Control Techniques Epsilon EP-P Drive Reference Manual

Epsilon EP-P Drive and
FM-3/4 Modules

Reference Manual

P/N 400518-04

Revision: A1

Date: December 22, 2006

© Control Techniques Americas LLC, 2006

Epsilon EP-P Drive and FM-3/4 Module

Reference Manual

Information furnished by Control Techniques Americas LLC (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 400518-04

Revision: A1

Date: December 22, 2006

© Control Techniques Americas LLC, 2006

© Control Techniques Americas LLC, 2006 All rights reserved.
Part Number: 400518-04
Revision: A1
Date: December 2006
Printed in United States of America
Information in this document is subject to change without notice. No part of this document may be reproduced or transmitted in any

form or by any means, electronic or mechanical, for any purpose, without the express written permission of Control Techniques.
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, AXIMA, “Motion Made Easy.”

Control Techniques is a division of EMERSON Co.
Control Techniques, Inc. is not affiliated with Microsoft Corporation, owner of the Microsoft, Windows, and Windows NT

trademarks.

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.

ii

Customer Support

Control Techniques Americas LLC
12005 Technology Drive
Eden Prairie, Minnesota 55344-3620
U.S.A.

Telephone: [phone] or [phone]
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 [phone]

You can FAX questions and comments to Control Techniques. Just send a FAX to the number listed above.

Website and Email www.emersonct.com

Website: www.emersonct.com
Email: [e-mail]
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 [phone] or [phone]

Email: [e-mail]
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:

• Product version number, found by choosing About from the Help menu

• The type of controller or product you are using

• Exact wording of any messages that appear on your screen

• What you were doing when the problem occurred

• How you tried to solve the problem
Need on-site help? Control Techniques provides service, in most cases, the next day. Just call Control Techniques’ technical

support center when on-site service or maintenance is required.

Training Services [phone] or [phone]

Email: [e-mail]
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 [phone] or [phone]

Email: [e-mail]
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.

iii

Customer Service (Sales) [phone] or [phone]

Email: [e-mail]
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 Name.”
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

bold

italic

ALL CAPITALS Directory names, file names, key names, and acronyms.
SMALL CAPS Non-printable ASCII control characters.
KEY1+KEY2

example: (Alt+F)
KEY1,KEY2

example: (Alt,F)

Characters that you must type exactly as they appear. For example, if you are directed to type
a:setup, you should type all the bold characters exactly as they are printed.

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.

A plus sign (+) between key names means to press and hold down the first key while you press
the second key.

A comma (,) between key names means to press and release the keys one after the other.

Note

For the purpose of this manual and product, “Note” indicates essential information about the product or the respective part
of the manual.

“Warning” indicates a potentially hazardous situation that, if not avoided, could result in death or serious injury.

“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, if not avoided, may result
in property damage.

Throughout this manual, the word "module" refers to an FM-3/4 module, the word “base drive” refers to an MDS Drive
Module or an EN drive, the word "drive" refers to an Epsilon EP-P drive, and the word "device" refers to an FM-3/4 module
and/or an Epsilon EP-P drive.

iv

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:

• 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 reference and installation manuals may be useful with your particular system.

• Function Module Installation Manual (P/N 400506-03)

• Modular Drive System (MDS) Reference Manual (P/N 400525-01)

• FM-3 and FM-4 Connectivity Reference Manual (P/N 400508-04)

• Epsilon EP Installation Manual (P/N 400518-01)

v

vi

Safety Precautions

This product is intended for professional integration into a complete system. If you install the product incorrectly, it may
present a safety hazard. The product and system may use high voltages and currents, carry a high level of stored electrical
energy, or control mechanical equipment that can cause injury.

You should give close attention to the electrical installation and system design to avoid hazards either in normal operation or
in the event of equipment malfunction. System design, installation, commissioning and maintenance must be carried out by
personnel who have the necessary training and experience. Read and follow this safety information and the instruction manual
carefully.

Enclosure

This product is intended to be mounted in an enclosure which prevents access except by trained and authorized personnel,
and which prevents the ingress of contamination. This product is designed for use in an environment classified as pollution
degree 2 in accordance with IEC664-1. This means that only dry, non-conducting contamination is acceptable.

Setup, Commissioning and Maintenance

It is essential that you give careful consideration to changes to drive settings. Depending on the application, a change could
have an impact on safety. You must take appropriate precautions against inadvertent changes or tampering. Restoring default
parameters in certain applications may cause unpredictable or hazardous operation.

