dot Help click on the Red Dot
250. position reaches or exceeds the OffPosn If motor travel changes to the negative direction the PLS Status will activate when position feedback reaches the OffPosn and will 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 your OnPosn and OffPosn the most negative value should go in the OnPosn parameter and the least negative value should go in the OffPosn If the PLS has a rollover point and the OnPosn is greater than the OffPosn the PLS will be active whenever the axis is not between the On and Off positions and inactive whenever the axis is between the two positions However the PLS Status will not turn on until it reaches the OnPosn the first time PLS Enable PLS PLSEnable This destination is used to enable an individual PLS A PLS can be enabled though the Assignments view in PowerTools Pro or from a program If enabled the PLS will begin to function as soon as the drive has been homed or a DefineHome destination has been activated Master Posn Valid must be active Master Define Home is activated if using a master signal for PLS source PLS Rollover Enable PLS RotaryRolloverEnable This parameter is used to enable the RotaryRolloverPosn for the individual PLS PLS Rollover Position PLS RotaryRolloverPosn This parameter is the absolute position of the first repeat position
251. power is cycled to the system this number increments by one This parameter is stored in the SM EZMotion module and is not reset if the module is switched to another drive Module Power Up Time The Module Power Up Time is the time elapsed since power has been cycled to the EZMotion Module The units for the parameter are Hours with a resolution of 0 1 Hours Module Total Time Module Power Up Time is total elapsed time that the SM EZMotion module has been powered up since reset by the factory The units for the parameter are Hours with a resolution of 0 1 Hours This parameter is stored in the SM EZMotion module and is not reset if the module is switched to another drive Drive Power Up Time The Drive Power Up Time is the time elapsed since power has been cycled to the Unidrive SP The format for this parameter is Years Days and Hours Minutes These values must be used in combination to find the actual time Example Drive Power Up Time 2 123 Years Days 05 22 Hrs Min In the example above the time elapsed since the last power cycle is 2 Years 123 Days 5 Hours and 22 Minutes Drive Run Time The Drive Run Time is the Total Time that the drive has been powered up and the Bridge Enabled since last reset by the factory The format for this parameter is Years Days and Hours Minutes For an example of this format please see Drive Power Up Time above Error Codes The Error Codes box contains the current error cod
252. pport center when on site service or maintenance is required Training Services 952 995 8000 or 800 397 3786 Email training emersonct com Control Techniques maintains a highly trained staff of instructors to familiarize customers with Control Techniques Motion Made Easy products and their applications A number of courses are offered many of which can be taught in your plant upon request Application Engineering 952 995 8000 or 800 397 3786 Email applengr emersonct com An experienced staff of factory application engineers provides complete customer support for tough or complex applications Our engineers offer you a broad base of experience and knowledge of electronic motion control applications Customer Service Sales 952 995 8000 or 800 397 3786 Email customer service emersonct com Authorized Control Techniques distributors may place orders directly with our Customer Service department Contact the Customer Service department at this number for the distributor nearest you 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 compatible software 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 N
253. process starts over at the first task Time Slicing Diagram This process description is accurate as long as no program is blocked Program Blocking A user program or task can be blocked from operation for a period of time When a program or task is blocked execution is simply passed on to the next task The following program instructions will cause a program to be blocked Index Initiate Home Initiate Jog PlusInitiate Jog MinusInitiate Dwell For Time Dwell For Master Dist Wait For Time Wait For XXXX The motion instructions block processing only if they attempt to initiate motion on a profile that is already performing a motion profile For instance if a program initiates IndexO and the next program instruction initiates Index1 The program will be blocked until Index0 is complete because Index1 cannot start until motion on that How User Programs Work profile is finished Index 0 Initiate Index 1 Initiate EZOutput 2 ON A Dwell instruction is also a motion instruction and can block the program in the same way Index 0 Initiate Dwell For Time 0 550 sec EZOutput 2 ON The Dwell cannot start until other motion on the same profile is complete and therefore the program or task is blocked until Index0 is finished The Wait For instruction will block the program until the Wait For condition is satisfied The Wait For condition does not have to be
254. programs are running simultaneously the user will be asked to specify which Task they wish to follow A blue arrow will appear next to the active line of the program The global Where Am will continuously update until it is deactivated This is different from the Where Am found on the Program Toolbar 3 3 2 21 Hide Show Hierarchy fm Same as View gt Show Navigation Tree on the Menu Bar By default the Hierarchy is visible on the PowerTools Pro screen Some users with low resolution monitors wish to hide the hierarchy to allow for more room while programming To hide the hierarchy select Hide Show Hierarchy from the Tool Bar to remove it from the display If the hierarchy is not visible select Navigation Tree to make it appear again 3 3 2 22 Help Contents el Same as Help gt Help Topics on the Menu Bar By selecting Help Contents the help file will be launched allowing the user to lookup and read information related to the SM EZMotion module and PowerTools Pro software 3 3 2 23 Context Sensitive Help CSH M Using Context Sensitive Help or CSH will show detailed information from the help file related to the object that is clicked with the mouse To use Context Sensitive Help click on the CSH icon on the Tool Bar the mouse graphic will turn from a pointer to a pointer with a question mark next to it Once the mouse pointer graphic changes click on the parameter on any of the PowerTools Pro views that the user wan
255. r CFOS xxx Cable 3 I I SIBAA xxx Cable NT MG or MH Motor LL a tE EZ or UM Motor Motor Feedback to Unidrive SP Connection Diagram www emersonct com SM EZMotion Module User Guide 2 6 Simple Servo Motor Phasing Test When connecting a non standard servo motor to the Unidrive SP it is necessary to know the wiring configuration of the motor At times all of the necessary wiring documentation for connecting the motor is not readily available from the motor manufacturer In that case it may be possible to follow the simple servo motor phasing test described below This will help to determine if the motor phases U V and W are wired correctly along with the encoder commutation and channel signals If the procedure described below is followed and you still have problems please refer to the Unidrive SP User Guide for further wiring information Begin by entering the motor peak current continuous current number of poles encoder lines per rev etc Then follow the steps below Step 1 Verify wiring of encoder channels per the documentation Define CW rotation of the motor shaft from the flange side with increasing counts To verify this do the following A Disable the drive B Navigate the keypad to display parameter 3 29 C Turn the shaft clockwise and verify that the encoder counts increase from O to 65535 D If the counts decrease the encoder A and B channels shou
256. r on the next available bookmark ahead of the cursor in the program 8 3 7 Goto Previous Bookmark Al This icon will position the cursor on the previous bookmark behind the cursor in the program 8 3 8 Clear All Bookmarks En This icon will delete all ofthe bookmarks in the program To SM EZMotion Module User Guide delete only a single bookmark place the cursor on the line for which you wish to delete the bookmark and click on the Book Mark icon 8 3 9 Red DotHelp B If a user program contains an error the realtime program parser will detect it and place a red dot next to the line of code with the error For help on what the particular error is click on the Red Dot Help icon and then click on the line of code with the red dot next to it PowerTools Pro will attempt to give a detailed description of the error 8 3 10 Drag In Operands x This icon will bring up the Drag In Operands pop up window From this window the user can drag formula Operands i e into the program formula 8 3 11 Drag In Variables This icon will bring up the Drag In Variables pop up window From this window the user can find any variable they wish to use in a program and simply drag it into the program code This list will easily allow you to find any of the available pre defined variables in the SM EZ Motion module The available parameters shown in the window depends on the selected Program User Level 8 3 12 Lock Program
257. ram Number 0 al Aun Anptime M Task Number bp 4 Figure 103 Program Parameters 8 2 1 Program Name The user can enter a descriptive name up to 12 characters for the specific user program How User Programs Work www emersonct com Disconnected 7 8 2 2 Program Number Each program has an associated Program Number The number helps to keep the programs organized 8 2 3 Task Number The Task Number parameter determines which task the program runs on Default Task Number is 0 Users can select Task Numbers from 0 to 3 Programs assigned to different tasks can run simultaneously due to the multitasking capabilities of the SM EZ Motion module Programs assigned to the same task cannot run at the same time For more information on Multitasking refer to Program Multi tasking on page 74 65 8 2 4 Run Anytime Enable The SM EZ Motion programming environment has been designed to automatically stop all user programs when a fault occurs regardless of what type of fault or when the drive is disabled Some applications require the ability to run a program as soon as a fault occurs or continue running a program even through a fault is active In order to do this the program must be classified as Run Anytime To configure the program to be able to run during a fault or while the drive is disabled the Run Anytime checkbox must be enabled in the Program view Figure 103 shows an example of the Run Anytime check
258. rameter can be found on the Online tabs of the Status and Current views Unidrive SP Bus Voltage BusVoltage This read only parameter displays the instantaneous voltage value of the DC bus in the Unidrive SP This parameter is found on the Online tab on the Status view and is read directly from parameter 5 05 in the Unidrive SP database Capture Enable CaptureEnable The CaptureEnable is used to enable or arm the capture component If the CaptureEnable is not active then the CaptureActivate has no effect and the CaptureTriggered remains inactive Once the CaptureEnable is activated the Capture component is ready and waiting for a CaptureActivate signal to capture data CaptureEnable is a read only destination on the Assignments view and is accessible through a user program Capture Activate CaptureActivate Ifthe Capture component is enabled and has been reset CaptureTriggered is inactive then the rising edge of CaptureActivate will capture the four data parameters and cause CaptureTriggered to be activated If the Capture component is not enabled or has not been reset the CaptureActivate will be ignored 86 www emersonct com Capture Reset CaptureReset The CaptureReset is used to reset or re arm the capture component after it has been activated If the capture has been activated the CaptureTriggered destination will be active The capture component cannot capture data again until it has been reset The capture c
