Emerson EZMotion User Manual

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User/Programming Guide
EZMotion
SM-EZMotion Module Digitax ST EZMotion
Part Number: 400361-00 Revision: A8 Date: March 26, 2009
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EZMotion User/Programming Guide
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 400361-00
Revision: A8
Date: March 26, 2009
© Control Techniques Americas LLC, 2003-2009
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© Control Techniques Americas LLC, 2003-2009 All rights reserved. Part Number: 400361-00 Revision: A8 Date: March 2009 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. 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.
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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 commands are printed in bold type: the File menu. Dialog box names begin with uppercase letters and are printed in bold type: the Axis Limits dialog box. Dialog box field names are in quotes: “Field Name”. Button names are bold-italic: OK button.
Source code is printed in Courier font: In addition, you will find the following typographic conventions throughout this manual.
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)
“Warning” indicates a potentially hazardous situation that, if not avoided, could result in death or serious injury.
Case ERMS.
This Represents
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.
WARNING
“Caution” indicates a potentially hazardous situation that, if not avoided, may result in minor or moderate injury.
CAUTION
NOTE
For the purpose of this manual and product, “Note” indicates essential information about the product or the respective part of the manual.
Throughout this manual, the word “drive” refers to either the Unidrive SP or the Digitax ST. Throughout this manual, the word “EZMotion” refers to the SM-EZMotion module in either the Unidrive SP or the Digitax ST Base drive and the Digitax STEZMotion drive.
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.
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Reference Materials
The following related manuals and user guides may be useful with your particular system.
Unidrive SP User Guide
Unidrive SP Advanced User Guide
SM-I/O Plus User Guide
SM-I/O 32 User Guide
SM-DeviceNet User Guide
SM-Profibus DP User Guide
SM-INTERBUS User Guide
SM-CANOpen User Guide
SM-Resolver User Guide
SM-Universal Encoder User Guide
SM-Ethernet User Guide
Digitax ST User Guide
Digitax ST Installation Guide
Digitax ST Technical Data Guide
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Table of Contents

Safety Information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1
Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3
SM-EZMotion Module for Unidrive SP . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3
EZMotion for the Digitax ST Drive . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3
Development Software . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4
Features. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4
Solution Module Compatibility Chart. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4
Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
Mechanical Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
General Installation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
Slot Selection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
Electrical Connections . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
Digital I/O Connections. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
Digital I/O Specifications. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8
Connecting Motor Encoder Feedback to the Unidrive SP . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8
Simple Servo Motor Phasing Test . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
PowerTools Pro Software . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
Introduction. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
Installing PowerTools Pro. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
From the SM-EZMotion CD . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
From the Web. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
How PowerTools Pro is Organized. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12
Menu Bar . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12
File . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12
Edit. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14
Device . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
Options. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16
Tools. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18
View . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19
Window. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20
Help . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20
Toolbar . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20
New . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20
Open. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20
Save. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20
Print . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21
Upgrade Configuration. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21
Upload . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21
Download . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21
Reconnect to Device . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21
Change Connection Path. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21
Send to RAM . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21
Upload NVM. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21
Disconnect . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21
Add Index. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21
Delete Index. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21
Add Program . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22
Delete Program . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22
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View Current Errors. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22
Clear Errors. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22
Watch Window. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22
Drive Watch Window. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22
Stop. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22
Feedhold . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22
Global Where Am I? . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22
Hide/Show Hierarchy Tree . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22
Help Contents . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22
Context Sensitive Help (CSH) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22
Hierarchy Tree . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22
View . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
View Tabs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
Status Bar . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
Communications. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .25
Communications Protocol . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25
Connecting the PC to the SM-EZMotion Module. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25
Modbus . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25
Ethernet. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25
Configuring Communications in PowerTools Pro. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25
Communications Tab. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25
Uploading and Downloading using PowerTools Pro . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26
Uploading . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26
Downloading. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27
Non-Volatile Memory (NVM) Options for Uploading and Downloading. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28
Update to RAM . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29
PowerTools Pro Operation Preferences . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29
Secure Downloading . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30
Change Path . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31
How Motion Works . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .33
Jog . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33
Home . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33
Home to Marker. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33
Home to Sensor. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34
Home to Sensor then Marker . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35
If On Sensor Options. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36
Index . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37
Absolute Index. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37
Incremental Index . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38
Correction Index . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38
Posn Tracker Cont Index and Posn Tracker Once Index . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38
Registration Index . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38
Rotary Plus Index . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39
Rotary Minus Index . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40
Timed Index. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41
Gearing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41
Camming . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42
Motion Timebase (Realtime vs. Synchronized) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 44
Summing Multiple Profiles . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 44
Configuring an Application . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .47
Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47
Define Hardware . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47
Drive/Encoder View. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47
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Motor Parameters Column. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49
Servo Motors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49
Closed-loop Vector Motors- SM-EZMotion/Unidrive SP Only . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 50
Values from Drive Column . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 51
Apply to Config. Button. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 52
Run Auto-Tune Button . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 52
Save .ddf Values Button. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55
Help Button. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 56
Slot # View . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 57
Empty Slot View. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 57
EZMotion Module View . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 57
SM-I/O Plus Module View . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 57
SM-Universal Encoder Plus Module View . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 58
SM-Resolver Module View. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 63
SM-DeviceNet Module View. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 64
SM-Profibus DP Module View . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 67
SM-Applications Plus Module View . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 69
SM-Ethernet. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 69
SM-I/O 120V. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 71
SM-I/O 32. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 72
Drive Menu Watch View. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 73
Drive Menu Initialize View . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 73
Configure Setup Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 74
Setup View. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 74
User Units View . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 76
Master Units View . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 77
Absolute Position View. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 79
Reasons for Re-Homing. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 82
Virtual Master View . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 83
Position View . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 85
Velocity View . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 86
Ramps View. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 86
Current View. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 89
Distance Recovery View . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 90
Tuning View . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 91
Errors View. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 93
Setup NVM View . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 95
Devices / Vars. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 95
PLS View . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 95
Capture View . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 96
Queues View . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 98
Timers View . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 100
Timer Signals/Events . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 106
Using Timers within Programs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 108
Variables View . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 109
Bits View. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 109
Packed Bits . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 112
Packed Bits Control Words View . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 113
Pack Bits Status Words View. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 115
Configure I/O . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 117
Assignments View . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 117
Selector View . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 119
Drive I/O Setup View . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 121
EZMotion I/O Setup View. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 122
Analog Inputs View. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 122
Analog Input - Channel 2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 123
Analog Outputs View . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 124
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Analog Output – Channel 1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 124
Analog Output – Channel 2. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 126
Define Motion Profiles . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 127
Jog View . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 127
Home View . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 129
Index View. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 131
Gearing View. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 136
Camming View . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 137
Torque Mode View . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 139
Multiple Profiles . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 140
Create User Programs. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 141
Programs View . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 141
Graph View . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 142
Data Capture Group . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 142
Timing Group. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 142
Data Group . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 143
Network . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 143
Parameter Access View . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 143
How I/O Works . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .145
I/O Scan. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 145
EZMotion I/O . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 145
Unidrive SP/Digitax ST I/O. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 145
SM-I/O Plus Module I/O. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 145
SM-I/O 32 Module I/O . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 145
Programming . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .147
Programs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 147
Program Window Components . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 147
Program Toolbar . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 147
Cyclic Program View . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 149
Program Parameters for a Cyclic Program . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 149
User Programs View . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 150
Program Parameters for User Programs. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 150
Global Where Am I Enable . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 151
Real Time Program View. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 151
Program Parameter for a Real Time Program. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 151
Program Multi-Tasking. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 151
Timing Diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 152
Program Instruction List. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 160
Program Flow Instructions. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 160
Program Math Functions. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 165
Program Array Access. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 165
Motion Instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 166
Motion Modifier Instructions. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 170
Red Dot Error Bar . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 171
Program Code Window . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 171
Program Blocking. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 171
Program Math Functions. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 173
Starting and Stopping Motion . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .175
Starting Motion. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 175
From Assignments. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 175
From Programs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 176
From PowerTools Pro . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 179
Stopping Motion. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 179
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From Assignments . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 179
From Programs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 180
From PowerTools Pro . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 180
Starting and Stopping Programs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 181
Starting Programs. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 181
From Assignments . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 181
From Programs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 181
From PowerTools Pro . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 181
Stopping Programs. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 181
From Assignments . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 181
From Programs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 181
From PowerTools Pro . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 181
Parameter Descriptions. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 183
Drive Parameters Used by EZMotion. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 231
Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 231
Chart. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 231
EZMotion Setup Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 234
Diagnostics. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 237
Errors and Error Codes. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 237
Analog Outputs. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 240
PowerTools Pro . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 241
Watch Window . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 241
Errors View. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 243
Status Bar. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 244
Where Am I? . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 244
Online View Tabs. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 245
Clearing SLX.dF trip after installing SM-EZMotion module . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 245
Clearing the SM-EZMotion module memory. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 245
Glossary . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 247
Index . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 251
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1 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 consequences 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 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.
Works
Application
Information
Introduction Installation
Pro Software
Communications
Motion
Works
an
Safety
PowerTools
How
How I/O
Configuring
Safety of Machinery
Within the European Union all machinery in which this product is used must comply 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.
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 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 (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.
Motion
Programs
EZMotion
Programming
Starting and
Stopping
Starting and
Stopping
Descriptions
Parameter
Parameters
Used by
Diagnostics Glossary Index
Drive
Fuses
Fuses protection must be provided at the input in accordance with the instructions in the manual.
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Isolation of control circuits
The installer must ensure that the external control circuits are isolated from human contact by at least one layer of insulation rated for use at the applied AC supply voltage.
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2 Introduction

Modern variable speed drive such as the Unidrive SP/Digitax ST 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/Digitax ST can be substantially increased by using an EZMotion. EZMotion is 1 1/2 axis controller with a dedicated processor that allows the user to write their own application specific software. The Unidrive SP/ Digitax ST drive also offers powerful networking capabilities in addition to EZMotion so that many drives (and other equipment) can be linked together to communicate process wide information thus offering a complete application solution.

2.1 SM-EZMotion Module for Unidrive SP

The SM-EZMotion module for the Unidrive SP drive 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.
Works
Information
Introduction
Installation
Pro Software
Communications
Motion
Works
Safety
PowerTools
How
How I/O
Figure 1: Unidrive SP 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 1 for the SM-EZMotion module.
Application
Motion
Programs
EZMotion
Configuring
an
Programming
Starting and
Stopping
Starting and
Stopping
Descriptions
Parameter
Parameters
Used by
Diagnostics Glossary Index
Drive
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2.2 EZMotion for the Digitax ST Drive

With the Digitax ST EZMotion drive, EZMotion is internal installed in the drive and is not selectable in PowerTools Pro software. The SM-EZMotion module for the Digitax ST Base drive is an option module that can be fitted to any one of the two expansion slots
in the Digitax ST Base, see Figure 2. The SM-EZMotion module is powered from the Digitax ST internal power supply. By default, PowerTools Pro will select slot 1 for the SM-EZMotion module.
Slot 2
Slot 1
Figure 2: Digitax ST Drive Slot Diagram

2.3 Development Software

Applications for EZMotion are developed by the user using PowerTools Pro software. PowerTools Pro is an easy-to use, Windows® based setup and diagnostics tool. It provides you with the ability to create, 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 print it for review or permanent storage.
PowerTools Pro is designed to be the easiest-to-use software available for the 1 1/2 axis motion controllers. PowerTools Pro will run on 2000,2003, 2008, XP (32-bit) with SP2 and Vista (32-bit) operating systems.
2.3.1 Features
"Hierarchy Tree" for quick navigation to any setup view
Simple I/O function assignments
Powerful online diagnostic capabilities
Fill-in-the-blank motion profile parameters
Programming
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2.4 Solution Module Compatibility Chart

The table below shows what solution modules are compatible with the SM-EZMotion module as well as the firmware revision and the version of PowerTools software needed to program the combinations.
Information
Safety
Module Compatible with
SM-EZMotion
Configured by
PowerTools Pro
PowerTools Pro
Rev Required
SM-EZMotion Firmware Rev
Required
SM-Resolver X X 3.0 or greater A3 or greater
SM-Universal Encoder Plus X X 3.0 or greater A3 or greater
SM-Encoder Plus
SM-I/O Plus X X 3.0 or greater A3 or greater SM-I/O Timer X SM-I/O PELV X
SM-I/O 24V Protected X
1
1
1
Any Any Any Any Any Any
SM-I/O 120V X X 3.1 or greater A6 or greater
SM-I/O Lite X
1
SM-I/O 32 X X 4.4
SM-Applications X
SM-Applications Lite X
SM-Applications Plus X
1
1
1
Any Any
2
or greater B32 or greater
Any Any Any Any Any Any
SM-Profibus DP X X 3.2 or greater A8 or greater
SM-Interbus X
SM-CAN X
1
1
Any Any Any Any
SM-DeviceNet X X 3.2 or greater A8 or greater
SM-CANopen X
1
Any Any
SM-SERCOS
SM-Ethernet X X 3.1 or greater A6 or greater
SM-SLM
Works
Application
Introduction
Installation
Pro Software
Communications
Motion
Works
an
Programming
PowerTools
How
How I/O
Configuring
1
- indicates that this module can be used along with SM-EZMotion, but is not directly configured by PowerTools Pro.
Therefore, the user must write a custom program to handle the parameter passing to/from the solutions module.
2
- indicates that support for this module was introduced in earlier rev than indicated, but user is required to use the revision
shown for proper operation.
Motion
Programs
EZMotion
Starting and
Stopping
Starting and
Stopping
Descriptions
Parameter
Parameters
Used by
Diagnostics Glossary Index
Drive
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3 Installation

This section of the manual will cover basic installation information.
Information
Safety
Before installing or removing a Solutions Module in any drive, ensure the AC supply has been disconnected for at lease 10 minutes and refer to Safety Information on page 1. If using a DC bus supply ensure this is fully discharged before working on any drive or Solutions Module.
WARNING

3.1 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/Digitax ST.