Safety of Machinery

Within the European Union all machinery with which this product is used must comp ly with Directive 89/392/EEC, Safety
of Machinery.

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.

Safety Considerations

General warning

Failure to follow safe installation guidelines can cause death or serious injury. The voltages used in thi s un it can cause seve re el ectric
shock and/or burns, and could be lethal. Extreme care is necessary at all times when working with or adj ac ent 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 spec ified in the manual. The drive contains capacitors which remain
charged to a potentially lethal voltage after the supply has been removed. Allow at least 3 minutes after removing the supply before
carrying out any work which may involve contact with electrical connections 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 (that is, 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 or over-current 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 c ontrol c ircuits ar e isolated f rom human contact by at le ast one layer of insula tio n rated for
use at the applied AC supply voltage.

vii

viii

Table of Contents

Customer Support . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . iii

Document Conventions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . iv

Safety Instructions. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .v

Reference Materials. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .v

Safety Considerations vii
Introduction 1

Epsilon EP Drive . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .1

FM-3 and FM-4 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .1

Operational Overview 3

Software Interface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3

PowerTools Pro Setup Software . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3

Keypad Interface of the FM-3/4 Module. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4

How Motion Works. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .6

How Jogging Works . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .6

How Home Works. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .6

How Indexes Work . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .13

How Communications Work. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .17

Brake Operation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .24

How Data Capture Works . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25

Setting Up Parameters 27

Graph View . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .27

Setup View. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .29

Status Online Tab (Online Only). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .31

Information Tab (Online Only) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .33

Motor View . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .33

User Units View . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .40

Master Units View. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .42

Position View. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .45

Velocity View . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .48

Ramps View. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .49

Torque View . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .52

Tuning View . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .53

Faults View . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .54

PLS View. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .58

Setup NVM View . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .60

Capture View. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .61

Queues View . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .64

User Variables View . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .66

User Bits View. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .67

I/O Setup Group. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .70

Assignments. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .70

Assignments View. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .71

Selector View. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .74

Input Lines View . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .76

Output Lines View. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .77

Analog Inputs View. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .77

Analog Outputs View . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .79

ix

Motion Group . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .81

Home View . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .84

Index View . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .87

Gearing View . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .94

Stopping Motion . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .97

Network Group . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .98

Modbus View . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .98

DeviceNet View . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 100

Profibus View . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .100

Ethernet View . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .100

Programming 101

Programs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .1 03

Program Instruction Types . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .103

Adding and Deleting Programs. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .115

Program Multi-Tasking. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .117

Example Programs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .120

Parameter Descriptions 127
Quick Start for an FM-4 Module 161

Basic Setup Steps . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .1 61

Example Application Start Up . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .172

Tuning Procedures 179

PID vs. State-Space. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .179

Tuning Procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .179

Tuning Parameters. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .182

Determining Tuning Parameter Values. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .183

Diagnostics and Troubleshooting 189

Diagnostic Display . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .189

Drive Faults. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .194

Error Messages . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .194

Online Status Indicators . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .197

Diagnostic Analog Output Test Points . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 200

Specifications 201

Dimensions and Clearances . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .201

Cable Diagrams. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .204

Glossary 219
Index 225

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Epsilon EP-P Drive and FM-3/4 Module Reference Manual

Epsilon EP Drive

The Epsilon EP drive is a stand-alone, fully digital brushless servo drive designed and built to reliably provide high
performance and flexibility without sacrificing ease of use.

The use of State-Space algorithms make tuning very simple and forgiving. The drives are designed to operate with up to a
10:1 inertia mismatch right out of the box. Higher (50:1 and more) inertial mismatches are possible with two simple parameter
settings.

The Epsilon EP drive can be quickly configured to many applications in less than 5 minutes with EMERSON Motion Control
PowerTools Pro software on a PC running Windows® 98, NT 4.0, 2000, ME and XP.

Complete diagnostics are provided for quick troubleshooting. A diagnostic display on the front of the drive informs the user
of the operational or fault status. The last 10 faults are stored in non-volatile memory along with a time stamp for easy recall.

Introduction

Shunt Connector (J8)

Diagnostic Display

Reset Button

Serial
Connectors (J2)

Sync Input Connector (J10)

Analog/Sync Output
Connector (J5)

Figure 1: Epsilon EP-P Drive Feature Location

FM-3 and FM-4

AC Power Connections
Motor Connections
24 Vdc Logic Power Supply Connections

Ethernet
Connector (J11)
(EP-Pxx only)

Digital I/O Connector (J3)

Encoder Feedback Connector (J6)

The FM-3/4 module is a compact and rugged function module that attaches to the front of the base drive. It provides eig ht
digital input lines and four digital output lines, in addition to the four input and three output lines available on the drive
module.