259. ratio between the load inertia and the motor rotor inertia The formula is defined as follows InertiaRatio Loadinertia Rotorlnertia In order to calculate the Inertia Ratio the user must first calculate the load inertia The load inertia is the inertia of the load reflected to the motor shaft Control Techniques offers a free sizing software called CTSize that helps the user calculate the load inertia CTSize can be downloaded from the Control Techniques website at no charge www emersonct com When entering the inertia ratio if the exact ratio is not known it is better to enter a lower more conservative value than to enter a higher than actual value Higher numbers in the Inertia Ratio amplify the gains of the Velocity and Position Loop parameters described below The motor rotor inertia used in this calculation can be found on the Motor Tab on the Motor Encoder view in PowerTools Pro EZ or in the SPMotor daf file that is installed with PowerTools Pro EZ software Velocity Loop Bandwidth The Velocity Loop Bandwidth is the theoretical bandwidth of the velocity controller It is important for the motor data file to be accurate for ideal velocity performance in particular the Motor Inertia and Motor Current Constant Ke Higher Velocity Loop Bandwidth values will result in better response to change in velocity command however SM EZMotion Module User Guide setting the bandwidth too high can result in ringing audible
260. re hardware type setup parameters I O functionality motion profiles user programs and networks for the SM EZMotion module PowerTools Pro can also be used as a diagnostic tool and for troubleshooting assistance 3 2 Installing PowerTools Pro 3 2 1 From the Power CD PowerTools Pro can be installed directly from the PowerCD that ships with every Unidrive SP in North America To install PowerTools Pro insert the Power CD into the CD ROM drive of your PC The Power CD will auto launch on your PC if not use Windows Explorer to find the Launch exe file on the CD drive double click From the Power CD Main Menu click on the Install Software control button Figure 4 shows the software installation screen So E all Main Menu What s New Flash Files Application Tools Drawings mana This sofware can be downloaded by clicking on the selection Please follow the directions in the dialog boxes through the installation process Some of these programs have been Zipped If you do not have a copy of Winzip please use the website link below A short description of the software wil appear in this loacation when the mouse pointer is on the software name in the ist Emersize Software v 1 7 T 21 Operator Interface Software v 6 0 Downloading Steps User License Agreement htto aww winzip com Figure 4 PowerCD Software Installation Screen Select PowerTools Pro from the software list and the installation will begin Fol
261. ringing in the velocity loop The units for Velocity Loop Bandwidth are Hz Position Loop Response The Position Loop Response directly impacts the stiffness of the position loop Position Loop Response is effectively the Proportional gain term for the position loop controller Higher Position Loop Response values will result in less following error throughout a motion profile however setting the response too high can result in instability in the position loop Enable Velocity Feedforward The Velocity Feedforward applies the calculated velocity command directly to the drive s velocity loop Enabling the Velocity Feedforward will generally yield faster velocity response however the feedforward will introduce some overshoot It is vital in applications that require the use of Jog profiles to enable the Velocity Feedforward signal Current Demand Filter The Current Demand Filter is a first order low pass filter applied to the current command of the Unidrive SP The parameter entered by the user is a time constant t in the filter formula The frequency of the filter f can be derived as follows 1 2Tt The units for the parameter are milliseconds This parameter is written directly to parameter 4 12 of the Unidrive SP parameter database Simple Tuning Procedure 1 Select the desired Drive Type and Motor Type on the Drive Encoder view in PowerTools Pro EZ 2 Verify that the values of each of the motor parameters hav
262. rogram 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 Program Stop Program Stop This destination is used to stop a specific program from processing It can be used to halt a program that is currently in operation or to prevent a program from initiating If a program has initiated some motion and the program is stopped while that motion is still in progress the motion will NOT be stopped The motion initiated by the stopped program will continue until it is complete i e indexes or until it is stopped by another program i e jog gear This function is edge sensitive meaning that when the Program Stop activates the specified program will be stopped but not prevented from starting again Queue Name Queue Name You can assign a descriptive name to each queue making 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 queue s line to assign a name to it 100 www emersonct com Queue Size Queue Size This is the maximum number of elements that can be stored in the queue If more than this number of pieces of data is in the queue at a time then a Queue Overflow event will activate Queue Full Level Queue FullLevel The amount of data in the queue is constantly monitored and the Queue Full
263. rror at the end of the motion the CommandComplete will turn in before the actual motor motion is stopped Profile Command In Progress Profile CommandinProgress This source is active while any motion is being commanded on the specified profile This function is active during all segments of a motion Accel AtVel and Decel This function will deactivate when the CommandComplete signal activates The CommandinProgress signal can be active without actual motor movement if the master encoder stops during gearing or synchronized motion This allows the user to see when any motion being run on this profile is in progress rather than having to monitor each motion object individually Profile Decelerating Profile Decelerating This source will be active when the motion being run on the specified profile is decelerating to zero velocity or to the next programmed velocity When the motion has reached zero velocity or its next programmed velocity this function will deactivate This allows the user to see when any motion being run on this profile is decelerating rather than having to monitor each motion object individually Profile Feedhold Profile Feedhold This function is used to suspend or pause a profile in motion without stopping it altogether The Feedhold effects alltypes of motion except for Gearing When activated any motion being run on the specified profile will decelerate to a stop in the time programmed in the FeedholdDe
264. rs related to position control of the SM EZ Motion module Figure 68 shows a sample of the Position view M Ele Edt Device Options Tools View Window Hep z 18 x Oc S tatal gt AA ais ler m Ten Settings Limits F Enable Following Error 11000 a TF Enable Software Travel Limits i Seconds als el z Define Home Position 0 0000 revs In Position Window 0 0000 In Position Time 0 000 T Rotary Rollover Ready I Disconnected Figure 68 Position View Define Home Position This is the value to which the position command will be set when the Define Home destination is activated This is used in applications which do not use a home routine but require a known reference point The units are defined on the User Units View In Position Window The absolute value of the Following Error must be less than or equal to this value at the end of an index in order for the InPosn source to activate This window is set in units specified in the User Units View Example The In Position window is set to 0 0025 revs At the end of an index the following error is calculated to be 0 0012 revolutions Therefore the InPosn source will activate In Position window is set to 0 001 inches If at the end of an index the following error is calculated to be 0 0015 inches then the InPosn source will not activate In Position Time This is the amount of time in seconds that commanded motion must be complete and the ab
265. s a good idea to double check that the key motor parameters below have been specified correctly e Motor Ke e Motor Resistance e Motor Inductance e Motor Peak Current Creating a Custom Motor File www emersonct com 127 128 www emersonct com SM EZMotion Module User Guide 15 Glossary us 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 SM EZMotion module with Unidrive SP 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 RS 232 1 character is usually 10 bits Check Box In a dialog box a check box is a small box that the user can turn On or Off with the mouse When On it displays an X in a square when Off the square is blank Unlike option radio buttons check boxes do not affect each other any check box can be On or Off independently of all the others Complex Motion A string of multiple motion commands and logical instructions that form a repeatable operation For the SM EZMotion module the configuration file defines complex motion by setups functional assignments and programs Compound Motion The combination of indexes in a row in which the deceleration ramp of the first index goes to the velocity of the secondary index The first index mu
266. s 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 The total time required to complete a sequence of indexes and Dwell For Time instructions is extremely repeatable The Dwell For Time instruction is in units of seconds with a resolution of milliseconds 0 000 seconds If you want to pause the program while an index is executing you should use a Wait for Time instruction described below A comment is automatically inserted after the Dwell For Time instruction that notes that the dwell time is in units of seconds The comment starts with the character Example Do While TRUE Index 0 Initiate Incremetal Dist 25 000in Vel 25in s Dwell For Time 1 000 Loop Seconds Example Do While TRUE Index 0 Initiate Dwell For Time 1 000 Index 1 Initiate Dwell For Time 0 500 Loop 8 4 2 2 Dwell For MasterDist This motion instruction is used to pause program execution for a precise change in distance on the master encoder signal This is typically used in synchronized motion Seconds Seconds How User Programs Work applications This dwell does not begin until all other motion has completed When the dwell