3.2 General Installation

The installation of a Solutions Module is illustrated in Figure 3 Fitting a Solutions Module .
Introduction
Installation
Pro Software
PowerTools
Communications
1
2
Motion
Works
How
How I/O
Works
Configuring
Application
an
Figure 3: Fitting a Solutions Module
The Solutions Module connector is located on the underside of module (1). Push this into the Solution Module slot (2) located on the drive until it clicks into place. Note: that some drives require a protective tab to be removed from the Solution Module slot. For further information, refer to the appropriate drive manual.

3.3 Slot Selection

The SM-EZMotion module may be placed in any of the three available option slots on the Unidrive SP or the two available option slots on the Digitax ST. The user must indicate which slot the SM-EZMotion module is fitted in using PowerTools Pro configuration software. The default slot number is Slot 1 in the configuration software.

3.4 Electrical Connections

EZMotion has a single terminal block allowing screw terminal access to the digital I/O. 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.
Terminal # Function Description
1 0V Common 0V Common connection for Digital I/O 2 Input 1 Digital Input 1 3 Input 2 Digital Input 2 4 Input 3 Digital Input 3 5 Input 4 Digital Input 4 6 Output 1 Digital Output 1 7 Output 2 Digital Output 2
Motion
Programs
EZMotion
Programming
Starting and
Stopping
Starting and
Stopping
Descriptions
Parameter
Parameters
Used by
Diagnostics Glossary Index
Drive

3.5 Digital I/O Connections

EZMotion 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 a positive voltage is applied (15 Vdc to 30 Vdc).
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The digital I/O can be used to control different functions in EZMotion. The digital I/O on the EZMotion are updated at the Trajectory Update Rate. The Trajectory Update Rate can be found on the Setup view in PowerTools Pro (see Setup View on page 74 for more information on the Trajectory Update Rate).
The digital I/O of EZMotion are also unique (as compared to Unidrive SP/Digitax ST digital I/O and SM-I/O Plus/SM-IO32 module I/ O) because they can be used in the EZMotion high speed capture process. Even though they are only updated once every Trajectory Update, the 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 96 for more information on Capture object).
Figure 4 below shows a wiring diagram for the digital I/O on the SM-EZMotion module.
1723456
24 Vdc Supply
-
+
0 V Common
Input 1 Input 2 Input 3 Input 4
Load Load
Output 1 Output 2
Figure 4: SM-EZMotion I/O Wiring Diagram

3.6 Digital I/O Specifications

I/O Type: Sourcing
Input Turn on Voltage: 15 Vdc +/-0.5 Vdc Input Voltage Range: 0 Vdc to +24 Vdc Max Input Voltage: +/- 30 Vdc Output Voltage: Depends on the 24 Vdc Supply Max Output Current: 20 mA Total for both Outputs

3.7 Connecting Motor Encoder Feedback to the Unidrive SP

Figure 5 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.
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I/O Connector 1
UD BV1
I/O Connector 2 I/O Connector 4
Information
Safety
Introduction
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 0V COMMON MOTOR THERM
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 0V COMMON MOTOR THERM
1 2 3 4 5 6 7 8
9 10 11 12 13 14 15
Encoder Feedback 15 pin D-sub or SM-ETC
1 2 3 4 5 6 7 8 9
10 11 12 13 14 15
GREEN BROWN BLUE ORANGE BLACK YELLOW WHT/GRY GRY/WHT WHT/BRN BRN/WHT RED/ORG ORG/RED RED/BLU
BLU/RED RED/GRN
GRY/PNK RED/BLU RED BLUE WHT/GRN BRN/GRN GREEN YELLOW GREY PINK BLACK PURPLE RED BLUE BROWN
L1 L2 L3 U V W
UD BV1
Encoder Feedback Cable Model Number: CFOS-xxx (for NT, MG, or MH Motor) or SIBAA-xxx (for UM or EZ Motor)
CFOS-xxx Cable
NT, MG, or MH Motor
Works
Application
Installation
Pro Software
Communications
Motion
Works
PowerTools
How
How I/O
Configuring
an
Programming
Starting and
Stopping
SIBAA-xxx Cable
EZ or UM Motor
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Figure 5: Motor Feedback to Unidrive SP Connection Diagram

3.8 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
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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 0 to 65535 D If the counts decrease, the encoder A and B channels need to be swapped E Repeat A through C of Step 1.
Step 2: Verify wiring of motor power cables. Define CW rotation of the motor with a positive drive command. The phasing 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]
of the Unidrive SP will give a CW rotation during the test.
Step 3: Verify wiring of commutation signals. The Unidrive SP Advanced User Guide, section 3 (parameter 3.25) is helpful for
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.
this step.
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4 PowerTools Pro Software

4.1 Introduction

PowerTools Pro is the software used to configure hardware type, setup parameters, I/O functionality, motion profiles, user programs, and networks for the SM-EZMotion module. PowerTools Pro software operates on a PC running Windows® 98, 2000, 2003, 2008, XP (32-bit) with SP2 and Vista (32-bit) and can also be used as a diagnostic tool and troubleshooting assistance.

4.2 Installing PowerTools Pro

4.2.1 From the SM-EZMotion CD
PowerTools Pro can be installed directly from the SM-EZMotion CD that ships with every SM-EZMotion module. To install PowerTools Pro, insert the SM-EZMotion CD into the CD-ROM drive of your PC. The SM-EZMotion 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 SM-EZMotion CD Main Menu, click on the PowerTools Pro Software button. Figure 6 shows the SM-EZMotion software screen.
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Figure 6: SM-EZMotion Software Screen
Once the button is clicked the installation will begin. Follow the installation instructions to complete the software installation.
4.2.2 From the Web
PowerTools Pro can be downloaded from the Control Techniques website at the following address: www.emersonct.com.
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4.3 How PowerTools Pro is Organized

r
The PowerTools Pro software is made up of six major components. These components are the Menu Bar, Tool Bar, Hierarchy Tree, View, View Tab, and Status Bar. Note that some of these components and sub-components are only available under certain conditions (i.e., while online, while on a certain view, etc.).
Menu Bar
Tool Bar
Hierarchy
Tree
Figure 8: PowerTools Pro Organization
View
View Tab
Status Ba

4.4 Menu Bar

Figure 9 shows the Menu Bar as found in PowerTools Pro. The items available on the Menu Bar may change under certain conditions (i.e., online, configuration open, etc.).
Figure 9: Menu Bar
To use a menu choose one of the following methods:
On the menu bar, click a menu name to display a list of commands. On the menu, either click a command or use the DOWN ARROW to move down the list, and then press ENTER.
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 10.
4.4.1 File
The File menu on the menu bar contains many different options for file handling (i.e., saving files, importing files, etc.). Figure 10 below shows the File menu expanded.
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Figure 10: File Menu
New
New will open a new PowerT ools Pro file. The user will be asked what type of configuration to create (Epsilon EP, FM-2, FM-3,
FM-4, MDS or SM-EZMotion). For all modules used with the Unidrive SP, select SM-EZMotion/ Unidrive SPSetup. Select SM­EZMotion/Digitax ST-B Setup for a Digitax ST-B drive with a SM-EZMotion module installed. For all modules used with the Digitax ST-Z drive, select SM-EZMotion/Digitax ST-Z Setup.
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.
Close
Close will close the active configuration. If multiple files are open, the active file’s Title Bar will be highlighted.
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 dialog box will open instead.
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 Save.
Import
Import allows the user to import an existing FM-3 file into an FM-4 configuration, or an FM-4 file into an EP-P configuration, or
an existing FM-3/4 or EP-P file into an SM-EZMotion/Digitax ST configuration. T o 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. Some parameters maybe available in one configuration type and not another, these parameters will not be converted during the import if they are not supported by the new configuration type.
Convert
Convert allows the user to convert an existing file to the latest PowerTools Pro version. When using the File > Open feature,
PowerTools Pro will open the existing file at the same interface revision at which it was created. This means that not all of the latest features currently supported by PowerTools Pro may be available within the application file. If, after opening an existing file, a user wishes to upgrade the file to the latest interface revision so that all the latest features are available, it can be done by selecting Convert.
Upgrading to the latest revision could possibly change some of the operation of the module, so it is highly recommended to save the file prior to upgrading it, in the event that one needs to revert to the original file. Once the file is upgraded, the user can then save the new file with a different name, and then download that file if they so choose.
When opening a new file, Convert will be unavailable because a new file is always created at the latest interface revision.
Print
Print will send the active file to the printer specified by the user. The Print Options dialog 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, clear the specific check box.
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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.
Print Setup
Selecting Print Setup allows the user to change the Target Printer, Paper Type, Paper Source, Print Orientation, and other printer related parameters.
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.
4.4.2 Edit
Figure 11 shows the Edit menu as selected from the PowerTools Pro Menu Bar.
Undo
Selecting Undo will undo the last change made to a user program. Up to the last ten changes made can be undone.
Cut
Selecting Cut will remove the selected text from a user program. To select text in a program, place the mouse pointer at the leftmost character to be selected, then press and hold the left mouse button dragging the cursor over the text until the mouse pointer is positioned over the final desired character, then release the mouse button. Once the text is selected, the text can be cut, copied, or pasted.
Copy
Selecting Copy will copy any selected text in a user program. To select text in a program, place the mouse pointer at the leftmost character to be selected, then press and hold the left mouse button dragging the cursor over the text until the mouse pointer is positioned over the final desired character, then release the mouse button. Once the text is selected, the text can be cut, copied, or pasted.
Paste
Selecting Paste will place the last cut or copied text into a user program. See Cut and Copy above for further information.
Find
Selecting Find will open 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 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 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.
Replace
Selecting Replace will open the Find window (see Find above) with an additional parameter called Replace With. Using this method will search the user program for text that matches the text in the Find What text box, and replace it with the text in the Replace With text box. The user can select to replace just the next match, or all existing matches with the Replace All button.
New
Selecting New will open 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 EZMotion.
Selecting Edit > New > 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.
Only one home is available in the initial release of EZMotion.
Selecting Edit > New > 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.
Figure 11: Edit Menu
Index
Home
Program
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Delete
Selecting Edit > Delete will open 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 EZMotion module.
Index
To delete an index, the user must select the specific index they wish to delete on the hierarchy tree. Once the index is selected, click Edit > Delete > 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.
Home
Homes cannot be deleted in the initial release of EZMotion.
Program
To delete a program, the user must select the specific program they wish to delete on the hierarchy tree. Once the program is selected, click on Edit > Delete > Program on the Menu Bar. Doing so will delete the program instance. Once the program is deleted, the program code cannot be recovered.
4.4.3 Device
Figure 12 shows the Device menu selected from the PowerTools Pro Menu Bar.
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Figure 12: Device Menu
Change Address
On the Device menu, choose Change Address. This 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.
Download
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.
Disconnect
Selecting Disconnect will terminate communications between the PC and any nodes the PC is online with.
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 on the Device menu, choose Upload Drive. This will overwrite the active configuration with the uploaded data.
Upload NVM
Selecting Upload NVM will read the current value from each of the parameters in the EZMotion’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.
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, Update Drive will be unavailable on the Edit menu.
Reconnect
Selecting Reconnect from the Device menu will reconnect communications from the target node to the PC. Reconnect allows PowerTools Pro to go online without needing to perform a full upload or download.
In order for reconnect to work, the active file in PowerTools Pro must be exactly the same as the file that resides in EZMotion’s
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memory. If the files are not the same, the reconnect will fail.
Path Change
Selecting Path Change from the Device menu will open the Path Change dialog box. The Path Change dialog box allows the user to change between the drive’s IP address or Com port used to download and upload.
Reset Errors
Selecting Reset Errors will clear any active Errors or Trips. If the trip condition still exists, the trip may reactivate immediately after clearing it.
View Errors
On the Edit menu, choose View Errors to open the Active Errors pop up window. The Active Errors window will show any error conditions that have not been reset.
Reboot Drive
Selecting Reboot Drive will cause EZMotion to reboot itself (similar to cycling power). Rebooting will cause PowerTools Pro to lose communications with EZMotion.
Stop
Selecting Stop from the Device menu will stop all motion and programs that are currently active in EZMotion. Until the Stop is cleared (by selecting Stop from the Device menu again), motion and programs will be prevented from being initiated.
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.
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 I will continuously update until it is deactivated. This is different from the Where Am I found on the Program Toolbar.
4.4.4 Options
Figure 13 shows the Options menu as selected from the PowerTools Pro Menu Bar.
Figure 13: Options Menu
Preferences
Under the Preferences menu, there are two sub-menus: User Levels, and PTools Operation. Selecting one of these sub-menus allows the user to configure the preferences related to that specific topic. Selecting Show Advanced Views will show advanced views in the hierarchy tree.
User Levels
Selecting Options > Preferences > User Levels allows the user to change the quantity and complexity of available parameters.
Figure 14: User Levels
If a given user level is set to "Easy Mode", then only parameters used in the most basic applications are available. If user level is set to "Detailed Mode", then the 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,
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assignments, and throughout the software.
Ptools Operation
Selecting Options > Preferences > Ptools Operation allows the user to configure certain settings for the way PowerTools Pro software functions. Figure 15 shows the Preferences window.
Figure 15: PowerTools Preferences-PopUps Tab
The PopUps tab is used to configure several options related to downloading files, uploading files, and file saving. Once the parameters have been set in this window, the user will no longer be prompted with pop-ups when they upload or download files.
For more information on these options, refer to PowerTools Pro Operation Preferences on page 29 in this manual.
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Figure 16: PowerTools Preferences - Communications Tab
The Communications tab is used to configure which communication ports are scanned when uploading or downloading. When the check box is selected that port will be scanned and to disable a port scan clear the check box.
The user can configure which node addresses they wish to poll when uploading, downloading or flash upgrading devices. PowerTools Pro will not check to see if any devices with node addresses lower or higher than the numbers entered are available on the network.
The baud rate can also be changed from the default of 19200. Once the settings are configured, click OK. For more information on these tab, refer to Communications Tab on page 25 in this manual.
Motor DDF
The Motor DDF tab controls which .ddf file PowerTools will use when working with the configuration file.
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En, MDS, Epsilon Motor DDF Section:
Use the standard Motor DDF file
Select this check box to use the standard motor ddf file.
Standard Motor DDF Name
The name of the standard motor ddf file is entered in the text box, default is stdmotor.ddf.
User Motor DDF Name
When a custom motor is created this is the name of the motor ddf file where the information is stored, default is motor.ddf.
Ep Motor DDF Section:
Standard Motor DDF Name
The name of the standard motor ddf file for Epsilon EP drives.
Unidrive SP Motor DDF Section:
Use the SP Standard Motor DDF file
Select this check box to use the standard motor ddf file with the Unidrive SP/Digitax ST.
SP Standard Motor DDF Name
The name of the standard motor ddf file is entered in the text box, default is spstdmotor.ddf.
SP User Motor DDF Name
When a custom motor is created this is the name of the motor ddf file where the information is stored, default is spmotor.ddf.
4.4.5 Tools
Figure 18 shows the Tools menu as selected from the PowerTools Pro Menu Bar.
Figure 17: PowerTools Preferences - Motor DDF Tab
Figure 18: Tools Menu
Watch Window
Selecting Watch Window will launch a diagnostics tool that allows the user to view the current value of multiple EZMotion parameters while online with the drive. For more information on the Watch Window, refer to Diagnostics on page 237 in this user guide.
Drive Menu
The Drive Menu Watch Window allows the user to read or write a single Unidrive SP/Digitax ST 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 text 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 button. The value read from the Unidrive SP/Digitax ST will 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 text box. The Menu Parameter
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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 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.
Flash Upgrade
Selecting Flash Upgrade will launch the utility that lets the user upgrade the firmware in EZMotion. New firmware becomes available from Control Techniques to add new features or to upgrade prior releases.
When the user selects Flash Upgrade, PowerT ools Pro will search for all devices available on the network. Once PowerTools detects devices, a window similar to that shown in Figure 19 will appear.
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To upgrade the firmware in a given node, click on the Select File 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 Upgrade.
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.
4.4.6 View
Figure 20 shows the View menu as selected from the PowerTools Pro Menu Bar.
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.
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 Status Bar to make it appear again.
Show Navigation Tree
By default, the Hierarchy tree is visible on the PowerTools Pro screen. Some users with low resolution monitors wish to hide the Hierarchy tree to allow for more room while programming. To hide the Hierarchy tree, select Show Navigation Tree to remove it from the display. If the Hierarchy tree is not visible, select Show Navigation Tree to make it appear again.
Reset PowerTools Settings
Clicking on Reset PowerTools Settings renames the emc_fm3.ini file to old_emc_fm3.ini and creates a new emc_fm3.ini with
Figure 19: Flash Upgrade Window
Figure 20: View Menu
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all the original default settings.
4.4.7 Window
Figure 21 shows the Window menu as selected from the PowerTools Pro Menu Bar.
Figure 21: Window Menu
Arrange Icons
No function.
Cascade
If the user has multiple configurations open simultaneously, selecting Cascade will neatly layer the windows so the title bars are visible and the active configuration is in front.
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 title bar on the window.
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 it as seen in Figure 21. By selecting a different file from this list, the selected file will become the active file.
4.4.8 Help
Figure 22 shows the Help menu as selected from the PowerTools Pro Menu Bar.
Figure 22: Help Menu
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.
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.
About PowerTools...
About PowerTools Pro will open a window that shows what revision of PowerTools Pro software is currently running.