The FM-3/4 module offers complex motion profiling, along with multi-tasking user programs. A complex mo tion profile
consists of two or more indexes that are executed in sequence such that the final velocity of each index except the last is non­zero. Logical instructions between index statements can provide a powerful tool for altering motion profiles’on the fly’. The
FM-3/4 module defines complex motion by a configuration file that includes setups, function assignments and programs. The
configuration file is created using PowerTools Pro software. Setup views have the same look and feel as dialog boxes. The
wiring of input and output functions is done through assignments in the software. PowerTools Pro is an easy-to-use
Microsoft® Windows® based setup and diagnostics tool.

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Epsilon EP-P Drive and FM-3/4 Module Reference Manual

Figure 2: EN Drive with FM-3/4 Function Module

Note that the drive’s firmware is disabled whenever a Function Module, such as the FM-3/4 module is attached. Therefore,
if the drive’s hardware is FM compatible, then the drive’s firmware can be any version because the programming features
reside in the function module’s flash memory. Flash files used for firmware upgrades are available on the Control Techniques
webpage.

The FM-3/4 module stores drive setup parameters within the module itself. This allows you to transfer the FM-3/4 module
to another drive without losing setup parameters.

Programming Module

1
2
3

Inputs Outputs

4
5

485 +
485 ­SHLD

6
7
8

1
2
3
4

10-30

VDC

+

-

MODEL FM-4
PART 960498-01
REV

A1/A1

SER 0120B025

Exp. I/O

Sync.

Input

Output

Sync.

Figure 3: FM-3/4 Programming Module Features

2

Epsilon EP-P Drive and FM-3/4 Module Reference Manual

This section provides a complete functional description of the Epsilon EP-P drive and FM-3/4 module . It is intended to
provide you, the user, with a thorough understanding of all operations. The description includes references to many FM-3/4
module and Epsilon EP-P drive parameters which can be displayed and/or edited using PowerTools Pro software, or through
any Modbus interface.

The FM-3/4 module augments the drive by providing the ability to implement programs written using PowerTools Pro. When
a FM-3/4 module is attached to a base drive, it overrides the operation and user accessible features of the base drive. The base
drive’s basic operating modes (Pulse, Velocity and Torque) are not available when a FM-3/4 module is attached.

The FM-3/4 module stores drive setup parameters within the module itself. This allows the user to transfer the FM-3/4 module
to another drive without losing setup parameters.

The Epsilon EP-P drive and FM-3/4 module allows the user to set up 55 different Indexes, Jog functions and a Home. The
FM-3/4 module provides eight digital input lines and four digital output lines in additio n to the fo ur input and three output
lines available on the base drive. The Epsilon EP-P drive provides fifteen digital inputs and eight digi tal outputs.

Software Interface

The Epsilon EP-P drive and FM-3/4 module is set up using PowerTools Pro software. PowerTools Pro is an easy-to-use
Windows® based setup and diagnostics tool. It provides the user with the ability to create, edit and maintain the drive’s setup.
You can download or upload the setup data to or from a device. The setup data can also be saved to a file on the PC or printed
for review or permanent storage.

Operational Overview

PowerTools Pro Setup Software

PowerTools Pro is designed to be the easiest-to-use software available for single axis motion controllers.

Features

• “Hierarchy Tree” for quick navigation to any setup view

• Simple I/O function assignments

• Powerful online diagnostic capabilities

• Programming

Figure 4: Hierarchy Tree

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Epsilon EP-P Drive and FM-3/4 Module Reference Manual

The “Hierarchy Tree” (shown above) contains expandable groups of parameters. The groups can be expanded and contracted
just like folders in Windows® Explorer. Left click on a view name in the Hierarchy Tree will display that view on the right
side of the computer screen.

To setup a drive the user simply steps through the Hierarchy Tree from top to bottom starting with the Setup view. Simple
applications can be setup in a matter of minutes.

Keypad Interface of the FM-3/4 Module

The keypad and character display on the front of the FM-3/4 module provides navigation through a menu of common
parameters and displays current functions. Navigation through the menu is accomplished with the six keys located below the
display. The top two keys are called the “soft keys” because they relate to the commands located directly above each key on
the display. These keys are used to select the operation (e.g. Modify, Ok, Cancel), parameter group, and/or to validat e
information. The four arrow keys are used to navigate through parameter groups, select a specific parameter to be modified,
and to modify digital and numeric data.