267. s method will search the user program for text that PowerTools Pro Configuration Software www emersonct com matches the text in the Find What field and replace it with the text in the Replace With field The user can select to replace just the next match or all existing matches with the Replace All control button 3 3 1 2 7 New Selecting New will bring up a sub menu allowing the user to add a new Index Home or Program Indexes Homes and Programs may not be added while online with the SM EZMotion 3 3 1 2 7 1 Selecting New gt Index will add a new index to the configuration Indexes are added in sequential order The new index will be the next highest available index number Adding an index will take you directly to the new index view 3 3 1 2 7 2 Home Only one home is available in the initial release of the SM EZMotion 3 3 1 2 7 3 Program Selecting Edit gt New gt Program will add a new user program to the configuration Programs are added in sequential order The new program will be the next highest available program number Adding a program will take you directly to the new program view 3 3 1 2 8 Delete Selecting Delete will bring up a sub menu allowing the user to delete an existing Index Home or Program Indexes Homes and Programs may not be deleted while online with the SM EZMotion 3 3 1 2 8 1 To delete an index the user must select the specific index they wish to delete on the hierarchy On
268. s that the Input is active A value of O indicates that the Input is inactive This equates Pin 5 on the EZMotion I O Connector x 48 System Status The System Status parameter is used to indicate the status of each of the User Program Tasks and Motion Profiles This parameter can give the user some idea of what the SM EZMotion module is commanding without being online using PowerTools Pro EZ There are six individual digits that indicate the status of different processes This parameter will display a six digit number that can be used in conjunction with the graphic below to determine the status of each process Leading zeros in the value are not displayed Profile 0 Status 0 Not Active 1 Stop Active 2 Index Active 3 Jog Active 4 Gear Active 5 Dwell Active 6 Home Active Profile 1 Status 0 Not Active 1 Stop Active 2 Index Active 3 Jog Active 4 Gear Active 5 Dwell Active 6 Home Active Task 0 Status 0 Not Active 1 Active 2 Processing Home www emersonct com 115 Examples x 48 11023 would signify that user programs are currently running on Task 2 and Task 1 and that a Index is running on Profile 1 while a Jog is running on Profile 0 x 48 104 would signify that a user program is running on Task 0 and Gearing motion is running on Profile 0 x 50 Option Module Error Status The error status is provided so that only one option module error trip is require
269. s the user to define various accel decel ramps used under typical application conditions Figure 70 shows an example of the Ramps view Configuring an Application M Ele Edt Device Options Tools View Window Help 18 x oslas sv 2 AE 616 Sle ole 2100105 fr 2 ne Settings T Ramps Acceleration Type 5 8 S Curve y Stop Deceleration T0000 tevs m s Feedhold Decel Accel 0 100 Seconds Travel Limit Decel 10000 Mrevs mis Figure 70 Acceleration Type Ramps View 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 This is used to select the acceleration deceleration type for all motion homes jogs and indexes The S Curve ramps offer the smoothest motion but lead to higher peak acceleration deceleration rates Linear ramps have the lowest peak acceleration deceleration rates but they are the least smooth ramp type 5 8 S Curve ramps and 1 4 S Curve 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 S Curve 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
270. se The Close button will close the Select Drive Parameters window while the Watch Window will remain open Help The help button will give associated help on the Watch Window setup User Level The User Level setting is a filter for the parameters that are seen in the Select Drive Parameters list If set to Easy the parameters used in most basic applications will be seen while the more advanced parameters are hidden If User Level is set to Detailed the parameters used in more advanced applications will be added to the list If set to Too Much then all parameters available in the system will be seen in the list This allows the user to select the User Level they are most comfortable with to avoid confusion If a parameter has been selected and the User Level is changed then the selected parameter will remain selected Group The Group setting allows the user to filter the parameters that are displayed in the Select Drive Parameters window by group The Group defaults to ALL so that parameters from all groups are seen If the user wishes to only see those parameters from a specific group the click on the Group list box and select the group of parameters they wish to see 13 3 2 Errors View The Errors View in PowerTools Pro helps the user diagnose problems by displaying any active errors or trips If online when an error activates an error pop up window will appear that shows the active error There are two control buttons on
271. sequences resulting from inappropriate negligent of incorrect installation or adjustment of the optional operation parameters of the equipment or from mismatching the variable speed drive drive with the motor The contents of this guide are believed to be correct at the time of printing In the interests of a commitment to a policy of continuous development and improvement the manufacturer reserves the right to change the specification of the product or its performance of the contents of this guide without notice All rights reserved No parts of this guide may be reproduced or transmitted in any form of by any means electrical or mechanical including photocopying recording or by an information storage or retrieval system without permission in writing from the publisher Drive software version This product is supplied with the latest version of user interface and machine control software If this product SM EZMOTION Module Manual is to be used on a new or existing system with other drives there may be some differences between their software and the software in this product These differences may cause this product to function differently This may also apply to drives returned from a Control Techniques Service Centre If there is any doubt contact a Control Techniques Drive Centre Safety of Machinery Within the European Union all machinery in which this product is used must comply with Directive 89 392 EEC Safety of M
272. ser Guide Codes please refer to the Unidrive SP Users Guide or Unidrive SP Advanced Users Guide Note that this trip code is not the same as the Trip Code or Error Code within a solutions module For example if an error occurs in a SM EZMotion module located in Slot 1 the Trip Log will not store the SM EZMotion module Error code but instead it will store SL1 Er indicating that an error occurred in Slot 1 The specific error codes for the different solutions modules are NOT stored in the Trip Log Time Before Trip 0 All Trip Times for Trips other than Trip O are stored as a period of Time between Trip O and the specific Trip The format for the Time is Hrs Minutes For example if Trip 4 Time is shown as 1 20 that would signify that Trip 4 occurred 1 Hour and 20 Minutes prior to Trip O The largest value that can be stored in the Time Before Trip O is 600 Hours and 00 Minutes If 600 Hours is exceeded the 600 Hours and 00 Minutes is displayed in the Trip Log 7 3 10 PLS View The PLS View allows the user to configure all the parameters necessary for the available Programmable Limit Switches Figure 74 is an example of the PLS view M Eile Edit Device Options Tools View Window Help Dost Malte x 415 515 lelei Bimm m 2 92 Number of PLS Points fe S int OFF Point Direction revs O 0000revs Both oi Rotary Enable Rollover Point 0 0000 revs s 0 0000 rev Both revs 0 0000revs Both
273. ser specifies a source parameter and a ratio multiplier The multiplier allows the user to scale the source parameter before it is sent out the Encoder Out port The multiplier is made up of a numerator parameter and a denominator parameter The formula for the value sent out the encoder output is as follows Output Enc Sim Source Enc Sim Numerator Enc Sim Denominator The range for the source parameter is 00 00 to 21 51 This parameter is found on the SlotX view after a SM Universal Encoder Plus module has been selected for the Module Type For more information on this parameter please refer to the SM Universal Encoder Plus User Guide parameter x 24 SlotX Encoder Supply Voltage SlotX EncoderSupply Voltage This parameter is only available when an SM Universal Encoder Plus option module has been populated in one of the Unidrive SP slots The X in SlotX defines the slot number that the SM Universal Encoder Plus module has been fitted in For example if the Universal Encoder Plus module is in slot 2 the parameter would be named Slot2 EncoderSupplyVoltage The Unidrive SP supports multiple voltage levels for external encoders Select from 5V 8V or 15V This parameter is found on the SlotX view after a SM Universal Encoder Plus module has been selected for the Module Type This parameter is read only from within a user program For more information on this parameter please refer to the SM Universal Enco
274. sing User Bits in a Program User Bits may be accessed in a User Program Bits are turned on by setting them equal to ON TRUE YES SET or ENABLE not case sensitive and can be deactivated by setting them equal to OFF FALSE NO CLEAR or DISABLE Setting an individual bit equal to 1 or O in a user program will cause a red dot error The Boolean values listed above must be used Adding and Deleting User Bits User Bits can be added or deleted in groups of 32 bits Individual bits cannot be added or deleted The default number of User Bits available is 32 To add an additional 32 bits simply click on the Up Arrow on the spinner box at the top of the User Bits view see Figure 47 To decrease the number of User Bits by 32 click the Down Arrow on the spinner box When decreasing the number of User Bits it is always the last 32 bits in the list that will be eliminated User 32 bit Bit Register and User Bit Masking When using different communications protocols i e DeviceNet Profibus Modbus it is often desirable to access groups of User Bits in a single parameter rather SM EZMotion Module User Guide than having to access them individually In the SM EZMotion module it is possible to access 32 User Bits in a single parameter This parameter is named BitRegister t Value Because some of the 32 User Bits may be used by the program and should not be modified from the network communications it is possible to Mask Off
275. solute value of the following error must be less than the In Position Window for the InPosn source to activate If set to zero default then InPosn will activate as soon as motion stops and the following error is less than the In Position Window parameter Enable Following Error Check this box to enable or disable if not checked the 40 www emersonct com Following Error Limit If enabled a fault will be generated if the absolute value of the following error ever exceeds the value in the following error parameter If disabled a fault will never be generated Following Error Limit Following Error is the difference between the Position Command and the Position Feedback It is positive when the Position Command is greater than the Position Feedback If the absolute value of the following error exceeds the value you enter here the drive will generate a Following Error Fault All accumulated Following Error will be cleared when the drive is disabled The Following Error Limit is defined in user units Enable Software Travel Limits Check this box to enable or disable if not checked the software travel limits If unchecked the software travel limits are not monitored Software Travel Limit Plus If the absolute position is greater than or equal to this value the Software Travel Limit Plus Active source shall activate A rising edge occurs when the absolute position is greater than or equal to the parameter Software Travel Limi