4.5 Toolbar

4.5.1 New
4.5.2 Open
4.5.3 Save
Same as File > New from the menu bar. Selecting New will open a new PowerTools Pro configuration file. The user will be asked what type of configuration to create. For modules used with the Unidrive SP/Digitax ST, select SM-EZMotion Setup then the correct drive type.
Same as File > Open from the menu bar. Selecting Open will allow the user to open an existing application created with PowerT ools 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.
Same as File > 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.
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4.5.4 Print
Same as File > Print from the menu bar. Selecting Print will send the active file to the printer specified by the user. A Print Options dialog box will open allowing the user to specify which sections of the configuration are to be printed. By default, all sections will be printed. T o remove a given section from the printout, clear the specific check box by clicking on the check mark.
4.5.5 Upgrade Configuration
Same as File > Convert from the menu bar. PowerTools Pro will open the existing file at the same interface revision at which it was created. This means that not all of the latest features currently supported by PowerTools Pro may be available within the application file. If, after opening an existing file, a user wishes to upgrade the file to the latest interface revision so that all the latest features are available, it can be done by pressing the Upgrade
Configuration button. Upgrading to the latest revision could possibly change some of the operation of the module, so it is highly recommended to
save the file prior to upgrading it, in the event that one needs to revert to the original file. Once the file is upgraded, the user can then save the new file with a different name, and then download that file if they so choose.
When opening a new file, the Upgrade Configuration button will be unavailable because a new file is always created at the latest interface revision.
4.5.6 Upload
Same as Device > 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.
4.5.7 Download
Same as Device > 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 25 in this manual.
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4.5.8 Reconnect to Device
Same as Device > Reconnect from the menu bar.
4.5.9 Change Connection Path
Same as Device > Path Change from the menu bar. Selecting Change Connection Path will open the Path Change dialog box. The Path Change dialog box allows the user to change between the drive’s IP address or Com port used to download and upload.
4.5.10 Send to RAM
Same as Device > Update Drive from the menu bar. Selecting Update to Ram 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 Drive option will be unavailable on the
Edit menu. Parameter values only sent to RAM will be list when power is cycled.
4.5.11 Upload NVM
Selecting Upload NVM (Non-Volatile Memory) will read the current value from each of the parameters in EZMotion’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.
4.5.12 Disconnect
Same as Device > Disconnect from the menu bar. Selecting Disconnect will terminate communications between the PC and any nodes the PC is online with.
4.5.13 Add Index
Same as Edit > New > 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.
4.5.14 Delete Index
Same as Edit > Delete > Index from the menu bar. To delete an index, the user must select they specific index they wish to delete on the hierarchy tree. Once the index is selected, click Delete Index on the toolbar. Doing so will delete the index instance. Once the index is deleted, the data stored on the index view cannot be recovered. Can not be used while online.
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4.5.15 Add Program
Same as Edit > New > 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.
4.5.16 Delete Program
Same as Edit > Delete > Program from the menu bar. To delete a user program, the user must select the specific program they wish to delete on the hierarchy tree. Once the program is selected, click Delete Program on the toolbar. Doing so will delete the program instance. Once the program is deleted, the program code cannot be recovered. Can not be used while online.
4.5.17 View Current Errors
Same as Device > View Errors... from the menu bar. Selecting View Current Errors will open the Active Errors pop up window. The Active Errors window will show any error or trip conditions that have not been reset.
4.5.18 Clear Errors
Same as Device > 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.
4.5.19 Watch Window
Same as Tools > Watch Window from the menu bar. Selecting Watch Window will launch a diagnostics tool that allows the user to view the current value of multiple EZMotion parameters while online. For more information on the Watch Window, refer to Diagnostics on page 237 of this manual.
4.5.20 Drive Watch W indow
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 18.
4.5.21 Stop
Using the Stop button on the toolbar will stop all motion and programs that are currently active in EZMotion. The Stop button 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.
4.5.22 Feedhold
Same as Device > Feedhold from the menu bar. Selecting Feedhold will put 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 175 in this manual.
4.5.23 Global Where Am I?
Same as Device > Where Am I? from the menu bar. 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.
Program Toolbar.
The global Where Am I will continuously update until it is deactivated. This is different from the Where Am I found on the
4.5.24 Hide/Show Hierarchy Tree
Same as View > Show Navigation Tree on the menu bar. By default, the Hierarchy tree is visible on the PowerT ools Pro screen. Some users with low resolution monitors wish to hide the hierarchy tree to allow for more room while programming. To hide the hierarchy tree, select Hide/Show Hierarchy Tree from the toolbar to remove it from the display. If the hierarchy tree is not visible, select Navigation Tree to make it appear again.
4.5.25 Help Contents
Same as Help > 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 EZMotion and PowerTools Pro software.
4.5.26 Context Sensitive Help (CSH)
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 the CSH button on the toolbar, 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 a parameter on any of the PowerTools Pro views that the user wants help information for.

4.6 Hierarchy Tree

Figure 8 on page 12 shows the Hierarchy Tree as found in PowerTools Pro. The Hierarchy Tree 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 Tree. Once the user clicks on a given branch on the Hierarchy tree, that view is then displayed on the right-hand side of the screen.
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Groups on the hierarchy tree 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. T o collap se a group on the hierarchy tree, click on the “-“symbol next to the grouping. Doing so will hide all of the branches within that group.
Natural progression through the hierarchy tree, starting at the top, and working towards the bottom will step the user through the entire configuration. The Hierarchy tree starts at the top with Hardware, then moves on to Setup parameters, I/O Setup, Motion, and then finishes with Programs. When the user gets to the bottom of the hierarchy tree, the configuration should be ready to be downloaded to EZMotion.

4.7 View

Figure 8 on page 12 shows an example of a view in PowerTools Pro. A View will typically contain text boxes, list boxes, check boxes, 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 tree. To see a specific view, it must be selected on the PowerTools Pro hierarchy tree.
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4.8 View Tabs

Some views in PowerTools Pro (see explanation of view above) have tabs, in the bottom half of the view to organize more specific parameters. Some examples of View Tabs are Calculations and Online. An Online Tab is only visible when online (connected) 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 the 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 in order to see the Online Tab.

4.9 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, Communication Path, and Online Status. For more details, see the Diagnostics on page 237.
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5 Communications

5.1 Communications Protocol

PowerTools Pro communicates with the SM-EZMotion module using 32-bit Modbus RTU or Ethernet protocol.

5.2 Connecting the PC to the SM-EZMotion Module

5.2.1 Modbus
EZMotion communicates with the PC through the drive's RS-485 communication port. An RS-232 to RS-485 converter is necessary to communicate with the drive. The Unidrive SP/Digitax ST has a RJ45 serial port connector on the front of the drive.
Control Techniques offers a pre-made cable for this purpose called “CT Comms Cable" (previously named SE71). Figure 23 shows the CT Comms Cable.
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Figure 23: CT Comms Cable
The RJ45 connector is located under a small rubber flap on the front of the Unidrive SP just below the keypad and is located below the keypad on the front of the Digitax ST. The pin-out for this connector is the same for both Unidrive SP/Digitax ST and is described in the table below.
Pin Function
1 Termination Resistor 2RX TX 30 V 4+24 V 5 Not Used 6 TX Enable 7RX\ TX\ 8 Linked to Pin 7
5.2.2 Ethernet
Ethernet communication is only possible when a SM-Ethernet module is in one of the Unidrive SP/Digitax ST slots. The SM­Ethernet module communicates to the PC using a standard RJ45 connection to a 10 Mbps/100 Mbps Ethernet system. For more information on the SM-Ethernet module see the SM-Ethernet User Guide.