The operation of the arrow keys is dependent upon the type of parameter which is being modified.

Figure 5: FM-3/4 Display and Keypad

On the Menu screen, the drive type and axis address are always shown on the top line of the display. The second line shows
the motor type. If a user defined motor is selected, the user defined motor name will appear. The third line shows two
parameter group names, one above each of the soft keys.

From the Menu screen, the user selects a group of drive parameters to work with. The group names are scrolled using the left/
right direction keys. The groups correspond roughly to the views used by the PowerTools Pro software. The groups are shown
cyclically and wrap around.

The drive parameters available with the FM-3/4 module keypad are arranged into seven groups (see list below). Upon power­up the FM-3/4 module will display the default parameter groups “SECUR” (left soft key) and “QUICK” (right soft key).

• QUICK (Quick)

• PROG (Program)

• INDEX (Index)

• HOME (Home)

• JOG (Jog)

• RAMPS (Ramps)

• SECUR (Security)

4

Menu

Screen

EN-204 Adr01
MG-316
SECUR

Operational Overview

PBus-

Group

Slave Address

MODIF MENU

Security: 1

Baud Rate

MENU

Security: 0

Network Sts

MENU

Security: 0

Module Sts

MODIF MENU

Security: 0

MasterAddr

MENU

Security: 0

MsgProcessed

MENU

Security: 0

DVNET+

Group

MacID

MODIF MENU

Security: 1

Baud Rate

MODIF MENU

Security: 1

Network Sts

MENUMODIF

Security: 0

Module Sts

MENU

Security: 0

Net OK

MENU

Security: 0

Conn Type

MENU

Security: 0

Mster MacID

MENU

Security: 0

Transmit Cntr

MENU

Security: 0

Receive Cntr

MENU

Security: 0

SECUR

Group

Auto Log Out

MODIF MENU

Security: 3

Password 1

MODIF MENU

Security: 3

Password 2

MODIF MENU

Security: 3

Log Out Now?

OK

Security: 0

* Jog Group contains 2 Jogs (Jog.0 and Jog.1)
Index Group contains 7 Indexes (Index.0 to Index.7)
Prog Group contains 4 Programs (Prog.0 to Prog.3)

+ DeviceNet Group is only available on FM-3DN and FM-4DN modules

- Profibus Group is only available on FM-3PB and FM-4PB modules
On all screens with < > symbols, scroll left and right to select the specific Instance

RAMPS

Group

Stop

MODIF MENU

Security: 0

Stop.Decel

MODIF MENU

Security: 1

JOG*

Group

<Jog.0.Vel>

MODIF MENU

Security: 1

<Jog.0.Accl>

MODIF MENU

Security: 1

<Jog.0.Decl>

MODIF MENU

Security: 1

<Jog.0.Plus>

MODIF MENU

Security: 1

<Jog.0.Mius>

MODIF MENU

Security: 1

Posn Fdbk Ct

MENU

Security: 0

HOME
Group

Home.0.Vel

MODIF MENU

Security: 1

Home.0.Accl

MODIF MENU

Security: 1

Home.0.Decl

MODIF MENU

Security: 1

Home.0.Init

MODIF MENU

Security: 1

Calc Offset

MENU

Security: 1

Spec Offset

MODIF MENU

Security: 1

Select Offst

MODIF MENU

Security: 1

INDEX*

Group

<Ind.0.Vel>

MODIF MENU

Security: 1

<Ind.0.Accl>

MODIF MENU

Security: 1

<Ind.0.Decl>

MODIF MENU

Security: 1

<Ind.0.Dist>

MODIF MENU

Security: 1

<Ind.0.Init>

MODIF MENU

Security: 1

PROG*

Group

<Prg.0.Init>

MODIF MENU

Security: 1

QUICK
Group

Posn Fdbk

GRAPH MENU

Security: 0

Vel Fdbk

GRAPH MENU

Security: 0

Following Er

GRAPH MENU

Security: 0

Axis Address

MODIF MENU

Security: 0

Baud Rate

MODIF MENU

Security: 3

DriveInput

MENU

Security: 0

ModuleInput

MENU

Security: 0

DriveOutput

MENU

Security: 0

ModuleOutput

MENU

Security: 0

Fault Sts 1

MENU

Security: 3

Fault Sts 2

MENU

Security: 0

Clear Fault?