276. st be initiated within a program Index Compoundinitiate Configuration The user created application It can be saved as a disk file or downloaded to configure the SM EZMotion module It includes all the user defined setup assignments and programs CRC Cyclical Redundancy Check the data transfer error checking mechanism Glossary Destination A function i e Stop Preset that may be assigned to an input line In SM EZMotion the input function is connected to the action through click and drag operations in PowerTools Software on the Assignment View Dialog Box A dialog box is a window that appears in order to collect information from the user When the user has filled in the necessary information the dialog box disappears DIN Rail Deutsche Industrie Norm Rail DLL In Microsoft Windows a Dynamic Link Library contains a library of machine language procedures that can be linked to programs as needed at run time Downloading The transfer of a complete set of parameters from an FM to a drive Drive Servo drive or amplifier EEPROM An EEPROM chip is an Electrically Erasable Programmable Read Only Memory that is its contents can be both recorded and erased by electrical signals but they do not go blank when power is removed EMC Electromagnetic Compatibility The relative immunity of a drive to the effects of electromagnetic fields EMI Electro Magnetic Interference EMI is noise which w
277. t A falling edge will be generated as soon as the above is not true Software Travel Limit Minus If the absolute position is less than or equal to this value the Software Travel Limit Minus Activate shall activate A rising edge occurs when the absolute position is less than or equal to the parameter Software Travel Limit A falling edge will be generated as soon as the above is not true Enable Rotary Rollover Check this box to enable or disable if not checked the rotary rollover feature Rotary Rollover Position This parameter is used in rotary applications and determines the position at which the internal position counter will be reset to zero Example The user has a rotary table application with distance user units of degrees 360 00 degrees 1 rev The Rotary Rollover would be set to a value of 360 The motor is traveling in the positive direction As the feedback position reaches 359 999 and continues on the feedback position will reset or roll over to zero If the motor changes direction and travels in the negative direction the position will rollover at O to 359 999 degrees and count down The resolution of the rotary rollover point is determined by the Distance Units Decimal Places parameter on the User Units view in the PowerTools Pro SM EZMotion Module User Guide software If an absolute index is used with a non zero rotary rollover point the SM EZMotion will calculate the shortest path to its
278. t SM EZMotion Module User Guide active will not prevent ProfileLimited from activating Index Initiate The Index Initiate destination is used to initiate the specific index The Index is initiated on the rising edge of this function An Index cannot be initiated if there is an Home Jog or Program in progress or if the Stop destination or if a travel limit is active It can be activated from an assignment or from a program 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 Adding and Deleting Indexes Adding or removing indexes from the user configuration can be done in three ways Indexes may only be added or deleted while offline Adding an Index Toolbar Icon Method The Add Index icon shown below will add a new index to the user configuration Indexes are added in sequential order Clicking on the icon will add an index and the Index view will be displayed allowing the user to enter the index parameters PowerTools Pro Menu Bar Method From the PowerTools Pro menu bar select Edit gt New gt Index An index will be added in sequential order and the Index view will be displayed allowing the user to enter the index parameters Right Click Method Navigate to the Indexes View Position the mouse pointer in the right side of the view and right click the mouse A selection
279. t 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 Itis used to store changes through a power loss NTC Negative Temperature Resistor Option Button See Radio Button Opto isolated A method of sending a signal from one piece of equipment to another without the usual requirement of common ground potentials The signal is transmitted optically with a light source usually a Light Emitting Diode and a light sensor usually a photosensitive transistor These optical components provide electrical isolation Output Function See source The terminals at which energy is taken from a circuit or device Output Line The actual transistor or relay controlled output signal Parameters User read only or read write parameters that indicate and control the drive operation These variables generally hold numerical data defined in the Setup SM EZMotion Module User Guide Views PC Personal Computer PE Protective Earth PID Proportional Integral Derivative An acronym that describes the compensation structure that can be used in many closed loop systems PLC Programmable Logic Controller Also known as a programmable controller these devices are used for machine control and sequencing PowerTools Pro PowerTools Pro is a Windows based software to interface with the SM EZMotio
280. t it for review or permanent storage PowerTools Pro is designed to be the easiest to use software available for the 11 2 axis motion controllers 1 3 1 Features e Hierarchy View for quick navigation to any setup view e Simple I O function assignments e Powerful online diagnostic capabilities e Fill in the blank motion profile parameters e Programming PowerTools Pro will run on Windows 98 NT 2000 and XP operating systems 2 www emersonct com SM EZMotion Module User Guide 2 Installation This section of the manual will cover basic installation information 2 1 Mechanical Installation Please refer to the Installation Sheet that comes with the SM EZMotion module for details on installing the module into the Unidrive SP 2 2 Slot Selection The SM EZMotion module may be placed in any of the three available option slots on the Unidrive SP The user must indicate which slot the SM EZMotion is fitted in using PowerTools Pro configuration software The default slot number is Slot 3 in the configuration software 2 3 Electrical Connections The SM EZMotion module has three separate terminal blocks used to access the different features Figure 2 shows a diagram of these connections 1 213 4 5 6 7 Figure 2 Connection Diagram The terminals are numbered from Terminal 1 on the left to Terminal 7 on the right The different terminal functions are listed in the table below
281. t the motor will not need to backup after the deceleration ramp Specified Offset Radio Button The specified offset allows the user to choose an exact offset from the Home Reference point The commanded motion will stop at exactly the offset distance away from the reference point as specified If the specified offset is smaller than the calculated offset the motor will decelerate to a stop and then back up to its final offset position 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 If no home reference is found in this distance the motor will decelerate to a stop at the limit distance and activate the Home LimitDistHit source 58 www emersonct com End of Home Position This parameter defines the position at the completion of the home This defaults to 0 0 such that at the end of a home the Feedback Position and the Commanded Position are set to 0 0 If you wish your Feedback Position to be something other than 0 0 at the end of a home then enter the exact desired position here Below is a diagram of a home using the Back off before homing radio box a Home Reference of Sensor and using a Calculated Offset Home Sources and Destinations Sources Home AbsolutePosnValid This source is activated when a Home is successfully completed lt indicates that the device has
282. t velocity Once the home reaches zero velocity or its new target velocity the Home Decelerating source will deactivate This source will also activate during the back off sensor motion before the actual home Home LimitDistHit This source is activated when the home reference is not found before the Home Limit Distance is traveled It will remain active until the home is initiated again SM EZMotion Module User Guide 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 The home position is determined when the Home Sensor destination is activated If the device receives a Home nitiate input while the Home SensorTrigger is active you can choose to have the motor back off of the home sensor before it initiates the home function or move forward to the next sensor If debounce is used on the hardware input that the Home SensorTrigger is assigned to the debounce determines the length of time the input must be active to be considered a valid input The rising edge of the sensor is still used for the reference position This main
283. tains accuracy while providing the ability to ignore false inputs 7 5 3 Index View IM Eile Edit Device Options Tools View Window Help 18 x De ta S al ALS 615 3010107 218 55 IT eine Index Number 0 4 Distance 0 000 revs BS Hardware Index Name index0 Velocity 00000 Mievs m Set Setup Index Type Increment tal Acceleration JO revs m s a Time Base Realtime X Deceleration 0 revs m s I Timed 9000 Second I Enable Index PLS PLS one i int JOON e Calculations Registration Index Calculations po Peak Velocity Attainable 0 revs m Index Distance 0 revs Index Time 0 Seconds Accel Distance 0 Accel Time o Second At Velocity Distance 9 revs At Velocity Time o Seconds Decel Distance 0 revs Decel Time 0 Seconds ac am E 400 300 20000 E 2500 3 200 S 400 gt 10000 8000 o Ready j Disconnect ted Figure 97 Index View Following is a list of parameters used to configure each index 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 Configuring an Application machine operations IndexType Select the index type from Incremental Absolute Registration Rotary Plus or Rotary Minus Cl
284. target velocity Once the index 62 www emersonct com 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 During a synchronized index this source could be active even without any motor motion if the master axis stops Index Command Complete 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 drive stop destination is used during an Index then the Index CommandComplete will not activate Index Command In Progress The Index CommandinProgress source is active throughout an entire index profile The source activates at the beginning of the index acceleration ramp and deactivates at the end of the index deceleration ramp During a synchronized index this source could be active even without any motor motion if the master axis stops Index Decelerating This source is active while an index is decelerating from its target velocity Once the index reaches zero velocity or its next target velocity the Index Decelerating source will deactivate Index LimitDistHit Activated when the registration s