5.3 Configuring Communications in PowerTools Pro

When attempting to upload or download a configuration using PowerTools Pro, the software may need to be configured to the correct communication settings for the intended connection.
To configure the preferences, select Options > Preferences > Ptools Operation from the menu bar. Figure 24 shows the
Preferences window.
5.3.1 Communications Tab
This tab allows the user to select what communication connections are scanned when performing any communication operations. Default is all ports are scanned.
The serial communication baud rate can be changed, the drive baud rate and PowerTools Pro baud rate must match. When the Unidrive SP/Digitax STs are shipped from the factory, they are configured to communicate at a baud rate of 19200 baud.
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The user can configure the maximum number of node addresses they wish to poll when uploading 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. The default number is 4 with a maximum number of 32 node addresses.
Figure 24: PowerTools Pro Preferences Window - Communications Tab

5.4 Uploading and Downloading using PowerTools Pro

Figure 25 will be used throughout the Uploading and Downloading section of the manual to describe certain processes.
H
PC with PowerTools Pro
A B
F G
Non-User NVM
C
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RAM
User NVM
D
E
Figure 25: Memory Storage in the EZMotion
5.4.1 Uploading
Uploading is the process of reading the configuration stored in EZMotion and loading that data into a configuration file on the PC . Arrow B in Figure 25 represents a standard Upload. To upload a configuration from EZMotion, click the Upload button on the PowerTools Pro toolbar or on the Device menu, click Upload.
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Information
Introduction Installation
Pro Software
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Figure 26: Upload Drive Configuration Dialog Box
The Upload Drive Configuration dialog box will open, all communication connections are scanned and the results appear. 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 Revision
Module Revision
Module Serial Number
•Drive Serial Number
Select the device to upload and click Upload.
5.4.2 Downloading
Downloading is the process of sending the PowerTools Pro configuration from the PC to EZMotion. Changes made in PowerT ools Pro will not t ake ef fect until the information has been downloaded or the Update to RAM button has been clicked. Arrow A in Figure 25 represents a standard Download.
To download information to EZMotion, click on the Download button on the PowerTools Pro toolbar or select Device >
Download from the menu bar.
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Figure 27: Download Drive Configuration Dialog Box
Diagnostics Glossary Index
The Download to Device IDx (x = the node address of the drive) dialog box will open, all communication connections are scanned and the results appear. The Upload Drive Configuration dialog box contains the following information for every device found:
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IP Address/COM
Modbus Address ID
•Drive Type
Module Type
Communication Options
Base/Drive Revision
Module Revision
Module Serial Number
•Drive Serial Number
Select the device to download to and click OK.
5.4.3 Non-Volatile Memory (NVM) Options for Uplo ading 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.
Uploading
When uploading from EZMotion, the values that were last downloaded are uploaded and put into a PowerTools Pro configuration file (Arrow B in Figure 25). 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.
Figure 28: 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 in Figure 25). If No is selected, the values entered into the PowerTools Pro configuration file will remain the same as those that were last downloaded to EZMotion.
Downloading
When downloading to EZMotion the user will be required to select how to handle the NVM parameters upon downloading. Figure 28 shows the dialog box asking the user to select one of three options for the download.
Figure 29: Download NVM Option Window
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 Arrow A in Figure
25). The values that are in NVM prior to the download will be lost.
Update
This option will upload the current NVM parameter values from EZMotion 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 25. 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 values into the user configuration (Fir st Arrow H followed by Arrow A, but data from H is not stored in PowerTools Pro file).
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The table below shows an example of how these three options work:
PowerTools Pro Value
for Index.0.Vel NVM Value for
Index.0.Vel
5.4.4 Update to RAM
The Update to RAM button can be used to send changes to EZMotion without performing a complete download (symbolized by Arrow F in Figure 25). 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 > Download to EZMotion. The changes will take effect immediately upon clicking on the button.
The changed parameters will be sent to EZMotion 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 29 describes a typical process using the Update to RAM to make changes, and then downloading when complete to save changes to NVM.
Value Before Download
150 150 500 150
500 150 500 500
Modify Parameter
Values
Value After Download
Overwrite Option Update Option Keep Option
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Figure 30: Update to RAM flowchart
The Update to RAM button operates according to the following rules:
If no parameters have been modified, the Update to RAM button will be disabled.
If the user modifies a parameter that does not require a full download, the Update to RAM button will become enabled.
If while the button is enabled, the user modifies a parameter that requires a full download, the Update to RAM button will become disabled.
When the user clicks on the Update to RAM button, all the modified parameters are transmitted to EZMotion. Once transmitted, the button will become disabled again until another parameter is changed.
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.
If the user modifies parameters, and then disconnects (stops communications), the Update to RAM will be disabled, and the changes will not be sent.
5.4.5 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 > Preferences > Ptools Operation from the menu bar. Figure 30 shows the Preferences window.
Click the
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Required?
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Figure 31: PowerTools Pro Preferences Window - PopUps Tab
Following is a description of each of the preference settings:
Download Group
Ignore saving file on Ptools/Drive revision conversion
On a download PowerTools Pro first checks the revision of the EZMotion 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, PowerT ools 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 check box should be selected.
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
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.
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.
Keep - Remember the values and restore them after the download
When this radio 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.
Ask on each download
When this radio button is selected, the user will be prompted on every download to select either the Overwrite, Update, or Keep option. This is the default preference setting.
Upload Non-Volatile Memory (NVM) Group
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.
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.
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.
5.4.6 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
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to the EZMotion, all diagnostics capabilities in the software are lost. The only way to go online with the system again is to download the original (non-secure) file over the secure version, or to down load 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 > Save As on the menu bar. The following Save As window should appear on your screen.
Figure 32: Unidrive SP Secure File - Save As Window
On this window, select the "Save also as secure download format" check box located at the bottom of the window, then click Save. Doing so will save your file in BOTH the standard file format (.EZ_), as well as in the secure file format (.EZ_s). The _ in the file extension is a variable; .EZM is for Unidrive SP, .EZMB is for the Digitax ST-B drive and .EZME is for the Digitax ST-Z drive
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, click on Device menu, Secure Download command as shown in Figure 32.
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Figure 33: Secure File Download
A window will then open asking the user to select the secure file they wish to download. Select the secure file that was just saved, and click Open. This will download the secure file to the target device.
A secure file (.EZ_s) 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 EZMotion has been protected by the user. An example of this message is shown in Figure 33.
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Figure 34: Upload Failure - File Protected By User message
5.4.7 Change Path
PowerTools Pro allows the user to change between a drives communication IP address or Com port. It is used when the user
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has already selected a communication connection (Com port) and then wishes to change communication connection (Ethernet). To change communication path, click the Change Connection Path button on the PowerTools Pro toolbar or on the Device menu,
click Path Change.
Figure 35: Change Path Dialog Box
The Change Path dialog box will open, all communication connections are scanned and the results appear. The Change Path dialog box contains the following information for every device found:
IP Address/COM
Modbus Address ID
•Drive Type
Module Type
Communication Options
Base/Drive Revision
Module Revision
Module Serial Number
•Drive Serial Number
Select the devices communication connection you wish to change to and click OK.
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6 How Motion Works

EZMotion offers six different motion object types. These six types are Jogs, Home, Indexes, Gearing, Camming, and Torque Mode. 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, EZMotion has two different Profiles. This will be discussed further in the Summing Multiple Profiles on page 45 subsection.
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 Configuring an Application on page 47.

6.1 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 35shows an example of a Jog profile.
Velocity
Jog Velocity
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Figure 35: Jog Profile Diagram
The distance traveled by a Jog is entirely dependant on the duration that the Jog signal is held active. T o accurately control the distance the motor moves, an Index is the preferred motion object type.

6.2 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 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 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 EZMotion are Marker, Sensor, and Sensor then Marker. Following is a description of the three different Home types.
6.2.1 Home to Marker
Most motors used with the drive have an encoder mounted in the back end of the motor. This encoder is used to feed positional data back to the drive or EZMotion for position control. Each encoder has a special signal called the Encoder Marker Channel that activates once every revolution of the motor. EZMotion can use this Marker as a reference signal when executing a Home.
The Marker provides an extremely accurate means of homing the system. EZMotion will detect a rising edge of the 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 36 and 37 show examples of the Home to Marker profile, with calculated offset and with specified offset respectively.
Jog.PlusActivate
Jog Accel
Jog Decel
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Velocity
Home Velocity
Home Accel
Home Initiate
Encoder Marker
Figure 36: Home to Marker Profile (Calculated Offset)
Velocity
Home Velocity
Home Accel
Home Decel
Time
Home Offset
Home Decel
Time
Home Initiate
Encoder Marker
Figure 37: Home to Marker Profile (Specified Offset)
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6.2.2 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 38 and 39 show examples of the Home to Sensor profile, with calculated offset and specified offset respectively.
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Figure 38: Home to Sensor Profile (Calculated Offset)
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Figure 39: Home to Sensor Profile (Specified Offset)
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6.2.3 Home to Sensor then Marker
The Home to Sensor then Marker 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. EZMotion 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 40 and 41 show examples of the Home to Sensor then Marker profile, with calculated offset and specified offset respectively.
Velocity
Home Velocity
Home Accel
Home Initiate
Encoder Marker
External Sensor
Home Decel
External Sensor Activates wait for next Encoder Marker
Figure 40: Home to Sensor then Marker Profile (Calculated Offset)
Velocity
Home Velocity
Home Accel
Home Initiate
Home Offset
Home Decel
Time
Time
Encoder Marker
External Sensor Activates wait
External Sensor
for next Encoder Marker
Figure 41: Home to Sensor then Marker Profile Specified Offset)
6.2.4 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 EZMotion has pre-programmed solutions for this condition. The two options are explained below.
Back Off Before Homing
If the 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 42 shows the Home to Sensor profile when the Home Sensor is active when the home is initiated and Back Off Before Homing is selected.
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Velocity
de
+
Home Sensor is active when Home is initiated, so motor travels in negative direction
Home Velocity
Home Accel
Home Decel
Time
Information
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Home Accel
-
Home Initiate
External Home Sensor
Home Velocity
Home Decel
External Home Sensor Clears
Figure 42: Home to Sensor (Back Off Before Homing)
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 43 shows the Home to Sensor profile when the Home Sensor is active when home is initiated and Go Forward To Next Sensor is selected.
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Home Decel
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Figure 43: Home to Sensor (Go Forward To Next Sensor)

6.3 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.
6.3.1 Absolute Index
An Absolute Index is used to move the motor to a specific 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 44 and 45 show examples of an Absolute Index profile.
Figure 44: Absolute Index Profile (Example 1)
Home Initiate
External Home Sensor
First rising edge is used as Home reference
-2-4 -1 0 421
Starting Position: -2 Revs
x Position: 2 Revs
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Figure 45: Absolute Index Profile (Example 2)
de
de
n
de
NOTE
If Rotary Rollover is active, an Absolute Index will take the shortest path to the specified index position.
6.3.2 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 46 and 47 show examples of an Incremental Index profile.
-2-4 -1 0 421
Starting Position: 3 Revs
x Position: 2 Revs
In
Position (Revs)
2134 8765
Starting Position: 2 Revs In
x Distance: 4 Revs
Figure 46: Incremental Index Profile
2146 1412108
Starting Position: 2 Revs
x Distance: 3 Revs
In
Figure 47: Incremental Index - Repeated 3 Times
6.3.3 Correction Index
A Correction index is intended to continuously run on the second profile correcting any position drift. It will adjust the motor position based on changes to it's index.#.dist parameter. The Correction indexes use incremental distance values. Updates to the index distance while the correction index is executing will take effect immediately by recalculating the index on the fly. Another words, if this index is in progress and the distance value is changed, the move profile instantaneously recalculates based on the index's current position, speed and acceleration. Once the Correction index is initiated it will remain active until stopped by the user with the Profile.#.MotionStop function.
Example:
Correction index distance sources are user program calculations, fieldbus inputs or analog input values. The index distance value can be updated via Fieldbus, by simply writing to the index distance parameter. If the analog input's Destination Variable is set to the Index.#.Dist parameter, the index's distance value will be updated by the Analog Input. This can be set to a automatic refresh using the Analog Input view
6.3.4 Posn Tracker Cont Index and Posn Tracker Once Index
Posn Tracker Cont and Posn Tracker Once are indexes which expect their position values to be dynamically changed while executing. Position Tracker indexes use absolute position values. Posn Tracker Cont index once initiated, will remain active until stopped by the user with the Profile.#.MotionStop function. The Posn T racker Once index will accept position changes until the target position is reached, at which point the index is complete.
The index 's position value can be updated via fieldbus, by simply writing to the index position parameter. Posn Tracker Indexes are used to follow dynamic changes to the end point of the index prior to and during the index motion. If the analog input's Destination is set to an Index.#.distance, the index's position value will be updated by the Analog to Position scaling found in the Analog Input view.
Posn Tracker also accepts on the fly changes to index velocity, acceleration and deceleration. The index is recalculated on the next trajectory update.
6.3.5 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.
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 EZMotion, Unidrive SP/Digitax ST drive, or any SM I/O module. To
Positio (Revs)
Position (Revs)
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get the highest accuracy for the Registration to Sensor, an EZMotion digital input must be used to take advantage of the high­speed capture capability. Three Figures below show examples of a Registration Index to Sensor using different Offset values.
Velocity
Information
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Index Velocity
Index Accel
Index Initiate
Registration Sensor
Figure 48: Registration to Sensor Profile (Offset > 0)
Velocity
Index Velocity
Index Decel
Index Accel
Index Accel
Index Initiate
Index Registration Offset
Index Decel
Two areas are equal so motor ends at exact registration position
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Figure 49: Registration to Sensor Profile (Offset = 0)
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Index Velocity
Index Accel
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-
Index Initiate
Registration Sensor
Figure 50: Registration to Sensor Profile (Offset < 0)
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6.3.6 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 < Rotary Rollover). Figure 51 compares a Rotary Plus Index to an Absolute Index (Rotary Rollover is enabled).
270
o
(Forced Positive)
o
270
Rotary Rollover: 360
o
0
o
180
Rotary Plus
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o
180
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Index Position: 270
Position After Index
o
o
90
270
o
90
o
o
0
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180
Absolute
(Shortest Path)
90
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Figure 51: Rotary Plus Index Profile
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6.3.7 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 negative direction to get to its programmed position. The programmed position for a Rotary Minus Index must be within the Rotary Rollover range (Posn < Rotary Rollover). Figure 52 compares a Rotary Minus Index to an Absolute Index (Rotary Rollover is enabled).
Starting Position
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0
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Figure 52: Rotary Minus Index Profile
6.3.8 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, EZMotion 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 53 shows an example of a Timed Index profile.
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o
270
Rotary Rollover: 360
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0
o
180
Rotary Minus
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180
o,
Index Position: 180
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o
90
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90
o
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Absolute
(Shortest Path)
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Figure 53: Timed Index Profile
In some cases, an index time is calculated based on other parameters in a user program. T o avoid possible machine damage, the user can specify maximum values for accel, velocity, and decel. Therefore, when 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.
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6.4 Gearing