OK MENU

Security: 0

Module Rev

MENU

Security: 0

Boot Rev

MENU

Security: 0

Parameter Screens

After selecting a group using one of the soft keys, the FM-3/4 module will display a Parameter screen for that group. This
screen could be either the first screen in the group or the last screen that was used in that group. The FM-3/4 module keeps
track of the last Parameter screen viewed in each group and returns to that screen when returning back to that group. This is
reset on power-up and the FM-3/4 module displays the first Parameter screen in the group.

In this screen, the parameter name is shown on the first line of the display. The up/down arrow keys are used to scroll through
the parameters available in the selected group. The second line displays the condition or value of parameters. The third line
displays the soft key actions.

The left/right arrow keys are used to scroll through the parameters when the “<“ and “>” symbols are shown.

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Epsilon EP-P Drive and FM-3/4 Module Reference Manual

Numeric parameter units are sometimes shown before the actual value, because the parameter value and the units cannot be
displayed on one line. The unit of measure will appear on the second line for about one second. Then the actual parameter
value will appear. The parameter value is updated about five times a second.

How Motion Works

The Epsilon EP-P drive and FM-3/4 module provides four types of motion: jogging, homing, indexing and gearing. Only one
index, jog, home or gear may be in process at any given moment (exclusionary motion types). Through assignments and
programs, the device can sequentially run various motion routines. The Positive direction parameter affects all motion types
by specifying which direction of motor revolution (CW or CCW) is considered motion in the “+” direction.

How Jogging Works

Jogging produces rotation of the motor at controlled velocities in a positive or negative direction.
Assignments to jogs are level sensitive such that when the jog input is turned on, jogging begins and continues jogging until

the jog input is removed.
Each jog has its own acceleration and deceleration ramp along with a specified velocity. Jogging has no distance parameter

associated with it. If trying to move a specific distance or to a known position, then an index is used.

Figure 6: Jog View

How Home Works

The Home is used in applications in which the axis must be precis ely aligned with some part of the machine. The Home is
initiated in one of three ways: with the Initiate Destination function found in the Assignments view, through a program, or
with the Online tab. A Home or Define Home is required to set the Absolute Position Valid so that any index to absolute
position can work.

The Epsilon EP-P drive and FM-3/4 module can home the motor to an external sensor, the motor’s encoder marker pulse, or
to a sensor and then to the encoder marker pulse.

6

Operational Overview

External
Home Sensor

Carriage

Gear Reducer

NT Motor
with Encoder

-

Direction

+

Sensor Point

Home Offset
Distance

Figure 7: Basic Home Function, Example

The figure above show a basic home function using a ball screw. This example uses most of the setup features in the
PowerTools Pro Home view.

Home Sequence

1. Back off the sensor, if on the sensor. (This step is optional).

2. Move to the external home sensor to establish a home reference point.

3. Next it will move to the Offset position.

4. Then the command and feedback positions are set to the value entered into the End of Home Position.

Homing to the motor’s encoder marker will establish the most accurate and repeatable home position. This method will
position the motor relative to the location of the rising edge of the encoder marker pulse. Most applications will use a sensor
and marker to find an accurate home position in the vicinity of the home sensor.

Several parameters affect how the Home function operates. Each of these parameters are explained in detail on the following
pages.

Note

The Home function will NOT be initiated when any other motion command is in progress.

Establishing a Home Reference Position

The first step in setting up a home is to select the desired home reference type. The Home Reference type selected determines
how the Home Reference Position is established. PowerTools Pro allows selection of one of three different Home Reference
types: Sensor, Marker, or Sensor then Marker.

Sensor

Selecting Sensor means the rising edge of the Home Sensor input function is used to establish the home reference position.

Figure 8: Sensor Home Reference Position

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Epsilon EP-P Drive and FM-3/4 Module Reference Manual

Marker

Selecting Marker means the rising edge of the motor’s encoder marker channel is used to establish the reference position.

Figure 9: Marker Home Reference Position

Sensor then Marker

Selecting Sensor then Marker means the reference position is established using the first marker rising edge after the device
sees the rising edge of the Home Sensor input function.

Figure 10: Sensor then Marker Home Reference Position Example 1

Accuracy and Repeatability

The accuracy is one trajectory update rate. For example - if the trajectory update rate is set to 800 µs then the accuracy will
be 800 µs, if the trajectory update rate is set to 1.6 ms then the accuracy will be 1.6 ms.

The amount of accuracy the application requires will determine the Home Reference type selected. Homing to an external
sensor will only establish a repeatable home position within 0.04 revolutions at 3000 RPMs (800 µsec sensor capture
interval).