285. tatus Bar Description The first segment of the status bar gives an overall drive status lt will indicate whether the drive is enabled or not and will also indicate which programs and motion profiles are active The next segment shows what motion is currently running on Profile 0 The third segment shows what motion is currently running on Profile 1 The fourth segment shows the current Feedback Position and Feedback Velocity in user units The last segment shows the communication status If PowerTools Pro is online with the system it will show Connected If offline the segment will show Disconnected If Disconnected none of the other segments of the status bar will be functional 13 3 4 Where Am The Where Am utility found on the PowerTools Pro Tool Bar allows the user to find what line of a user program is currently being processed To activate the Where Am simply click in the icon on the Tool Bar A blue arrow will point to the line of the program that is being processed For more information on the Where Am refer to Section 3 of this manual Menu Bar or Tool Bar descriptions 13 3 5 Online View Tabs Many of the Views in PowerTools Pro have feedback information displayed on an Online Tab The Online Tab is only visible when PowerTools Pro is communicating with the SM EZMotion module The main Online Tab is found on the Status View and it displays feedback and diagnostic parameters for the over all system
286. tes while an index is in progress the motor will stop but the Index CommandinProgress and Index AtVel will be active just as though the motor is still moving The Feedhold ramp is configured in units of Seconds The same time and distance will be covered during acceleration back to velocity as traveled during deceleration to zero velocity Programs continue to process while Feedhold is active If a program encounters a motion instruction while Feedhold is active the program will be stuck on that line of the program until Feedhold is deactivated 9 2 1 4 Profile Feedhold The Profile Feedhold destination acts the same as Feedhold listed above however this destination will Feedhold only the motion on a single profile rather than all motion The profile on which to feedhold motion is specified in the instance segment is replaced by O or 1 for Profile 0 or Profile 1 respectively 9 2 1 5 Profile MotionStop The Profile MotionStop destination acts the same as MotionStop listed above however this destination will stop only the motion on a single profile rather than all motion The profile on which to stop motion is specified in the instance segment is replaced by 0 or 1 for Profile O or Profile 1 respectively 9 2 2 From Programs Following are the instruction used to stop the various motion types within a user program 9 2 2 1 Jog Stop The Jog Stop command is used to stop any jogging motion that is currently
287. that appears in name Motor Type list box NA Not currently used ee N A future motor organization folder peakCurrent Motor Peak Current rating Amps rms continuousCurrent Motor Continuous Current rating Amps rms motorPoles Number of Motor Poles N A rotorinertia Motor Rotor Inertia kg m motorKE Motor Electrical Time Constant Vrms kRPM phaseResistance Motor Stator Resistance Ohms phaselnductanceSP Motor Stator Inductance mH maxOperatingSpeed Motor Maximum Velocity RPM thermalTimeConstant Motor Thermal Time Constant Sec encoderPhaseAngle Motor Encoder Phase Angle Degrees Motor ID MotorlD is used for each motor to mark the beginning of a new user defined motor definition The format is MotorXX where XX is the number indicating placement in the motor list The first motor in the list is always Motor0 For each motor added to the list the Motor ID increments by one Name The motor name is limited to 12 characters and must begin with an alpha character non numeric character This is the motor name that will appear in the Motor Type list box on the Motor Encoder view in PowerTools Pro EZ Folder This parameter is not used in early releases of PowerTools Pro EZ Eventually the user can place motors into a specified folder to make the motor list easier to sort through in PowerTools A folder name is specified and may include subfolders separated by the
288. the apostrophe character Examples Jog 0 PlusInitiate Vel 27 2in s Jog 1 PlusInitiate Sync Vel 1 000in in 8 4 2 8 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 Minuslnitiate instruction which shows key data about the particular jog The comment starts with the apostrophe character Examples Jog 0 MinusInitiate Vel 27 2in s Jog 1 MinusInitiate Sync Vel 1 000in in 8 4 2 9 Program Initiate This instruction allows the user to start another program from within a program This is different from a Call Program instruction because the program this instruction is in does not stop when the other program starts Therefore the program that is initiated must be on a different task See Program Multi tasking on page 74 Example Program 2 Initiate 8 4 2 10 Gear Stop Gear Stop will stop gearing motion that has been initiated from a program Example Gear Initiate Wait for EZInput 2 0N Gear Stop 8 4 2 11 Gear Initiate Gear Initiate will initiate gearing from a program Gearing will remain active until the Gear Stop command is used SM EZMotion Module User Guide Example Gear Initiate Wait for EZInput 2 0N Gear stop This instruction should not be used within a loop in the user program If the Gear Initiate instruction is processed
289. the instruction from the instruction list and drop it into the program window To drag amp drop an instruction position the mouse pointer over the instruction to be inserted Press and hold the left mouse button While holding the left button place the mouse pointer on the line of the program that the instruction is to be inserted on Release the left button to insert the instruction Typing Method Once users become more familiar with the syntax of the SM EZMotion programming language they often prefer to type instructions in To do this simply click the left mouse button on the line of the program where instruction is to be inserted Then simply type the instruction on that line being sure to use proper syntax The user can enter program code using both methods interchangeably 8 7 Program Multi tasking Many applications require the operation of a background task that operates outside of the main program loop but must be consistently processed For instance a background task that performs calculations for values sent to an operator interface or a background task that monitors 74 www emersonct com parameters for fault detection The SM EZMotion processor has the ability to execute multiple tasks Because only one task can be processed at a time a process called time slicing must be used Time Slicing is simply splitting the total processing time between multiple tasks The SM EZMotion processor generates an interrupt that
290. ting 4 4 5 3 Upload Non Volatile Memory NVM Group 4 4 5 3 1 Always upload NVM When uploading a configuration PowerTools Pro uploads from a Non User NVM location so the data uploaded only matches exactly what was last downloaded If any parameters in the Save to NVM list have changed since the last download those new values would not be uploaded By selecting this radio button the parameter values in the Save to NVM list will be uploaded into the PowerTools Pro configuration after the normal upload SM EZMotion Module User Guide 4 4 5 3 2 Always bypass NVM upload When uploading a configuration PowerTools Pro uploads from a Non User NVM location so the data uploaded only matches exactly what was last downloaded By selecting this radio button the parameter values in the Save to NVM list will NOT be uploaded 4 4 5 3 3 Ask on each upload When this radio button is selected PowerTools Pro will ask the user via a pop up window whether to upload the NVM or to bypass the NVM upload on every upload 4 4 6 Secure Downloading The Secure Download feature allows the user to download a configuration that prevents anyone from uploading the file or going online with the system This is used to protect a file from being accessed by unauthorized personnel If a secure file is downloaded to the SM EZMotion module all diagnostics capabilities in the software are lost The only way to go online with the system again is to download the
291. tion in search of the www emersonct com 57 home reference Acceleration Average Acceleration rate used during the home Units are specified on the User Units View Deceleration This is the average Deceleration rate used atthe end of the Home move in user units If on sensor Group These radio buttons determine how the system reacts if the Home SensorTrigger is already active when the home is initiated Back off before homing Radio Button If this radio button is set the drive will back off the sensor before beginning the home It does this by moving the direction opposite to that specified by the sign of the home velocity It continues moving in this direction at the target home velocity until the sensor deactivates The motor then decelerates to a stop and performs a standard home Go forward to next sensor Radio Button If this radio button is set then the system will ignore the sensor that is active when the home is initiated and move in the proper direction until the first low to high transition of the Home Reference signal Home Offset Group The Home Offset group has two buttons the calculated Offset Radio Button and the Specified Offset Radio Button Calculated Offset Radio Button The calculated offset is defined as the distance traveled during deceleration ramp from the home velocity to a stop plus the distance traveled at the home velocity for 1600us This extra distance is used to guarantee tha
292. tion 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 User Levels on page 11 Formulas can also be created by simply typing them into the program This instruction was created to inform the user that formulas can be used in a program Examples Index 1 Vel 20 0 Index 0 Dist Index 2 Dist 0 1 EZOutput 1 ON Index 0 Accel Index 0 Accel 1000 5 00 8 4 1 10 Label The Label instruction is used in conjunction with the GoTo instruction to cause program flow to transfer to a specified 70 www emersonct com location within a program The destination label is allowed to be above or below the GoTo instruction within the same program It is not possible to GoTo a label outside of the program containing the GoTo instruction nor is it possible to use a GoTo Label to exit out of a For Count Next loop In either of these conditions a Red Dot error will be generated The Label to which program flow transfers is a string of up to 50 characters in length and can be made up of any alphanumeric character The label name must not start with a number and must end with a colon character When using the Label instruction a will be automatically inserted for the user Labels are not case sensitive Example Start Index 1 Initiate Wait For Index AnyCommandC
293. tions are Realtime and Synchronized Jog Velocity This parameter specifies the target jog velocity for the individual Jog The motor will run at this velocity when jogging with an assignment or through a program This value is a signed number The direction of the jog is determined by the sign of the jog velocity as well as using the Jog Plusinitiate or the Jog Minuslnitiate Jog Acceleration This is the acceleration ramp used when initiating this individual Jog If S Curve ramps are used then this is the average acceleration rate for the entire ramp The units for the acceleration are setup in the Setup User Units view in PowerTools Pro 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 Pro Jog Sources and Destinations Sources Jog AnyCommandComplete The Jog AnyCommandComplete source will activate when either JogO or Jog1 completes its deceleration ramp and reaches zero commanded velocity It will deactivate when any Jog is initiated again If the Stop destination is used during a Jog then the Jog AnyCommandComplete will not activate Jog Accelerating This source is active while a jog is accelerating to its target velocity Once the Jog reaches the target velocity the Jog Accelerating source will deact