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:
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 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 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 54 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
MV
3
Gear Ratio =
# of Follower Distance Units
1 Master Distance Unit
Programmed
Gear Accel Rate
MV
2
MV
1
T
1
T
2
T
3
Time
Gear
Initiate
T
< T2 < T3 = The greater the master velocity (MV) the
1
longer it takes to accelerate to the Gear Ratio.
Figure 54: 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.
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6.5 Camming

Electronic cams provide a non-linear motion function for a single axis. The basic motion can best be illustrated in 55 below of a mechanical cam and cam follower (or slave).
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180
225
270
MASTER
AXIS
FOLLOWER AXIS
(SLAVE)
315
0
45
90
135
180
Figure 55: Mechanical Master and Slave Follower
As the master axis (the cam lobe) rotates, the follower axis produces a non-linear motion profile. This same profile can then be produced with a single motor driving a linear axis programmed with an electronic cam.
The cam motion object uses a master/follower principal in a synchronized mode and also has a follower with Realtime mode that allows the follower to travel through its cam table without a physical master axis moving.
Control Techniques provides a Cam as a collection of cam table(s) that can be used individually of chained together to form a full sequence of motion. Each cam table is a user specific sequence of movements whereby the user can specify the master and follower movement along with the interpolation type. Coupled with a user program to monitor the flow, the motion can dynamically be altered by changing the cam table chains selecting a different sequence of tables. You can further adjust the flow by dynamically changing the cam tables themselves or using a cam table time base index to adjust time or distance.
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As an alternative, the cam is initiated in the same manor as jogs, home and indexes.
Figure 56: Camming View

6.6 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 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 acceleration 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 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 following table.
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Synchronized
Follower Distance Units Master Distance Units Vel. Timescale Accel Timescale Velocity Units Accel/Decel Units
Inches MstrInch N/A N/A
Revs MstrRev N/A N/A
Degrees MstrInch N/A N/A
Inches/
MstrInch
Revs/
MstrRev
Degrees/ MstrInch
Inches/MstrInch/
Revs/MstrRev/MstrRev
Degrees/MstrInch/

6.7 Summing Multiple Profiles

Motor motion or "Axis" motion may be generated from either of two Profiles: Profile.0 and Profile.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 are 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.0 and therefore it is 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 view is automatically run on Profile 0. It is not possible to change 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 57 shows an example to two separate profiles (Index 0 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.
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Velocity
200
Velocity
-100
Velocity
200
100
Index 0 Profile 0
Index 1 Profile 1
Time
Time
Index 0 plus Index 1
Time
Summed Profile
Index 0 Initiate
Index 1 Initiate
Figure 57: Two Indexes Summed Profile
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8 Configuring an Application

8.1 Introduction

All applications using EZMotion are configured using PowerTools Pro configuration software. For specific questions on PowerTools Pro operation, please refer to PowerTools Pro Software on page 11 of this manual.
The hierarchy tree in PowerTools Pro gives the user a basic template on how to configure an application. The user should start at the top of the hierarchy tree, filling out necessary parameters on the different views, working all the way to the bottom of the hierarchy tree. Once the user is more familiar with the software, they may choose to skip various views.
By following the hierarchy tree from top to bottom, the user will start by configuring the hardware that EZMotion 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, Torque Limits, etc.). Next, the user configures any devices or variables that are needed in the application. Then the Digital and Analog I/O for the drive, EZMotion, and any SM I/O module. The user then defines all of the different motion profiles (Jogs, Homes, Indexes, Gearing, Camming) to be used in the application. After the hardware, setup parameters, devices/vars, 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.