Note

The data above assumes the use of a perfectly repeatable home sensor.

In Sensor then Marker applications, the marker must be at least 800 µsec after the rising edge of the sensor input to be
considered a valid marker pulse, see Figure 11.

Note

At 1000 RPM, the motor will travel 0.0133 revolutions (or 4.8°) in 800 µsec.

8

>800 µsec

Sensor

Marker

Direction of Travel

Figure 11: Sensor then Marker Home Reference Position Example 2

The Home Sensor must be “On” for at least 800 µsec to guarantee that it will be recognized.

Sensor Min.
On Time

Sensor

Operational Overview

800 µsec

Figure 12: Sensor then Marker Home Reference Position Example 3

Home Offset

The Home Offset is the distance from the Reference Position to the final stopping point at the end of the homing sequence.
Regardless of the value you enter for the Offset or which Home Reference type you choose, there is always an offset inherent
in the homing process.

The user may either specify a desired offset or allow the drive to calculate an offset automatically. The drive calculates an
offset that guarantees that the motor will not have to backup to get to the offset position. This is very convenient for
unidirectional applications.

The Calculated Offset is the distance travelled during deceleration ramp from the home velocity to a stop plus the distance
travelled at the home velocity for 800 usec. This extra distance is used to guarantee that the motor will not need to backup
after the deceleration ramp.

The Specified Offset allows the user to choose an exact offset from the Home Reference.
Once the home reference is detected, the device will do whatever is necessary to reach the offset position. This may be as

simple as a deceleration to a stop, a continuation at speed followed by a deceleration to a stop, or a deceleration followed by
a move in the opposite direction.

To enter a specified home offset, select the Specified Offset radio button. PowerTools Pro always displays the calculated
offset value as a reference. If the home reference is detected before the axis has reached its peak velocity, the axis will still
continue to the precise offset position.

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Epsilon EP-P Drive and FM-3/4 Module Reference Manual

Figure 13: Calculated Home Offset, Peak Velocity Not Reached

If the Home Reference is detected after the axis has reached its peak velocity, the axis will decelerate to the precise offset
position.

Calculated
Home Offset

Figure 14: Calculated Home Offset, Peak Velocity Reached

Two examples below show operation when the specified offset is greater or lesser than the calculated offset. This causes the
axis to continue on at speed before decelerating and stopping at the offset position, or backing up after the home sensor.

Specified

Offset

Figure 15: Specified Home Offset, Greater than Calculated Offset

10

Operational Overview

Specified

Offset

Figure 16: Specified Home Offset, Backup Required

End of Home Position

The End of Home Position (End Posn) defines the home position in relation to the machine’s coordinate system. At the
completion of the home, the value of the End of Home Position is put into the command position.

Home Limit Distance

This parameter places an upper limit on the incremental distance the motor will travel during the home.
If no reference is found, the system will decelerate and stop at the limit distance. The Home Limit Distance Hit function will

be activated if the home stops at the limit distance without finding the reference. Additionally, the Home.CommandComplete
function will not turn “On” if the limit distance is hit.

Home Examples

Example 1: Linear Application

In this example, the system uses an external sensor and the motor’s encoder marker channel to establish a Home Reference
Position. This is the most accurate and most common way to home.

Gear Reducer

External

NT
Motor

Home Sensor

-

Direct

ion

+

Figure 17: Home to Sensor and Marker, Example

When the device sees the Home Initiate, it accelerates the motor to the Home Velocity.

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Epsilon EP-P Drive and FM-3/4 Module Reference Manual

The motor continues at that velocity until it first senses the Home Sensor input. It continues at the same velocity until the
motor’s encoder marker channel is sensed. The rising edge of the motor’s encoder marker channel is used to establish the
reference position. Once the home reference is detected, the motor decelerates to a stop and moves to the offset position.

Home Sequence

1. If on sensor then back off (if enabled)

2. Search for sensor

3. Search for marker

4. Go to offset (2.0 Revs)

5. Set feedback position equal to End of Home Position

Velocity

+ 100

Figure 18: Home Velocity Profile

Marker

Offset Move

2.0 Revs

Back off

Sensor

- 100

Start of Home

4

+ 100

Sensor

2

Sensor

Final Position = End of Home Position

Marker

1

Back Off Sensor

Home Move

5

Time

12

Offset

Figure 19: Home Move Sequence

Example 2: Rotary Application

This example uses an external sensor and the motor’s encoder marker pulse to establish a home reference position.