294. tions that need to be triggered such as Index Initiates Program Initiates Jog Initiates and so on Sources are located on the left side of the Assignment view and reflect the status of events that occur in the drive These events are based on drive activity Figure 87 shows an example of the Assignments view IM File Edt Device Options Tools view Window Help 18 xl CEE 815 2 0 m 2i Destination E Hardware Queue i Gearing ce Profiles i Gearing A ET gt IT Only show assigned Disconnect ted Figure 87 Assignments View Sources and Destinations are put into groups based on functionality By expanding individual groups you will see the individual Sources or Destinations For example if you expand the Inputs source group you will see SP I O SP Inputs EZ Motion Inputs and I O Plus I O if a module is used You can use these Source events to trigger certain actions or destinations on the right side of the view To make an assignment in the SM EZ Motion module you must assign a Source to a Destination Any Source can be tied to any Destination to create the desired system operation Creating An Assignment Various methods can be used to assign a Source such as SPlnput 4 to a Destination such as Index 0 Initiate Drag and Drop Method First position the mouse pointer over the Source on the left that is to be assigned to a Destination on the right Press and hold the left mous
295. tions ve hoje dad oe can dabei ae Sa ee Red EDS a OR EIA ct 25 O O A O E E RS IS RO 25 54 1 Absolute Indeksa ea A in 25 5 42 Incremental Index ac ta a atado e 26 5 43 Registration Index she A Ce da Ai de A ti mi da a fe 26 9 44 Rotary Plus Id ceo LA ASS AA ALO ER en Frs Pete ie 27 IAS Rotary Minus Index ce dant A dad Wee wie Mae at te 27 54 6 A AAA O NO 27 5 5 GATE en SIA de een GeO Raye A Le eue en ane are ete Heda ner Sha de je er ni eae 28 5 6 Motion Timebase Realtime vs Synchronized 28 5 7 Summing Multiple Profiles 2 2 2 2 29 6 How I O Works 31 O Doe ei E E HAA dat ee aed 31 6 2 SM EZMotion Mod le O iia A A Pee we A bee Paes eens 31 6 3 Unidrive SP VO resesi ina eb an aio 31 6 4 SM O Plus Module VO 245 88808088 hate bein Yee ed hau ut benne eA ete e ER tale eas 31 7 Configuring an Application 33 PAG VM trOCUGH ONE A E eaten We E yt TN eee Bh Ae etka Rte eee ak Ook te acl aaa ads 33 7 2 Denne Hard wares imei A A A He a ae Bac VENER SS OE INIT EDI A seg BENG Be hi 33 1 2 1 lt Dave Encoder VIEW oso hi exis sector ode se asec eats SR ne Oe nat tn oct tes ae aS Sat ooo An wo age Koon Rohe EES 33 WDD GSN Ot HE NA CW AE E nn ahaa O RM Bie es et nee Len a Ti ti 33 3 23 Unidrive SP Parameters VieW 2 LUE M in es A de a hae eee aed ee LE ia eae ae bet 35 EZA SP MERO Tmitalzaton VIE Se eh ee
296. to store data The maximum number of pieces of data is determined by the Queue Size parameter Queue Remove Queue Remove The Queue Remove instruction is used in the program to remove data from the queue When processed the oldest piece of data will be deleted out of the queue The Queue Remove instruction also deactivates the Queue Exit function Parameter Descriptions Queue Source Queue Source The Queue Source determines which parameter the sum of the Queue Data and Queue Offset are compared to in order to activate the Queue Exit function If set to Position Feedback the sum of the data and offset are compared to the Position Feedback parameter If set to Master Position then the sum is compared to the Master Feedback Position parameter and if set to Command Position then the sum is compared to the Motor Commanded Position Rotary Rollover Enable RotaryRolloverEnable This parameter is used in applications with a predefined repeat length One example would be a rotary table with a rotary rollover position of 360 degrees The position will rollover to zero when the axis position gets to 360 degrees 358 359 359 999 0 0000 1 2 and so on The rollover point is defined to be exactly the same position as 0 Selector Input Destinations Selector SelectLinesUsed The selector is a binary to decimal decoder This parameter selects the number of destinations input lines to be used by the selector The number of lines
297. trol loop update has captured data is recent enough so that been exceeded the motor can actually achieve the necessary acceleration Select a longer Trajectory Update Rate in TOT the PowerTools Pro configuration A Gontro Loop processing time has longer Trajectory Update Rate gives the 109 Y Trajectory Update Overrun Error taken longer than the user selected 9 y P 9 Trajectory Update Rate control loop more time to process Be J yY P sure not to enable any PLS s Captures or Queues that are not being used 120 Y File Corruption Error Consult Factory 121 Y File Corruption Error Consult Factory 122 Y File Corruption Error Consult Factory 123 Y Program Error Buffer Overrun Do not nest more than four Call Too many Call Program instructions caia ados Mn 124 Y Program Error Call Stack Overflow have been processed without 9 9 prog returning to original calling program calling another program See Call 9 g g prog Program instruction explanation in this manual for more information 125 Y File Corruption Error Consult Factory 126 Y File Corruption Error Consult Factory Re download original PowerTools Pro 127 Y Flash Error Loading from Flash Memory has failed configuration file If problem persists please contact factory 128 Y File Corruption Error Consult Factory Re download original PowerTools Pro User Program has processed an A 129 Y Program Error Illegal Command configuration file If problem persists ille
298. ts help information for 3 3 3 Hierarchy Figure 6 shows the Hierarchy as found in PowerTools Pro The Hierarchy is a navigational aid that helps the user step through a configuration The different parameters related to configuring the system are grouped into logical groups and placed on different Views within the software To see a certain View the user simply selects that View from the Hierarchy Once the use clicks on a given branch on the Hierarchy that view is then displayed on the right hand side of the screen Groups on the hierarchy can be expanded and collapsed much like with Windows Explorer To expand a group of views click on the symbol next to the grouping Doing so will show each of the branches available within that group To collapse a group on the Hierarchy click on the www emersonct com 15 symbol next to the grouping Doing so will hide all of the branches within that group Natural progression through the hierarchy starting at the top and working towards the bottom will step the user through the entire configuration The Hierarchy starts atthe top with Hardware then moves on to Setup parameters O Setup Motion and then finishes with Programs When the user gets to the bottom of the hierarchy the configuration should be ready to be downloaded to the module 3 3 4 View Figure 6 shows an example of a View in PowerTools Pro A View will typically contain edit boxes list boxes scroll box
299. ueue object Configuring an Application Queue Object E Exit Data Clear Size gt Empty Offset c Full Level eS y Comparitor Select m7 Full Enable Name e Overflow Data In Data Out Queue Data X Y Queue Data Figure 81 Queue Object and Components Diagram 7 3 14 User Variables View User variables allow the user to store data related to their application into a parameter which the user can name The user must define each user variable by giving it a Name Resolution number of decimal places and Initial Value All user variables are signed 32 bit parameters Figure 82 shows an example of the User Variables view MM File Edit Device Options Tools View Window Help 18 x pelala salva lt ALS Bl Km ex a fat Number of User Variables f0 H Hardware Setup Efe setup 8 Name Decimal Initial Value 9 User Units Verd Y Master Units Yarl Y Position Var2 Y velocity Var3 Ramps varg 9 Current vars 9 Tuning Var E Errors Var nens Vars setup NVM Varo Capture 4 2 User Bits 1 9 1 0 Setup AM Motion H E Programs 62 Network Ready I Disconnected 7 Figure 82 User Variables View The following parameters are part of the User Variable definition Name This is a twelve character string that allows the user to assign a descriptive name to the parameter Spaces are not allowed in the name of a user variable Decimal This parameter defines the numb
300. ulated Offset Figure 33 www emersonct com 23 4 Velocity Home Velocity Home Offset Home Accel a Home Decel x Time gt i 1 1 Home Initiate i 1 Encoder Marker Figure 34 Home to Marker Profile Specified Offset 5 3 2 Home to Sensor The Home to Sensor profile acts much like the Home to Marker profile but instead of using the Encoder Marker as a reference an external sensor mounted to the machine is used as the reference In a Home to Sensor routine the motor accelerates to the Home Velocity The motor continues at the Home Velocity until the external sensor activates Once this sensor activates the motor immediately decelerates to a stop or continues for a specified offset distance before stopping Figures 35 and 36 show examples of the Home to Sensor profile with calculated offset and specified offset respectively A Velocity Home Velocit A y Home Accel S Home Decel rd l I l l I I l I Time gt I 1 i 1 l I l Home Initiate External Sensor Figure 35 Home to Sensor Profile Calculated Offset 24 www emersonct com 4 Velocity Home Velocity 7 Home Offset Home Accel Home Decel rd Time gt Home Initiate 1 1 External Sensor Figure 36 Home to Sensor Profile Specified Offset 5 3 3 Home to Sensor then Marker The Home to Sensor then M
301. ule 12 1 Description a lun PS Sap sant sat easter Gahaue hate Plaines AS O asser pate a EE ay RN 12 3 SM EZMotion Module Setup Parameters 13 Diagnostics 13 1 Errors and Error Codes 13 2 Analog Outputs 24 Sty te A A st he AA Share 13 3 PowerTools PO 54 4 rames E IE SEA NE A bees 13 3 1 Watch Window sinuses dan anna forge einen de ee une 13 322 Errors VIE Wir en en As ee Rent Rent dise 13 33 Status Bars ii nie que un een GR ee pe a een ae a 134 Where Ambre tls aed Se Ms le des oe le ca kts oa dae re et 13 35 Online View Tabs ii nine en eee eae wae ee 13 4 Clearing SLX dF trip after installing SM EZMotion module 13 5 Clearing the SM EZMotion module memory 14 Creating a Custom Motor File 15 Glossary 16 Index xii 1 Introduction 1 1 Introduction Modern variable speed drive such as the Unidrive SP offer a multitude of built in features such as ramp control speed control PID Loops and even simple position control However the base drive s functionality is too limited for many applications When it comes to more complex applications the user must resort to using external equipment such as PLC s to control the drive from a system point of view However the flexibility of the Unidrive SP can be substantially increased by using an SM EZMotion module Th