8.2 Define Hardware

8.2.1 Drive/Encoder View
The Drive/Encoder view allows the user to configure the Drive Type and Encoder Type being used in the application. Figure 58 shows the Drive/Encoder view.
Drive Type
The Drive Type list box show the available drive models.
Motor Type
The Motor Type list box shows the available motors in the .ddf file.
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Figure 58: Drive/Encoder View -SM-EZMotion/Unidrive SP Setup
Motor Configuration (Servo/Closed-loop Vector) - SM-EZMotion/Unidrive SP Only Drive mode Selection List Box
The Unidrive SP is capable of running in different operating modes. These modes are as follows:
1. Open Loop Mode (Volts/Hz)
2. Open Loop Vector Mode
3. Closed Loop Vector Mode
4. Servo Mode
5. Regen Mode
However, the SM-EZMotion module is only able to control the drive while in modes 3 and 4 listed above (Closed-loop Vector Mode and Servo Mode). The user must select which operating mode their application will use in the Drive mode list box. Based on the setting of this parameter, many different views and t abs within PowerTools Pro will change to use the appropriate parameters. When this selection is changed, the user will be taken to the Motor Tab on the Drive/Encoder view so that the necessary motor parameters can be entered.
The SM-EZMotion module will also automatically change the drive mode to match the mode selected in this list box on every power-up or warm start.
Thermistor Mode Enable
If the motor attached to the Unidrive SP/Digitax ST drive has a thermistor or thermal switch for thermal protection, then this
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check box should be selected. If the motor does not have a thermistor or thermal sensor, then the check box should be clear. If the check box is selected, the drive monitors the thermal device to determine if the motor is over-heated, in which case a “th” trip
will activate on the Unidrive SP/Digitax ST. Internally, this check box is used to configure the thermistor feature inside the Unidrive SP/Digitax ST drive. The functionality is as
follows: If check box is selected:
EZMotion sets the Unidrive SP/Digitax ST “Analog Input 3 Mode” to Thermistor without Short-Circuit Detection Mode on power up by setting Pr 7.15 = 8.
If check box is cleared:
EZMotion checks Analog Input 3 Mode on power-up by reading Pr 7.15. If Pr 7.15 = 8, then EZMotion changes the mode to Voltage Mode by setting Pr 7.15 = 6. If 7.15 <> 8 then EZMotion does not modify the value of Pr 7.15.
For more details on functionality of thermistor mode, see parameter 7.15 in the Unidrive SP Advanced User Guide or the Digitax ST User Guide.
SM-EZMotion/Unidrive SP Only - file to configure parameter 7.15 in the Unidrive SP drive. If an old file has been upgraded to work with this feature, it may be necessary to remove the line from the Drive Menu Initialize file that configures this parameter (i.e. Menu.7.15 = 8 ‘Analog Input 3 should be….). For more information on this, see the Drive Menu Initialize View on page 73.
NOTE
This parameter only applies to thermal devices connected to the Unidrive SP/Digitax ST Encoder Port or Pin 8 on the Unidrive SP Control Connectors and NOT to thermal devices connected to the encoder port on a SM-Universal Encoder Plus module. Users must employ parameter x.12 on the encoder module if the thermal device is attached to the module.
Prior to addition of this check box to PowerTools Pro, SM-EZMotion used the Drive Menu Initialize
Braking Resistor Temperature Monitor Disable - Digitax ST Drives Only
When this check box is clear the internal braking resistor temperature will be monitored. Select the check box if no internal braking resistor is installed in the drive or to disable the br.th trip (seeFigure 59).
Motor Tab
Figure 59: Drive/Encoder View - Motor Tab, Digitax ST-Z Application
The Motor Tab on the Drive/Encoder view is used for many different functions:
1. To see/verify the motor data for a standard motor that has been selected
2. To create a new motor entry in the .ddf file
3. To Run an Auto-Tune
4. To store Auto-Tune results into an existing configuration
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The primary function of this tab is to define the parameters for the given motor that is to be connected to the Unidrive SP/ Digitax ST. Depending on whether the user selects Servo mode or Closed-loop Vector mode (Unidrive SP only), the motor parameters on this tab will be very different. This is because servo motors and vector motors are very different in design and operation.
Following is a description of all the different functions on the Motor Tab.
Use Motor Data From .ddf File Check Box
When selecting a motor for use with the drive and EZMotion, the user has two basic options:
1. Use a motor that already exists in the standard motor file (SPStdMotor.ddf) or custom motor file (SPMotor.ddf).
2. Create a custom motor that has not been used before.
When selecting option 1 from above (use an existing motor), the user simply selects one of the motors from the Motor Type list at the top of the Drive/Encoder view. Once the user selects a motor from the Motor Type list, the data for that motor is read from the pertinent .ddf file and then is displayed in the Motor Parameters column on the Motor tab (see Figure 59). The parameters in this column will be dimmed and unavailable because the motor information comes directly from the .ddf file.
If the user wishes to edit one or more of the parameters read from the .ddf file, it is necessary to clear the “User Motor Data From .ddf File” check box. Clearing the check box will break the “link” between the motor data displayed on this view, and the motor data in the .ddf file. This is necessary because as soon as the user changes any of the values, it no longer matches the .ddf file, and is now in effect a “custom motor”. When the “User Motor Data From .ddf File” check box is cleared, all of the values in the Motor Parameters column will become available, and the Motor Name will be changed to “New Motor” so that there is no association with the existing motor that was previously selected. The user can now change any of the values as desired and give the motor a new name. Once the values have been changed, the motor data only exists within the active configuration. To save the new values into the .ddf file, the user must click the Save .ddf Values button on the right side of the tab.
8.2.2 Motor Parameters Column
Motor Parameters column is a column of data displayed on the Motor tab within the Drive/Encoder view (See Figure 59). This column of data contains the values for each of the motor data parameters. The values in this column are unavailable if the “Use Motor Data From .ddf File” check box is selected. This means that since the data is associated with the .ddf file, it cannot be changed. The values in this column become available when the “Use Motor Data From .ddf File” check box is cleared. The user can then change one or more of the parameter values because there no longer linked to data in the .ddf file.
If the user does edit motor parameter values on this tab, then those values are only stored within that particular configuration file. In order to save the values to the .ddf file, the user must click the “Save .ddf Values” button on the right side of the tab.
The parameters displayed in the Motor Parameters column will change depending on what is selected (Servo or Closed-loop Vector) in the Drive mode list box on the Drive/Encoder view.
8.2.3 Servo Motors
When Servo is selected from the Drive mode list box or the application file is for a Digitax drive, the user must either select one of the pre-configured servo motors from the Motor Type list or create a new servo motor data file by editing the Motor Parameters column.
Following list of parameters and descriptions are necessary for configuration of a servo motor:
Motor 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 Drive/Encoder view in PowerTools Pro.
Peak Current
Specifies the peak current allowed by the motor. The 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.
Continuous Current
Specifies the continuous current allowed by the motor. It is used to determine the Unidrive SP/Digitax ST 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.
Motor Poles
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.
Rotor Inertia
This parameter specifies 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.
Motor Ke
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.
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Phase Resistance SP
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.
Phase Inductance SP
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.
Max Operating Speed
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.
Thermal Time Constant
Specifies the Thermal Time Constant of the motor . This parameter is used by the Unidrive SP/Digitax ST 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 or the Digitax ST User Guide (parameters 4.15, 4.16, and 4.19).
Encoder Phase Angle
This is the angle between rising edge of the V commutation signal and the peak of VVW back EMF 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 or Digitax ST User Guide for more information (parameter 3.25).
8.2.4 Closed-loop Vector Motors- SM-EZMotion/Unidrive SP Only
When the user has selected Closed-loop Vector from the Drive mode list box, the user must either select one of the pre-configured vector motors from the Motor Type list or create a new vector motor data file by editing the Motor Parameters column.
Following is list of parameters necessary for configuration of a Vector motor and a description of each:
Motor 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 Drive/Encoder view in PowerTools Pro.
Peak Current
Specifies the peak current allowed by the motor. The valid range is 0.00 to 9999.99 Amps (rms). The motor manufacturer may or may not provide the peak current data. If no value is provided by the manufacturer, a typical value to use can be 2 times the Full Load Rated Current of the motor. For exact value for this parameter, it may be necessary to contact the motor manufacturer.
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.
Full Load Rated Current
This parameter specifies the rated continuous current for the motor. Motor data sheets refer to this as the Full Load Rated Current. The valid range is 0.00 to 9999.99 Amps (rms). The motor manufacturer provides this information.
Some manufacturers refer to this value as Full Load Amps or F/L Amps.
NOTE
Since many induction motors can be wired to operate using either 200 V or 400 V supply ranges, it is important to use the Full Load Rated Current at the desired Voltage Rating.
Rated Voltage
This parameter specifies the motors rated operating voltage. This value is usually printed on the motor nameplate as well as on a motor data sheet provided by the motor manufacturer. The range for this parameter is dependant upon what drive is being used. For Unidrive SPs rated for 200V, this parameter ranges from 0 Vac to 240 Vac. For Unidrive SPs rated for 400 V, this parameter ranges from 0 Vac to 480 Vac.
NOTE
Since many induction motors can be wired to operate using either 200V or 400V supply ranges, it is important to use the proper nameplate ratings based on the selected supply voltage.
Motor Poles
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.
If the manufacturer does not provide the motor poles information, there is a simple calculation that allows you to determine the # of poles based on several known parameters. The calculation is as follows:
# of Poles = (2 * Rated Frequency * 60) / Motor Synchronous Speed
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The synchronous speed of the motor is the rated speed without slip taken into account.
Rotor Inertia
This parameter specifies 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.
Rated Frequency
This parameter specifies the Rated Frequency of the motor. The applied frequency will directly affect the speed of the motor. This value is usually printed on the motor nameplate as well as on a motor data sheet provided by the motor manufacturer. The range for this parameter is 0.0 to 1250.0 Hz.
Phase Resistance SP
Specifies the phase resistance of the motor. You can determine this value by measuring the resistance between any motor phase and ground with an ohmmeter. 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 motor files created for En, Epsilon, or MDS drives.
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Transient Inductance
Specifies the phase inductance of the motor. This is the inductance measured from phase to ground, NOT phase-to-phase. The range is 0.00 to 5000.00 mH.
Max Operating Speed
This parameter specifies the maximum speed of the motor when used with a variable speed drive to achieve velocities over the rated base speed of the motor.
This parameter is not to be confused with the Full Load Rated Speed of the induction motor . The motor manufacturer typically provides this value. The range for the Max Operating Speed is 40000.0 rpm (depending on encoder resolution).
Full Load Rated Speed
This parameter specifies the rated speed of the motor that would be achieved if the motor were attached directly to the rated line voltage. The motor manufacturer typically provides this information. The range for the Full Load Rated Speed is 0.0 to
40000.0 rpm (depending on encoder resolution).
Some manufacturers refer to this parameter as Base Speed, Base RPM.
Thermal Time Constant
Specifies the Thermal Time Constant 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 SPAdvanced User Guide (parameters 4.15, 4.16, and 4.19).
Rated Power Factor
This parameter specifies the motor rated full load power factor. Power Factor is the angle between the motor voltage and motor current vectors. This parameter can be provided by the user, or can be measured using the Auto-Tune feature of the Unidrive SP (described later). The range for the Power Factor parameter is 0.000 to 1.000.
Stator Inductance
This parameter specifies the motor stator inductance and is defined as the inductance of the motor stator when rated flux is applied. This parameter is used to create velocity loop gains for the SM-EZMotion module and Unidrive SP. This value can be provided by the motor manufacturer, or can be measured using the Auto-Tune feature of the Unidrive SP (See Run Auto-Tune Button on page 52). The range for the Stator Inductance is 0.00 to 5000.00 mH.
Motor Kt
This parameter specifies the torque constant of the motor, which is defined as the amount of torque produced per Amp. The units for this parameter are (N*m) / Amp. This parameter can be provided by the motor manufacturer, or can be measured by using the Auto-Tune feature (explained later). The range for this parameter is 0.00 to 500.00 Nm/A.
Saturation Breakpoint 1
The rated level of flux in most induction motors causes saturation. Therefore, the flux against flux producing current characteristic is non-linear. The effects of saturation are to cause a step increase in torque when operating in torque mode as the speed increases into the field- weakening region. The user can simulate the non-linear behavior by defining two breakpoints on the flux vs. magnetizing current curve. This information is often not provided by the motor manufacturer, but can be measured by using the Auto-Tune feature (See Run Auto-Tune Button on page 52). The range for the Saturation Breakpoint is 0 to 100% of rated flux.
For more information on the Saturation Breakpoint parameter, please refer to the Unidrive SP Advanced User Guide.
Saturation Breakpoint 2
See Saturation Breakpoint 1.
8.2.5 Values from Drive Column
The Values from Drive column is a group of parameters that are constantly being read from the Unidrive SP. The theory of operation is that the user will often perform an Auto-Tune function that reads/measures/calculates data. The results of those measurements are read from the drive and displayed in the Values from Drive column. Once they are displayed in PowerTools
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Pro (in the Values From Drive column) the user can apply those values to the Motor Parameters column by clicking on “Apply to Config.”, in the middle of the Motor tab (this button looks like a series of arrows pointing from the Values from Drive column towards the Motor Parameters column).
The values in the Values from Drive column are not saved as part of the configuration file. To save these values, the user must use the Apply to Config button to save them.
This column is only functional when online with EZMotion. When offline, the values in the Values from Drive column will all read zero.
8.2.6 Apply to Config. Button
When the user runs the Auto-Tune feature available in the Unidrive SP/Digitax ST, PowerTools Pro reads the results of the Auto­Tune and displays them in the Values from Drive column of the Motor tab. After the Auto-Tune, the measured values are only saved in the Drive NVM, and not in EZMotion. Therefore, in order to store the values in EZMotion, the Auto-Tune values must be applied to the configuration file. When the user presses Apply to Config., the values in the “Values From Drive” column are transferred into the Motor Parameters column. Then the values must be downloaded by downloading the entire configuration file using Device >
Download.
8.2.7 Run Auto-Tune Button
The Unidrive SP and Digitax ST drive have the ability to run an Auto-Tune operation thereby measuring several different motor parameters. Doing so allows the drive to obtain certain parameters that are not typically provided by the motor manufacturer, and also optimizes other drive parameters to work properly with the connected motor/load.
PowerTools Pro allows the user to initiate this Auto-Tune feature from the Motor tab on the Drive/Encoder view. There are several different Auto-Tune procedures that can be used depending on the Drive mode selected on the Drive/Encoder
view. These procedures are as follows: While in Servo mode, there is only a single test that measures Motor Phase Resistance, Motor Phase Inductance, and Encoder
Phase Angle.
Figure 60: Auto-Tune Window - Servo Mode
SM-EZMotion/Unidrive SP Only - While in Closed-loop Vector mode, there are two different test modes. Auto-Tune Mode 1 measures the Motor Phase Resistance and Motor Phase Inductance. Auto-Tune Mode 2 measures the same parameters as Auto­Tune Mode 1 in addition to the Motor Stator Inductance and Saturation Breakpoints 1 and 2.
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Figure 61: Auto-Tune Window for Closed-Loop Vector Mode
To initiate an Auto-Tune from within PowerTools Pro, click on the Run Auto-Tune button on the right side of the Motor tab on the Drive/Encoder view. The Auto-Tune window opens and contains warnings and instructions related to the Auto-Tune procedure, as well as selection of the Auto-Tune mode.
Some Auto-Tunes cause motion while others do not. Some Auto-Tunes should be run with the motor unloaded, and others with the load attached. It is important to read and understand the warnings and instructions on the Auto-Tune windows. Examples of the Auto-Tune window is shown in Figure 60 and Figure 61.