Operational Overview

External

Home Sensor

Gear

Reducer

NT Motor

Figure 20: Home Sensor and Marker then Offset, Example

When the device sees the rising edge of the Home Initiate function, it accelerates the motor to the Home Velocity. The motor
continues at that velocity until it first senses the Home Sensor input. The motor continues on at the home velocity until the
marker is activated.

The rising edge of the motor’s encoder marker channel is used to establish the reference position.
After sensing the rising edge of the motor’s marker channel, the device will continue moving and will decelerate to a stop at

the specified offset position.

Figure 21: Home Velocity Profile

How Indexes Work

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

Figure 22: Index Motion Sequence

Velocity

Acceleration

Run at Velocity

Deceleration

Time

13

Epsilon EP-P Drive and FM-3/4 Module Reference Manual

Figure 23: Indexes View

Indexes use acceleration and deceleration ramps which may or may not reach the specified velocity depending on the total
distance and the ramp values. For example, a short move with long acceleration and deceleration ramps may not reach the
target velocity entered.

Indexes cannot be initiated when any other motion (jogging, homing, or program) is in progress. Indexes can be aborted with
the Stop destination found in the Ramps group on the Assignments View.

The FM-3/4 module supports five types of indexes: absolute, incremental, registration, rotary plus and rotary minus.

Absolute vs. Incremental

The difference between absolute and incremental indexes is that absolute indexes move to a specific absolute position and
incremental indexes move the motor a specific distance. The figures and explanations below demonstrate this concept.

Absolute Indexes

Absolute indexes are used in applications where the motor must travel to a specific position, regardless of where the motor
is when the index is initiated.

The device calculates the distance required to move to the specified position from the current position.

14

Operational Overview

Absolute Index

Start Position = 1 Rev
Index Position = 5 Revs

Figure 24: Absolute Index Example 1

In the example above, the current position is 1 rev. If this index is initiated, the motor will travel to a position of 5 revs no
matter where it is sitting before the move. From 3 revs, it will travel 2 revs to finish at 5 revs. If the absolute index to 5 revs
is initiated a second time immediately after the index, no motion will occur because the motor will already be at a position of
5 revs.

The direction of an Absolute Index is determined by the starting position and the absolute index position. If the starting
position for the above index is 9 revs, then the motor will rotate in the negative direction to end up at 5 revs. The figure below
shows this.

Absolute Index

Start Position = 9 Revs
Index Position = 5 Revs

Figure 25: Absolute Index Example 2

Absolute indexes with Rotary Rollover enabled will take the shortest path to the position entered in the index position
parameter.

Note

Absolute indexes move to positions relative to where the machine was homed using the Home, or the DefineHome
destination.

Incremental Indexes

An incremental index will move the motor a specified distance in the + or - direction regardless of the starting position. The
direction of the incremental index motion is determined by the sign (+ or -) of the Index Distance parameter.

Incremental Index

Incremental Index

Start Position = 1 Rev
Index Distance = 2 Revs

Figure 26: Incremental Index Example

In the example above, the motor starts at 1 rev, travels a distance of 2 revs and stops at 3 revs. If the same index is initiated
a second time, the device would move the motor another 2 revs to a position of 5 revs. If initiated a third time, the motor
would travel another 2 revs to a final position of 7 revs. The figure below shows this operation.

15

Epsilon EP-P Drive and FM-3/4 Module Reference Manual

Incremental Index

Start Position = 1 Rev
Index Distance = 2 Revs

Figure 27: Incremental Index Example 2

Registration Index

A Registration Index is used in applications where the motor must move until an object is detected and then move a specific
distance from the point of detection, such as finding a registration mark and moving a distance beyond.

The Registration Index consists of two parts. The first part accelerates the motor to the target velocity and continues at this
velocity until it receives a registration trigger (sensor or analog). Upon receipt of a registration trigger, the registration offset
will be executed at the target velocity. The Sensor Limit Distance Hit source can be used to turn on an output, if a sensor input
or analog limit is not received within the Limit Distance. A registration window can also be used to determine the validity of
a registration trigger. If a registration trigger is received outside of the registration window, it will be ignored.

Rotary Plus and Rotary Minus Indexes

Rotary Plus and Rotary Minus Indexes provide forced directional control of moves to absolute positions. The position entered
for a Rotary Plus or Minus type index must be within the rotary range (i.e. 0 ≤ Position < Rotary Rollover Point). All other
parameters function the same as they do with absolute indexes. An Absolute Index is a direct move to a specific position,
regardless of the starting point. A Rotary Plus Index moves to the specified position, but is forced in a positive direction.
Similarly, a Rotary Minus index moves to the specific position, but is forced in a negative direction.