302. ule and loading that data into a file on the PC Arrow B on Figure 24 above represents a standard Upload To upload a configuration from the SM EZMotion module first make sure the communications settings are correct and then click on the Upload icon on the PowerTools toolbar or select Device gt Upload from the Menu Bar 4 4 2 Downloading Downloading isthe process of sending the PowerTools Pro configuration from the PC to the SM EZMotion module Changes made in PowerTools Pro will not take effect until the information has been downloaded or the Update to RAM icon has been clicked Arrow A on Figure 24 above represents a standard Download To download information to a SM EZMotion module click on the Download icon on the PowerTools Tool Bar or select Device gt Download from the Menu Bar The first time a download is performed PowerTools Pro will lead the user through a series of dialog boxes to configure the baud rate and COM port of the PC to be used 4 4 3 Non Volatile Memory NVM Options for Uploading and Downloading When Uploading or Downloading the user may be presented with options on how to handle the values stored in NVM memory NVM is a type of memory that does not lose its contents when power is removed Values in RAM are lost on power down while values in NVM are retained Following is a description of the options the user may encounter while uploading or downloading 4 4 3 1 Uploading When uploading from a SM EZ
303. uption Error Consult Factory 146 Y File Corruption Error Consult Factory Program Error Flash Memory Size User configuration exceeds available Eliminate any unused index s or 147 Y Programs and re download the Exceeded flash memory size PowerTools Pro configuration Program Error RAM Memory Size User configuration exceeds available Eliminate any Unused Indexes Or 148 Y Programs and re download the Exceeded RAM memory size PowerTools Pro configuration 153 Y File Corruption Error Consult Factory 154 Y File Corruption Error Consult Factory 155 Y File Corruption Error Consult Factory 156 y Program Error Too Many Wait For No more than nine arguments in Wait Limit of arguments and redownloads Instructions for Instruction 157 Y File Corruption Error Consult Factory 158 Y File Corruption Error Consult Factory 159 Y File Corruption Error Consult Factory 160 Y File Corruption Error Consult Factory 161 Y File Corruption Error Consult Factory 162 Y File Corruption Error Consult Factory 163 Y File Corruption Error Consult Factory 164 Y File Corruption Error Consult Factory 165 Y File Corruption Error Consult Factory 166 y Program Error EZMotion Parameter dat cas dem of Write Out of Range p prog range Switch module located in Slot 1 to match Option module selected for Slot 1 in e 171 Y Invalid Slot 1 Selection PowerTools Pro file does not match 2 gt y Up actual module type fitted Pro configuration to m
304. used determines the number of sources selections that can be made by the selector that is 2 input lines can select 4 destinations selections 5 input lines can select 32 destinations Range is 1 to 8 Select Selector Select This source selects Binary inputs to the selector usually assigned to input lines This is level sensitive Selection Selector Selection This source selects Decimal outputs from the selector assigned to indexes homes or programs 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 Slot 1 Error Status Slot1 ErrorStatus If the Unidrive SP trips due to an error in an option module populated in Slot 1 this parameter will store display the www emersonct com 101 Error Code for the specific error This parameter can be seen while online with PowerTools Pro EZ on the Errors view For details on the specific error code refer to the user guide for the particular option module Slot 2 Error Status Slot2 ErrorStatus If the Unidrive SP trips due to an error in an option module populated in Slot 2 this parameter will store display the Error Code for the specific error This parameter can be seen while online with PowerTools Pro EZ on the Errors view For details on the specific error code refer to the user guide for the particular option module Slot 3
305. used during all the home moves specified in user units Home Decelerating Home Decelerating This source is active during any deceleration while the specified home is in progress Decelerating will turn off and on based on the type of Home selected Decelerating will activate during the Home back off sensor motion End of Home Position Home EndPosn This parameter defines the drive position at the completion of ahome Typically used to define the machine coordinate home position www emersonct com 91 Home Initiate Home Initiate When activated this destination will initiate the specified home Home will not initiate if an index jog program or stop is currently active Home Limit Distance Home LimitDist This parameter places an upper limit on the incremental distance traveled during a home If no home reference is found the motor will decelerate to a stop at the limit distance and activate the Home LimitDistHit event Enable Limit Distance Home LimitDistEnable This parameter enables the specified Home LimitDist If not enabled the home will run indefinitely until the home reference is found Home Limit Distance Hit Home LimitDistHit This source is activated when the home sensor is not found before the Home Limit Distance is traveled Home Name Home Name User name for the specified home Home Offset Type Home OffsetType Selects calculated or specified home offset Calculated offset
306. user can modify the default list adding new parameters or removing some of the parameters If the user makes changes and then wishes to revert back to the original default list the Reset to Defaults control button will restore the original list Figure 64 shows an example of the SP Menu Initialization view ini file stored on PC New SM EZ Motion File ini file ini file data is written into new SM EZ Motion file when new file is created ini file Figure 63 Initialization File Example The default contents of the SP Menu Initialization view is generated from a file titled Spinitialize ini This file is installed to your PC as part of the PowerTools Pro installation When a new SM EZMotion file is created using PowerTools Pro the contents of Splnitialize ini is read and written into the configuration file 36 www emersonct com M Elle Edit Device Options Tools View Window Help 18 x osea mj 214 ALA 015 eee m seine SP Drive Menu Parameter Default Overrides Reset To Defaults tt lt paramtb gt lt value ajej m alal 0 8 ml Po Hie pier antes dal The Menu 15 21 18 31 Menu 15 22 18 32 Y 4 Ready I Disconnected Figure 64 SP Menu Initialization View Once the data is written from the Splnitialize ini file into the new configuration it is stored as part of the configuration Therefore if the file is downloaded to an SM EZMotion module the co
307. uts are Speed Feedback 3 02 and Active Current 4 02 Using this method will automatically update the analog output value SM EZMotion module parameter the Analog Output Source of the drive 7 19 or 7 22 must be set to a drive parameter in Menu 20 20 21 through 20 40 Menu 20 parameters 21 through 40 must be used because they are 32 bit parameters Once the Analog Output Source has been set to a 32 bit parameter the SM EZMotion user program must be coded to write the value of the desired SM EZMotion parameter to the 32 bit menu parameter Below is an example of this process To configure the drive Analog Output to represent an Figure 113 For more details on the Analog Output of the drive refer to the Unidrive SP User Guide or Advanced User Guide 13 3 PowerTools Pro Analog Output Example 13 3 1 Watch Window PowerTools Pro contains a diagnostic utility called the Watch Window The Watch Window can be used while PowerTools Pro is online with the SM EZMotion module 120 Menu 20 EZMotion Program O Var Var0 12 34 Do While TRUE Menu 20 21 Var Var0 Loop www emersonct com Anaolg Output Value 12 34 The Watch Window allows the user to monitor the status of all of their desired system parameters in one location An example of the Watch Window is found in Figure 114 SM EZMotion Module User Guide Axis Name Axis 1 Axis Address 1 PosnFeedback 1 1560revs PosnCommand 1 1560revs Following
308. vate the digital outputs From the Assignments view any Source can be assigned to the EZOutputs to activate them automatically Drive OK Fault DriveOK Active when there are no faults Inactivated when any fault except travel limits occur Drive enable has no effect on this event Enable Feedforwards FeedforwardsEnable This parameter may be setup on the Tuning view or through a program and enables feedforward compensation When feedforwards are enabled the accuracy of the Inertia and Friction settings are very important If the Inertia setting is larger than the actual inertia the result could be a significant overshoot during ramping If the Inertia setting is smaller than the actual inertia following error during ramping will be reduced but not eliminated If the Friction is greater than the actual friction it may result in velocity error or instability If the Friction setting is less than the actual friction velocity error will be reduced but not eliminated Feedhold Feedhold When this destination is activated the motor will decelerate to a stop in the time specified by the FeedholdDecelTime parameter When it is deactivated the motor will accelerate back up 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 t
309. ve Jog 1 Decel Jog 0 Decel Jog Select PE PAD NS a A Jog PlusActivate LN AAA Figure 110 9 1 1 2 Jog MinusActivate Jog MinusActivate will when active cause the motor to run ata specified Jog Velocity in the negative direction Jog MinusActivate is a level sensitive assignment meaning that as long as the Destination is active the Jog will be active The status of the Jog Select destination determines which jog profile is used when Jog MinusActivate activates If Jog Select is off or inactive then the Jog O profile will be used If Jog Select is active then the Jog 1 profile is used Jog Select Example To stop the jogging motion simply deactivate the Jog MinusActivate Destination The motor will then decelerate using the selected Jog Deceleration ramp If Jog Select activates or deactivates while Jogging is Starting and Stopping Motion active the motor will change to the new Jog Velocity using the new Jog Acceleration ramp Jog Deceleration is only used when Jogging motion is stopped Figure 110 above shows an example of changing Jog Select while Jog is active 9 1 1 3 Jog Select Jog Select is used solely to determine which Jog Profile is selected when the Jog PlusActivate or Jog MinusActivate are activated To select Jog 0 Jog Select should be inactive To select Jog 1 Jog Select should be active 9 1 1 4 Home f Initiate The Home Initiate Destination is used to start the home sequence as defined
310. ve control of the motor load An Error is an action that happens in the SM EZMotion module or Unidrive SP that may or may not cause the Unidrive SP to Trip Most of the Errors that occur in the SM EZMotion module will cause a Trip on the drive Following is a description of the Errors Handling System used by the SM EZMotion module When the SM EZMotion module has an error i e Program Divide By Zero Error it sends a signal to the Unidrive SP that the error occurred The SP then recognizes the error in the module by causing the drive to trip The specific trip that will be displayed on the SP depends on the slot number that the SM EZMotion module is located in The drive trip will be a SI Er trip where indicates the slot that module error occurred in The Unidrive SP Trip Log will be updated with the SI Er trip To find out what the specific error in the module was the user needs to query parameter MM 50 where MMis 15 16 or 17 depending on the slot ofthe module Parameter MM 50 stores the error code for the specific error that occurred Following is a list of the Errors that can occur in the SM EZMotion module along with Error Codes reset methods and potential causes for each fault Error Code Cause E 4 x 50 Trip Error Possible Reason Possible Solution SP Parameter Access Error The oF Menu Parameter that you are Please double check the parameter 41 Y no trying to re