Entering Motor Data
When entering motor data parameters, some parameters are absolutely crucial to fundamental motor operation, while others are necessary only for optimum performance. The following chart defines the level of necessity for each motor data parameter.
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Servo Mode
Motor Parameter Required For
Operation
Motor Name Yes
Peak Current Yes Yes
Continuous Current Yes Yes
Motor Poles Yes Yes Rotor Inertia Yes
Motor Ke Yes
Phase Resistance SP Yes
Transient Inductance SP Yes
Max. Operating Speed Yes Yes
Thermal Time Constant Yes
Encoder Phase Angle Yes Yes
Closed Loop Vector Mode - SM-EZMotion/Unidrive SP Only
Motor Parameter Required for
Operation
Motor Name Yes
Peak Current Yes Yes
Full Load Rated Current Yes Yes
Rated Voltage Yes Yes
Motor Poles Yes Yes Rotor Inertia Yes
Rated Frequency Yes Yes
Phase Resistance SP Yes Yes
Transient Inductance Yes Yes
Max. Operating Speed Yes Yes
Full Load Rated Speed Yes Yes
Thermal Time Constant Yes
Rated Power Factor Yes
Stator Inductance Yes
Motor Kt Yes Saturation Breakpoint 1 Yes Saturation Breakpoint 2 Yes
Required for Excellent
Operation
Required for Excellent
Operation
In some cases, the certain motor parameters are handled differently based on the values entered by the user.
If the Stator Inductance is set to a value of zero, then the user MUST provide a value for the motor Rated Power Factor in order to run the motor. That value specified by the user is written to parameter 5.10 and is used in the control algorithm. However, if the user enters a non-zero value for Stator Inductance, then the Unidrive SP runs a background task that continuously calculates the motor Rated Power Factor Value. In this case, the user-entered value for Power Factor is ignored.
Using the Auto-Tune Feature
The Auto-Tune feature in the Unidrive SP and Digitax ST can help us to measure certain motor parameters that are not provided by the motor manufacturer or are not easily accessible. The following chart shows which parameters must be entered in order to run an Auto-Tune, and which parameters are measured by the Auto-Tune.
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Servo Mode
Motor Parameter Needed to Run Auto-Tune Measured by Auto -Tune Mode #
Motor Name
Peak Current Yes
Continuous Current Yes
Motor Poles Yes
Rotor Inertia
Motor Ke
Phase Resistance SP 1, 2
Transient Inductance SP 1, 2
Max. Operating Speed Yes
Thermal Time Constant
Encoder Phase Angle 2
In addition to the above list, the user must set the Encoder Type and Encoder Lines Per Rev properly before running the Auto­Tune procedure.
Closed Loop Vector Mode - SM-EZMotion/Unidrive SP Only
Motor Parameter Needed to Run Auto-Tune Measured by Auto -Tune Mode #
Motor Name
Peak Current Yes
Full Load Rated Current Yes
Rated Voltage Yes
Motor Poles Yes
Rotor Inertia
Rated Frequency Yes
Phase Resistance SP 1, 2
Transient Inductance 1, 2
Max. Operating Speed Yes
Full Load Rated Speed Yes
Thermal Time Constant
Rated Power Factor 2
Stator Inductance 2
Motor Kt 2 Saturation Breakpoint 1 2 Saturation Breakpoint 2 2
In addition to the above list, the user must set the Encoder Type and Encoder Lines Per Rev properly before running the Auto­Tune procedure.
8.2.8 Save .ddf Values Button
Once the user has entered the data for the motor they are using, they may or may not wish to save the motor data to the SPMotor.ddf file so it can be easily recalled at a later time. If the user does not save the motor data to the SPMotor.ddf file, then the motor data will only reside in the specific application configuration file that it has been entered into.
In order to save the motor data to the SPMotor.ddf file, the user simply clicks on Save .ddf Values on the Motor Tab. Doing so will take all the parameter values and write them to the SPMotor.ddf file automatically.
When saving to the .ddf file, if PowerTools Pro finds that a motor already exists with the same name, the User Defined Motor Name Conflict dialog box shown in Figure 62 will appear. The user must then decide how to proceed with saving the motor data .ddf file.
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Figure 62: User Defined Motor Name Conflict
The User Defined Motor Name Conflict dialog box presents the user with four options on how to proceed with saving the motor data. Those four options are.
1. Create New Motor entry In .DDF File
The user can select to keep the existing data and create a new entry into the SPMotor.ddf file with a different name. After selecting this option, the user simply enters a new name in the Please Enter Name text box, shown in Figure 62. Then click OK, the data will be written to the .ddf file using the new motor name.
2. Overwrite existing .DDF file motor entry
The user can select to overwrite the existing data in the .ddf file with the current data in the Motor Parameters column. If this option is selected, the data in the .ddf file will be overwritten and lost forever. The overwritten data cannot be recovered.
If the user attempts to overwrite data for a Standard Motor (in the SPStdMotor.ddf file), the operation will be canceled and the user will be notified that they cannot proceed. Figure 63 shows the error message that will be produced when the user attempts to overwrite a standard motor. In this case, the user would need to change the motor name before saving to the .ddf file.
Figure 63: Error Message - Overwriting a Standard Motor .ddf file
3. Load and Use Motor Parameters From .ddf File Defined Motor
If this option is selected, the motor data in the SPMotor.ddf or SPStdMotor.ddf file for the matching Motor Name will overwrite the data in the Motor Parameters column. After this option is selected, the Use Motor Data From .ddf File check box will be selected, and all the parameter values will be unavailable.
4. Retain existing defined Motor parameters as Appl defined
If the user selects this option, the values in the Motor Parameters column will not be written to the SPMotor.ddf file, and the values will only reside within the configuration file. The specific motor data values will not be available for selection in the Motor Type list box because they are not saved to the .ddf file. The “Save .ddf Values” operation is in effect canceled.
Existing Motor Names List
This list box is part of the User Defined Motor Name Conflict dialog box and contains all the names of the motors that exist in the SPMotor.ddf and SPStdMotor.ddf files. When selecting a new name, it is important to select a name that is not already displayed in the list box.
Parameters Not Matching List
This list box is part of the User Defined Motor Name Conflict dialog box and displays the parameter value(s) from the Motor Parameters column that do not match the equivalent parameter value in either the SPStdMotor.ddf or SPMotor.ddf files, for the motor with the matching name.
This helps the user to determine whether they wish to overwrite, cancel, or create a new motor with this Save .ddf Values operation.
8.2.9 Help Button
The Help button, located on the right side of the Motor tab, will display help information for the different functions available on the tab.
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8.3 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. The Unidrive SP has three slots available and the Digitax ST has two slots. When a new application file is started for the Digitax ST EZMotion drive the EZMotion is automatically set in PowerTools Pro.
8.3.1 Empty Slot View
If Empty Slot is selected in the Slot# Module list box, the remainder of the view should be blank. The hierarchy tree automatically updates to show that no module is populated in the specific slot, see Figure 64.
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Figure 64: Slot # View (Empty Slot)
8.3.2 EZMotion Module View
If EZMotion is selected in the Slot# Module list box, the remainder of the view should be blank. The hierarchy tree automatically updates to show that an SM-EZMotion module is populated in that specific slot, see Figure 65.
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Figure 65: Slot # View (SM-EZMotion Module)
8.3.3 SM-I/O Plus Module View
If I/O Plus is selected in the Slot# Module list box, the remainder of the view should have configuration parameters for the modules Digital Inputs and Outputs. The hierarchy tree automatically updates to show that an SM-I/O Plus module is
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populated in that specific slot, see Figure 66.
Figure 66: Slot # View (SM-I/O Plus Module)
8.3.4 SM-Universal Encoder Plus Module View
If Universal Encoder Plus is selected in the Slot# Module list 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 tree automatically updates to show that a SM-Universal Encoder Plus module is populated in that specific slot, see Figure 67.
Figure 67: Slot # View (SM-Encoder Plus Module)
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Encoder Configuration - Encoder Type
This parameter is available only when using a SM-Universal Encoder Plus module. The Encoder Type list box provides direct access to parameter x.15 from the SM-Universal Encoder Plus module configuration menu. This parameter allows one SM­Universal Encoder Plus module to support many different encoder types. Select the desired type of encoder from this list box. See the SM-Universal Encoder Plus section of the SM-EZMotion User Guide or the SM-Universal Encoder Plus User Guide for more information.
Sin Cos Hiperface (Stegmann comms)
Encoder Setup Parameters Encoder Supply Voltage
Because of the wide variety of encoders supported by the Unidrive SP/Digitax ST with the SM-Universal Encoder Plus module, the user must have the ability to define the voltage supplied to the encoder hardware. The available voltage levels are 5 V, 8 V, and 15 V and are selectable from the list box on the Encoder view.
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NOTE
Be sure not to configure a supply voltage greater than that supported by the encoder. The Unidrive SP/Digitax ST and SM­Universal Encoder Plus cannot protect against possible damage to the encoder if the supply voltage is set too high.
Enable Auto Encoder Configuration Check box
When a SC.Hiper, SC.EnDat, or EnDat encoder is being used, the Unidrive SP/Digitax ST and/or SM-Universal Encoder Plus module can interrogate the encoder on power-up, and acquire many of the encoder setup parameters automatically. To enable this feature, select the Enable Auto Encoder Configuration check box. When the check box is selected (enabled) the Encoder Turns, Encoder Comms Resolution, and Equivalent Lines Per Revolution parameters will appear dimmed implying that the user no longer needs to configure those parameters. If the check box is cleared, then the user must specify the correct values for these three parameters (Encoder Turns, Encoder Comms Resolution, and Equivalent Lines Per Revolution).
The aforementioned encoder parameter values are stored in non-volatile memory (NVM) embedded in the encoder. The values stored in NVM cannot be changed by the user.
Encoder Turns
This parameter determines the maximum number of revolutions before the Rev Counter register (3.28 or x.04) rolls over. If using an absolute encoder, this parameter should be set to the maximum number of turns or lower. The maximum number of turns is defined as follows:
Maximum # of Turns = 2
N
, where N is the Encoder Turns parameter
The Encoder Turns box will appear dimmed when the Enable Auto Encoder Configuration check box is selected because the information will be read from the encoder.
Encoder Comms Resolution
Encoder communications is used to initially read the absolute encoder position (SC.Hiper or SC.EnDat), the comms resolution must be set to the maximum resolution of the absolute position data.
If the Enable Auto Encoder Configuration check box is selected, then the user does not need to enter this parameter, and the Encoder Comms Resolution box will appear dimmed.
Equivalent Lines Per Revolution
When sin/cos signals are used, the equivalent number of encoder lines per revolution must be set up correctly to give the correct speed and position feedback. The Equivalent Lines Per Revolution (ELPR) is defined as follows:
Position Feedback Device ELPR
Ab Number of lines per revolution
Fd, Fr Number of lines per revolution / 2
SC.Hiper, SC.EnDat, SC.SSI Number of sine waves per revolution
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For SC.Hiper, SC.EnDat and SC.SSI encoders, the sine wave signal frequency can be up to 166 kHz, but the resolution is reduced at higher frequencies. The table below shows the number of bits of interpolated information at different frequencies and with different voltage levels at the drive encoder port. The total resolution in bits per revolution is the ELPR plus the
EZMotion
Parameters
Used by
number of bits of interpolated information.
Volt / Freq 1,000 5,000 50,000 100,000 150,000
1.2 1111111010
Diagnostics Glossary Index
1.0 11 11 10 10 9
0.8 10101010 9
0.6 101010 9 9
0.4 99998
If the Enable Auto Encoder Configuration check box is selected, then the user does not need to enter this parameter, and the Equivalent Lines Per Rev box will appear dimmed.
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Lines Per Rev Divider
The Equivalent Lines Per Revolution (ELPR) parameter is divided by this value. This can be used when an encoder is used with a linear motor where the number of counts or sine waves per pole is not an integer.
Example:
The true number of encoder lines per rev (or electrical cycle) is 128.123. Since the Equivalent Lines Per Rev (ELPR) parameter must be a whole number, ELPR should be set to 128123, and then the Lines Per Rev Divider would be set to 1000 resulting in the following equation:
Actual Encoder Lines Per Rev = ELPR/Lines Per Rev Divider
= 128123 / 1000 = 128.123
Encoder Comms Baud Rate
This parameter defines the baud rate for the encoder communications. When using Hiperface encoders, the baud rate is fixed at 9600 and cannot be changed.
Simulated Encoder Output Parameters Encoder Simulation Source
The SM-Universal Encoder Plus module has a feature that allows the user to send out a simulated encoder output signal for use by an external device. The Encoder Simulation Source is used to define the source of the encoder signal. By default, the Source will be configured as the SM-Universal Encoder Plus position (x.05). Any drive parameter in the form of a 0-65535 rollover counter can be used as the source parameter. Use this field to enter the desired drive source parameter (between 00.00 and 21.51).
By default, EZMotion configures the simulated output to work in Quadrature mode. In order to change the mode, the user will have to change the Drive Menu Initialization file.
Encoder Simulation Numerator
To add some flexibility to the Simulated Encoder Outp ut signal, the SM-Universal Encoder Plus module allows the user to scale the output signal by multiplying the source with scaling factor. The scaling factor is made up of a numerator and denominator allowing the user to achieve nearly any ratio. By default, the Numerator and Denominator are 1.000 implying that the actual output value is equal to the Source value. Following is an equation that defines the use of the Numerator and Denominator parameters.
Simulated Encoder Output Signal = Simulated Encoder Source * (Numerator/Denominator)
Encoder Simulation Denominator
To add some flexibility to the Simulated Encoder Outp ut signal, the SM-Universal Encoder Plus module allows the user to scale the output signal by multiplying the source with scaling factor. The scaling factor is made up of a numerator and denominator allowing the user to achieve nearly any ratio. By default, the Numerator and Denominator are 1.000 implying that the actual output value is equal to the Source value. Following is an equation that defines the use of the Numerator and Denominator parameters.
Simulated Encoder Output Signal = Simulated Encoder Source * (Numerator/Denominator)
SC.EnDat (Heidenhain®)
Encoder Setup Parameters Encoder Supply Voltage
Because of the wide variety of encoders supported by the Unidrive SP/Digitax ST and the SM-Universal Encoder Plus module, the user must have the ability to define the voltage supplied to the encoder hardware. The available voltage levels are 5V, 8V, and 15V and are selectable from the list box on the Encoder view.
NOTE
Be sure not to configure a supply voltage greater than that supported by the encoder. The Unidrive SP/Digitax ST and SM-Universal Encoder Plus cannot protect against possible damage to the encoder if the supply voltage is set too high.
Enable Auto Encoder Configuration
When a SC.Hiper, SC.EnDat, or EnDat encoder is being used, the Unidrive SP/Digitax ST and/or SM-Universal Encoder Plus module can interrogate the encoder on power-up, and acquire many of the encoder setup parameters automatically. To enable this feature, the Enable Auto Encoder Configuration check box must be selected. When the check box is selected (active) the Encoder Turns, Encoder Comms Resolution, and Equivalent Lines Per Revolution parameters will appear dimmed, implying that the user no longer needs to configure those parameters. If the check box is clear, then the user must specify the correct values for these three parameters (Encoder Turns, Encoder Comms Resolution, and Equivalent Lines Per Revolution).
The aforementioned encoder parameter values are stored in non-volatile memory embedded in the encoder. The values stored in NVM cannot be changed by the user.
Encoder Turns
This parameter determines the maximum number of revolutions before the Rev Counter register (3.28 or x.04) rolls over. If using an absolute encoder, this should be set at the maximum number of turns of the absolute encoder or lower. The maximum number of turns is defined as follows:
Maximum Turns = 2 If the Enable Auto Encoder Configuration check box is selected, then the user does not need to enter this parameter, and the
Encoder Turns box will appear dim.
N
, where N is the Encoder Turns parameter
Encoder Comms Resolution
Where encoder communications is used to initially read the absolute encoder position (SC.Hiper or SC.EnDat), the comms resolution must be set to the maximum resolution of the absolute position data.
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If the Enable Auto Encoder Configuration check box is selected, then the user does not need to enter this parameter, and the Encoder Comms Resolution box will appear dim.
Equivalent Lines Per Revolution
When sin/cos signals are used, the equivalent number of encoder lines per revolution must be set up correctly to give the correct speed and position feedback. The Equivalent Lines Per Revolution (ELPR) is defined as follows:
Position Feedback Device ELPR
Ab Number of lines per revolution
Fd, Fr Number of lines per revolution / 2
SC.Hiper, SC.EnDat, SC.SSI Number of sine waves per revolution