Rotary Plus and Minus Indexes are usually used in rotary applications, therefore the rotary rollover feature on the Setup ­Position view in the PowerTools Pro software must be enabled to use them.

1. In the following examples the term “D” = (absolute position specified) - (current position). If “D” is negative, motion in
the negative direction is implied.

2. In the following examples the Rotary Rollover parameter on the Setup - Position view is set to 360.00°. This means that
with each revolution of the motor (or rotary table), feedback will count up to 359.99°, then roll over to Ø°.

Indexes with Rotary Rollover Enabled

Incremental move distances can be outside of the rotary rollover range. See the "Setting Up Parameters" chapter for an

explanation of Rotary Rollover.

Example 1: If the starting position is at Ø° and 720° is the specified distance, an Incremental index would move 2

revolutions in the positive direction. At the completion of this index the motor position would be Ø°.

Absolute indexes will take the shortest path to the specified position. Absolute index positions must be within the rotary

rollover range.

Example 2: If the starting position is at 90° and 80° is the specified position, an Absolute index would travel 10° in the
negative direction. At the completion of this index the motor position would be 80°.

Example 3: If the starting position is 45° and 315° is the specified position, an Absolute index would travel 90° in the

negative direction because that is the shortest path between 45° and 315°.

Rotary Plus indexes will move to the specified position and are forced in a positive (or plus) direction. Rotary Plus index

distances must be within the rotary rollover range.

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Example 4: As in example 2 above, the starting position is at 90° and 80° is the specified position. A Rotary Plus index

would travel 350° in the positive direction. At the completion of this index the motor position would be 80°.

Example 5: If the starting position is 10° and the specified position is 350°, a Rotary Plus index will travel 340° in the

positive direction.

Rotary Minus indexes move to the specified position, but are forced to travel in the negative (or minus) direction. Rotary
Minus index positions must be within the rotary rollover range.

Example 6: As in examples 2 and 4 above, the starting position is at 90° and 80° is the specified position. A Rotary

Minus index would travel 10° in the negative direction. At the completion of this index the motor position would be 80°.

Example 7: If the starting position is 15° and the specified position is 270°, a Rotary Minus index would travel 105° in

the negative direction.

How Communications Work

Configuring Communication

Before attempting to upload or download a configuration file using PowerTool Pro, the software must be configured to the
correct communication settings for the intended communication connection. The FM-3/4, FM-3/4DN and FM-3/4PB support
a serial communication connection, either RS-232 or RS-485. The FM-3/4E supports both serial and Ethernet communication
connections.

The communication connection may be selected in the Upload Drive Configuration, Download to Device IDx or the Change
Path dialog boxes. From the Device menu, choose Upload Drive, Download or Path Change to open the dialog box or the
toolbar buttons can also used, see below.

Uploading

Uploading is the process of reading information back from the drive to the PowerTools Pro configuration file views.

Operational Overview

To upload information from a drive, click on the Upload All button, on the PowerTools Pro toolbar or from the
Device menu, choose Upload All or Upload Drive. The Upload Drive Configuration dialog box will open, all
communication connections are scanned and the results appear. In Figure 28, it shows that one device on COM 1
was found, an Epsilon Eb-205 drive. The Upload Drive Configuration dialog box contains the following
information for every device found:

• Ip Address/COM

• Modbus Address ID

• Drive Type

• Module Type

• Communication Options

• Base/Drive FW Revision

• Module FW Revision

• Module Serial Number

• Drive Serial Number

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Epsilon EP-P Drive and FM-3/4 Module Reference Manual

.

Figure 28: Upload Drive Configuration Dialog Box
Select the device to upload and click Upload.

Downloading

Downloading is the process of sending the configuration created with PowerTools Pro from the PC to the device. Changes
made in PowerTools Pro will not take effect until the information has been downloaded or the Update to RAM button has
been clicked.

To download information to a device, click the Download button on the PowerTools Pro toolbar or from the Device
menu, choose Download. The Download to Device IDx dialog box will open, all communication connections are
scanned and the results appear. In Figure 29, one device on COM port 1 was found, it’s a EN-204 with FM-3/4DN
module. The Upload Drive Configuration dialog box contains the following information for every device found:

• Ip Address/COM

• Modbus Address ID

• Drive Type

• Module Type

• Communication Options

• Base/Drive FW Revision

• Module FW Revision

• Module Serial Number

• Drive Serial Number

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