311. ve SP can be given a name The name can be used in a user program to reference a specific input if desired The name can be up to 12 alphanumeric characters but must begin with a non numeric character SPIO Direction SPIO A Direction The first three digital I O points on the Unidrive SP pins 24 25 and 26 are configured as Inputs or Outputs using PowerTools Pro EZ software The SPIO t Direction parameter is used to configure whether the I O point acts as a digital input or digital output Valid entries for this parameter are sellnput or selOutput This parameter is modified automatically when the user changes the settings on the SP I O Setup view SPIO Status SPIO In The first three digital I O points on the Unidrive SP pins 24 25 and 26 are configured as Inputs or Outputs using PowerTools Pro EZ software If the I O points have been configured as digital inputs then the SPIO In signal can be used in a user program to check the status of inputs or on the Assignments view to activate different signals If assigned to a destination on the assignments view when the digital input activates the destination that it is assigned to will also activate Note This parameter will appear on the Assignments view under the Inputs group of Sources even if the I O point has been configured as a digital output SM EZMotion Module User Guide SPIO Name SPIO Name Each digital I O point on the Unidrive SP can be given a name
312. ve parameter database has been saved To save the drive parameter database follow the instructions below Saving the Drive Parameters When changing a parameter in Menu 0 the new value is saved automatically when pressing the Mode button O to return to parameter view mode from parameter edit mode If parameters have been changed in the advanced menus then the change will not be saved automatically A save function must be carried out The procedure for saving the parameters is as follows 1 Enter the value 1000 in MM 00 where MM is any menu number 2 Press the red Reset button O Diagnostics 13 5 Clearing the SM EZMotion module memory The SM EZMotion module has a function that allows the user to clear the module memory Doing so will erase the configuration stored in the module To procedure for erasing the module configuration is as follows 1 Navigate to parameter 18 01 on the keypad 2 Press the Mode button Y to enter parameter edit mode 3 Enter the value 19237 4 Press the Mode button yO again to return to parameter view mode 5 Remove AC power from the Unidrive SP 6 Restore power to the Unidrive SP After performing the clear memory sequence the SM EZMotion module will cause a SLX Er trip where X indicates the slot number that the SM EZMotion module is fitted in The Error Code for the SM EZMotion module will be 107 No Program Error indicating that the module has no configuration stored
313. vel distance See User Units View on page 37 Distance Decimal Places DistUnits Decimal This parameter is used to select the number of decimal places used in the DistUnits CharacteristicDist Using a high number of decimal places will improve positioning resolution but will also limit the maximum travel distance The number of decimal places set in this parameter determines the number of decimal places used in all distance parameters throughout the software You can select from zero to six decimal places of accuracy 88 www emersonct com Distance Units Name DistUnits Name This is a text variable which is used as the label for the distance position user units lt can be up to 12 characters in length Drive Active DriveActive The DriveActive event when active indicates that the bridge on the Unidrive SP is closed drive is enabled This parameter is read only and is read directly from parameter 10 02 in the Unidrive SP database If When a drive trip occurs this parameter will deactivate automatically Drive Enable Status DriveEnableStatus This source is active when the drive is enabled Drive Healthy DriveHealthy The Drive Healthy signal indicates that the drive is not in the trip state This bit is active when no trip is active On activation of a drive trip this signal will deactivate automatically When the trip is cleared Drive Healthy will activate again Drive Serial Number DriveSerialNumber This
314. veryDist 91 Gearing 28 Gearing View 63 H Hardware SlotXModuleType 91 Home to Marker 23 Home to Sensor 24 Home to Sensor then Marker 24 Home View 57 Home Accel 91 Home Accelerating 91 Home AtVel 91 Home CalculatedOffset 91 Home CommandComplete 91 Home CommandInProgress 91 Home Decel 91 Home Decelerating 91 Home EndPosn 91 Home Initiate 92 Home LimitDist 92 Home LimitDistEnable 92 Home LimitDistHit 92 Home Name 92 Home OffsetType 92 Home OnSensorAction 92 Home Reference 92 Home SensorTrigger 92 Home SpecifiedOffset 92 Home TimeBase 92 Home Vel 92 Home AnyCommandComplete 91 How Motion Works 23 If On Sensor Options 25 Incremental Index 26 Index View 59 Index IndexTime 93 Index Accel 93 Index Accelerating 93 Index AtVel 93 Index CommandComplete 93 134 Index CommandInProgress 93 Index CompoundInitiate 93 Index Decel 93 Index Decelerating 93 Index Dist 93 Index Initiate 94 Index LimitDistHit 94 Index Name 94 Index PLSEnable 94 Index PLSOffDist 94 Index PLSOnDist 94 Index PLSStatus 94 Index RegistrationOffset 94 Index RegistrationType 94 Index RegistrationWindowEnable 94 Index RegistrationWindowEnd 94 Index RegistrationWindowStart 94 Index SensorTrigger 94 Index TimeBase 95 Index TimedIndexEnable 95 Index Vel 95 Index AnyCommandComplete 92 Index ProfileLi
315. vs Decel Time 0 2000 Seconds Figure 98 Index View with Timed Index Selected If the values for Max Velocity Max Acceleration and Max Deceleration are such that the distance cannot be covered in the specified time the Index ProfileLimited flag will activate when the index is initiated indicating the index 60 www emersonct com cannot be performed as desired The internal calculation are performed only when the index is initiated and therefore is the only time the flag will activate The Index ProfileLimited flag will remain active until cleared using the Index ResetProfileLimited assignment or program instruction In this situation the index will still operate but the time will be extended In other words the profile will be performed using the maximums values and still cover the specified distance but not in the specified time The units for the Time parameter depend on the current setting of the Time Base parameter If Time Base is set to Realtime default then the units for the Time parameter are Seconds The user can program the index time with resolution of 0 001 Seconds or milliseconds If Time Base is set to Synchronized the units for the Time parameter are defined by the Master Distance Units found on the Master Setup screen Doing a synchronized Timed Index means that the user can specify the master distance in which the index should be perf
316. w emersonct com 117 Error Code Cause s i i x 50 Trip Error Possible Reason Possible Solution Increase Following Error Limit in PowerTools Pro configuration Increase 3 Velocity Loop Bandwidth and or Position Amount of following error exceeded o Nue Loop Bandwidth in PowerTools Pro 104 Y Following Error following error limit set in PowerTools 6 configuration Lower Acceleration Pro software E Deceleration ramp values Make sure that programmed velocity is within maximum operating speed of the given motor Hardware Travel Limit Plus switch has Verify motion profiles programs to make 105 N Travel Limit Plus activated or Software Travel Limit sure that motion is not configured to Plus position has been exceeded exceed desired travel positions Hardware Travel Limit Minus switch Verify motion profiles programs to make 106 N Travel Limit Minus has activated or Software Travel Limit sure that motion is not configured to Minus position has been exceeded exceed desired travel positions Download a configuration to the 107 Y No Program Error SM Ee Moon module nas js SM EZMotion module using PowerTools configuration loaded in it Pro software If using the Using Capture instruction E ae after an Index Initiate instruction in your Maximum allowable position change F ii user program make sure that the 108 Y Motion Trajectory Error within one con
317. while gearing is active the program will hang on this instruction 8 4 2 12 Profile ProfileStop Profile ProfileStop is used to stop motion on a single profile without stopping the other profiles The user must specify the profile they with to stop i e 0 or 1 Example f SPInput 4 ON Then Profile 1 ProfileStop EndIf 8 4 3 Motion Modifier Instructions 8 4 3 1 Using Capture The Using Capture instruction can be inserted after any Jog Initiate Index Initiate Dwell for Time and Dwell for Master Dist instructions By inserting the Using Capture instruction it specifies that data captured by the position capture object is to be used as the starting point for the motion initiate If the motion time base is realtime then the captured time is used as the starting point for the motion profile If the motion time base is synchronized then the captured master position is used as the starting point for the profile Example Wait For Capture 0 CaptureTriggered Index 0 Initiate Using Capture 0 8 4 3 2 Using Last When the Using Last instruction is inserted after a motion initiate instruction the time or master position in synch motion of the last command complete is used as the starting point of the motion profile Whenever a motion profile is complete the time position is automatically captured behind the scenes The Using Last instruction simply references this automatically captured time or position
318. y large the parser can take an appreciable amount of time to check the entire program for errors To avoid this the user can disable the program parser enter all of the changes and then re enable the parser to check for errors Only available while online www emersonct com 67 8 4 Program Instruction List Program Flow IF Then Endlf Else For Count Next Do While Loop Wait For Wait For Time Call Program End Formula Label GoTo Menu Motion Dwell For Time Dwell For MasterDist Za Index Initiate 3 Index CompoundInitiate 2 Home Initiate Jog Stop 3 Jog PlusInitiate 3 Jog MinusInitiate 3 Program ProgramStop a Program Initiate Gear Stop Gear Initiate 3 Profile ProfileStop Motion Modifiers Using Capture Using Last On Profile Figure 105 Program Instruction List 8 4 1 Program Flow Instructions 8 4 1 1 If Then Endlf This is a program flow control instruction used to selectively run a section of code only if a logical test condition is true If the test evaluates to true the code between the If Then and Endif lines is executed If the test evaluates to false the code is not executed and the program skips to the next line of code after the Endif Logical tests AND OR NOT can be used in the If Then Endif instruction Parenthesis can be used to group the 68 www emersonct com logical tests Example If EZInput 1 ON Then EZOutput 1 ON EZOutput 2 OFF Endif Example

Emerson SM-EZMotion Module User's Manual

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