For SC.Hiper, SC.EnDat and SC.SSI encoders, the sine wave signal frequency can be up to 166 kHz, but the resolution is reduced at higher frequencies. The table below shows the number of bits of interpolated information at different frequencies and with different voltage levels at the drive encoder port. The total resolution in bits per revolution is the ELPR plus the number of bits of interpolated information.
Volt / Freq 1,000 5,000 50,000 100,000 150,000
1.2 1111111010
1.0 11 11 10 10 9
0.8 10101010 9
0.6 101010 9 9
0.4 99998
If the Enable Auto Encoder Configuration check box is selected, then the user does not need to enter this parameter, and the Equivalent Lines Per Rev box will appear dim.
Lines Per Rev Divider
The Equivalent Lines Per Revolution parameter is divided by this value. This can be used when an encoder is used with a linear motor where the number of counts or sine waves per pole is not an integer.
Example:
The true number of encoder lines per rev (or electrical cycle) is 128.123. Since The Equivalent Lines Per Rev parameter must be a whole number, ELPR should be set to 128123, and then the Lines Per Rev Divider would be set to 1000 resulting in the following equation:
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Actual Encoder Lines Per Rev
= ELPR/Lines Per Rev Divider
= 128123 / 1000 = 128.123
Encoder Comms Baud Rate
This parameter defines the baud rate for the encoder communications. The list box allows the user to select from various baud rates between 100 k baud and 2 M baud.
Simulated Encoder Output Parameters Encoder Simulation Source
The SM-Universal Encoder Plus module has a feature that allows the user to send out a simulated encoder signal for use by an external device. The Encoder Simulation Source is used to define the source of the encoder signal. By default, the Source will be configured as the SM-Universal Encoder Plus position (x.05). Any drive parameter in the form of a 0-65535 rollover counter can be used as the source parameter. Use this field to enter the desired drive source parameter (between 00.00 and
21.51). By default, EZMotion configures the simulated output to work in Quadrature mode. In order to change the mode, the user will
have to change the Drive Menu Initialization file.
Encoder Simulation Numerator
To add some flexibility to the Simulated Encoder Output signal, the SM-Universal Encoder Plus module allows the user to scale the output signal by multiplying the source with scaling factor. The scaling factor is made up of a numerator and denominator allowing the user to achieve nearly any ratio. By default, the Numerator and Denominator are 1.000 implying that the actual output value is equal to the Source value. Following is an equation that defines the use of the Numerator and Denominator parameters.
Simulated Encoder Output Signal = Simulated Encoder Source * (Numerator/Denominator)
Encoder Simulation Denominator
To add some flexibility to the Simulated Encoder Output signal, the SM-Universal Encoder Plus module allows the user to scale the output signal by multiplying the source with scaling factor. The scaling factor is made up of a numerator and denominator allowing the user to achieve nearly any ratio. By default, the Numerator and Denominator are 1.000 implying that the actual output value is equal to the Source value. Following is an equation that defines the use of the Numerator and Denominator parameters.
Simulated Encoder Output Signal = Simulated Encoder Source * (Numerator/Denominator)
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SC.SSI
Encoder Setup Parameters Encoder Supply Voltage
Because of the wide variety of encoders supported by the Unidrive SP/Digitax ST and the SM-Universal Encoder Plus module, the user must have the ability to define the voltage supplied to the encoder hardware. The available voltage levels are 5V, 8V, and 15V and are selectable from the list box on the Encoder view.
NOTE
Be sure not to configure a supply voltage greater than that supported by the encoder. The Unidrive SP/Digitax ST and SM-Universal Encoder Plus cannot protect against possible damage to the encoder if the supply voltage is set too high.
SSI Binary Format Select
This parameter is unique to the SSI encoder format. When using SSI encoders, the data is transmitted over the SSI network in one of two different formats. The user needs to select whether they wish to use the default format of Graycode, or switch to Binary format. Use this list box to select the desired format.
Encoder Turns
This parameter determines the maximum number of revolutions before the Rev Counter register (3.28 or x.04) rolls over. If using an absolute encoder, this should be set at the maximum number of turns of the absolute encoder or lower. The maximum number of turns is defined as follows:
Maximum # of Turns = 2
N
, where N is the Encoder Turns parameter
Encoder Comms Resolution
Where encoder communications is used to initially read the absolute encoder position (SC.Hiper or SC.EnDat), the comms resolution must be set to the maximum resolution of the absolute position data.
Equivalent Lines Per Revolution
When sin/cos signals are used, the equivalent number of encoder lines per revolution must be set up correctly to give the correct speed and position feedback. The Equivalent Lines Per Revolution (ELPR) is defined as follows:
Position Feedback Device ELPR
Ab Number of lines per revolution
Fd, Fr Number of lines per revolution /2
SC.Hiper, SC.EnDat, SC.SSINumber of singe waves per revolution For SC.Hiper, SC.EnDat and SC.SSI encoders, the sine wave signal frequency can be up to 166 kHz, but the resolution is reduced
at higher frequencies. The table below shows the number of bits of interpolated information at different frequencies and with different voltage levels at the drive encoder port. The total resolution in bits per revolution is the ELPR plus the number of bits of interpolated information.
Volt / Freq 1,000 5,000 50,000 100,000 150,000
1.2 1111111010
1.0 11 11 10 10 9
0.8 10101010 9
0.6 101010 9 9
0.4 99998
If the Enable Auto Encoder Configuration check box is selected, the user does not need to enter this parameter and the Equivalent Lines Per Rev box will appear dimmed.
Lines Per Rev Divider
The Equivalent Lines Per Revolution parameter is divided by this value. This can be used when an encoder is used with a linear motor where the number of counts or sine waves per pole is not an integer.
Example:
The true number of encoder lines per rev (or electrical cycle) is 128.123. Since The Equivalent Lines Per Rev parameter must be a whole number, ELPR should be set to 128123, and then the Lines Per Rev Divider would be set to 1000 resulting in the following equation:
Actual Encoder Lines Per Rev
= ELPR/Lines Per Rev Divider = 128123 / 1000 = 128.123
Encoder Comms Baud Rate
This parameter defines the baud rate for the encoder communications. The list box allows the user to select from various baud rates between 100kbaud and 2Mbaud.
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Simulated Encoder Output Parameters Encoder Simulation Source
The SM-Universal Encoder Plus module has a feature that allows the user to send out a simulated encoder signal for use by an external device. The Encoder Simulation Source is used to define the source of the encoder signal. By default, the Source will be configured as the SM-Universal Encoder Plus position (x.05). Any drive parameter in the form of a 0-65535 rollover counter can be used as the source parameter. Use this field to enter the desired drive source parameter (between 00.00 and
21.51). By default, EZMotion configures the simulated output to work in Quadrature mode. In order to change the mode, the user will
have to change the Drive Menu Initialization file.
Encoder Simulation Numerator
To add some flexibility to the Simulated Encoder Output signal, the SM-Universal Encoder Plus module allows the user to scale the output signal by multiplying the source with scaling factor. The scaling factor is made up of a numerator and denominator allowing the user to achieve nearly any ratio. By default, the Numerator and Denominator are 1.000 implying that the actual output value is equal to the Source value. Following is an equation that defines the use of the Numerator and Denominator parameters.
Simulated Encoder Output Signal = Simulated Encoder Source * (Numerator/Denominator)
Encoder Simulation Denominator
To add some flexibility to the Simulated Encoder Output signal, the SM-Universal Encoder Plus module allows the user to scale the output signal by multiplying the source with scaling factor. The scaling factor is made up of a numerator and denominator allowing the user to achieve nearly any ratio. By default, the Numerator and Denominator are 1.000 implying that the actual output value is equal to the Source value. Following is an equation that defines the use of the Numerator and Denominator parameters.
Simulated Encoder Output Signal = Simulated Encoder Source * (Numerator/Denominator)
8.3.5 SM-Resolver Module View
Some applications require the use of resolver feedback instead of encoder feedback. In this case, a SM-Resolver module provides an interface between the resolver and the Unidrive SP/Digitax ST, to be used as position and velocity feedback for EZMotion. The SM-Resolver also provides a simulated quadrature encoder output that can be sent to another device for position feedback information.
If Resolver is selected in the Slot# Module list box, the remainder of the view will have configuration parameters to define the resolver properties. The hierarchy tree automatically updates to show that a SM-Resolver module is populated in that specific slot, see Figure 68.
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Figure 68: Slot # View (SM-Resolver Module)
Following is a description of each of the parameters related to performance and functionality of the SM-Resolver module. For SM-Resolver module installation instructions, or other SM-Resolver module information, please refer to the SM-Resolver User Guide.
Resolver Setup Parameters
Resolver Excitation
The Resolver Excitation parameter defines the voltage level of the excitation signal sent out to the resolver hardware. By entering the turns ratio of the resolver device, the SM-Resolver module will change the excitation signal voltage accordingly. The resolver manufacturer should specify the turns ratio of the resolver. Supported turns ratios are 3:1 and 2:1.
Equivalent Lines Per Rev
The Equivalent Lines Per Rev parameter is used to define the effective resolution of the resolver in terms of Lines per Rev of a quadrature encoder. This parameter can be set to 256, 1024, or 4096. The setting of this parameter can limit the maximum
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velocity of the system depending on the number of poles of the resolver. See the table below to determine the proper setting for this parameter. Make sure that the maximum speed required for your application is within the allowable range based on this value.
The Equivalent Lines Per Rev will also define the Simulated Encoder Output resolution. The Simulated Encoder Output will be equal to this value * 4 (due to Quadrature signal).
Resolver Poles
2 4096 14 3,300.0 2 1024 12 13,200.0 2 256 10 40,000.0 4 4096 14 1,650.0 4 1024 12 6,600.0 4 256 10 26,400.0 6 4096 14 1,100.0 6 1024 12 4,400.0 6 256 10 17,600.0 8 4096 14 825.0 8 1024 12 3,300.0 8 256 10 13,200.0
Equivalent Lines
Per Revolution
Operating
Resolution (bits)
Speed Limit Max
Resolver Poles
The Resolver Poles parameter is used to tell the Unidrive SP/Digitax ST how many electrical cycles of the resolver will been seen per single mechanical revolution. The formula for the number of electrical cycles per rev is as follows:
# of resolver poles / 2 = # of electrical cycles per rev Therefore, with a 2-pole resolver, the Unidrive SP/Digitax ST will see one electrical cycle per revolution. With a 4-pole resolver, the
Unidrive SP/Digitax ST will see two electrical cycles per revolution, and so on. If a resolver is not a 2-pole resolver, then the number of poles of the resolver must match the number of poles of the motor.
The Unidrive SP/Digitax ST supports 2, 4, 6, or 8-pole resolvers. Configure this parameter to match the actual resolver poles.
Wire Break Detect Enable
This parameter is used to enable or disable error checking on the resolver feedback signal wires. If the Wire Break Detect check box is clear, then the Unidrive SP/Digitax ST is not trying to detect errors on the feedback signals that would signify a broken wire. When the Wire Break Detect check box is selected (default), then the Unidrive SP/Digitax ST will trip if it detects an error on the feedback signals indicating a broken wire.
Simulated Encoder Output Parameters
Encoder Simulation Source
The SM-Resolver module has a feature that allows the user to use a simulated quadrature encoder output sign al for an external device. The Encoder Simulation Source is used to define the Source of the quadrature encoder output signal. By default, the Source will be configured as the SM-Resolver position (x.05) meaning that the resolver signal will be duplicated by a quadrature encoder output signal. Any drive parameter in the form of a 0-65535 rollover counter can be used as the source parameter. Use this field to enter the desired drive source parameter (between 00.00 and 21.51).
Encoder Simulation Numerator
To add some flexibility to the Simulated Encoder Output signal, the Unidrive SP/Digitax ST allows the user to scale the output signal by multiplying the Source with scaling factor called, Encoder Simulation Numerator. By default, the Encoder Simulation Numerator is
1.000 implying that the actual output value is equal to the Source value. The actual scaling factor applied changes based on the true resolution of the resolver. Please refer to the chart below to determine the correct Encoder Simulation Numerator based on your desired ratio.
Encoder Simulation
Numerator
0.0000 to 0.0312 1/32 1/8 1/2
0.0313 to 0.0625 1/16 1/8 1/2
0.0626 to 0.1250 1/8 1/8 1/2
0.1251 to 0.2500 1/4 1/4 1/2
0.2501 to 0.5000 1/2 1/2 1/2
0.5001 to 3.0000 1 1 1
Resolver Resolution
14-bit 12-bit 10-bit
8.3.6 SM-DeviceNet Module View
If DeviceNet is selected in the Slot # Module list box, the remainder of the view will have configuration parameters to define the
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properties of the DeviceNet device and network. The hierarchy tree will automatically update to show that a DeviceNet module is populated in that specific slot, see Figure 69.
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Figure 69: Slot # View (SM-DeviceNet Module)
Mac ID
The MacID is the number assigned to a particular DeviceNet node. Every node on a DeviceNet network must have a unique MacID. The range is 0-63.
Baud Rate
One of three standard baud rates can be configured for the DeviceNet network: 125k, 250k, and 500k.
Endian Format
Although other fieldbus networks allow the user to choose the Endian format the DeviceNet specification is locked to be little endian.
I/O Data Mapping Tab
The left side of the view contains a list of the EZMotion and SP parameters that may be mapped to the words on the Master Send or Master Receive tabs on the right by dragging and dropping. EZMotion parameters from the variables parameters list can only be mapped to EZMotion parameter words, and SP parameters to SP parameter words.
EZMotion Parameter Words
There are a maximum of 28 EZMotion parameter words available, the default value is 20.
SP Parameter Words
There are a maximum of 8 SP parameter words available, 8 is the default.
Total Parameter Words
The total number of parameter words available is 28, these may be divided between EZMotion parameter words and SP parameter words. The text box shows the number of words allocated vs. the total number available.
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Advanced Tab
Figure 70: Slot # View (SM-DeviceNet Advanced Tab)
Max Loss Timeout
This provides a method on the drive to ensure that communication with the DeviceNet network is still present. The SM-DeviceNet module resets an internal timer when a valid message is received from the DeviceNet network, if a message is not received within the specified period of time, in ms, the network loss trip is triggered. Default value is 200 ms, but the range is 0 to 3000 ms.
The network loss trip can be disabled by setting this parameter to 0. In this case, the drive will continue to operate using the last received values. It is the user’s responsibility to ensure that adequate safety precautions are taken to prevent damage or injury by disabling the drive in the event of a loss of communications.
WARNING
Enable PPO 4 Word
When this check box is selected the PPO 4 Word mode is enabled. For more information see the SM-DeviceNet User Guide.
Bus Off Trip Disable
When selected the SM-DeviceNet module will not trip the Unidrive SP/Digitax ST when there is a network fault. See the SM­DeviceNet User Guide for more information.
Expected Packet Rate Timeout Trip Enable
When selected (enabled) the SM-DeviceNet will trip the Unidrive SP/Digitax ST when the expected packet rate timeout occurs. This is an alternative network loss trip mechanism to the Network Loss trip. See the SM-DeviceNet User Guide for more information.
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8.3.7 SM-Profibus DP Module View
If Profibus DP is selected in the Slot # Module list box, the remainder of the view should have configuration parameters to define the properties of the Profibus device and network. The hierarchy tree automatically updates to show that a Profibus module is populated in that specific slot, see Figure 71.
For SM-Profibus-DP module installation instructions, or other SM-Profibus-DP module information, please refer to the SM- Profibus-DP User Guide.
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Figure 71: Slot # View (SM-Profibus DP Module)
Node Address
The Node Address is the number assigned to a particular node on the Profibus network. Every node on a Profibus network must have a unique node address with a range between 0 to 126.
Endian Format
When data is sent over the Profibus-DP network it is transmitted as 8-bit bytes. Therefore when a 32-bit word or 16-bit word is transmitted it is split into four or two 8-bit bytes. It is important that the receiving node reconstruct the received 8-bit bytes in the correct order to arrive at the 32-bit or 16-bit data value that was originally transmitted, this order is known as the "Endian Format".
Data Endian
Format
Big
Little
16-bit Value 32-bit Value
Byte Order Word Order Byte Order
High byte first
High byte first
Low byte second
High word first
Low word second
Mid high byte second
Mid low byte third
Low byte fourth
Low byte first
Low byte first
High byte second
Low word first
High word second
Mid low byte second
Mid high byte third
High byte fourth
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Most Profibus-DP master controllers use big endian format by default, many also support little endian. The default configuration of Big Endian is consistent with the way most Profibus Master PLCs transfer their data.
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I/O Data Mapping Tab
The I/O Data Mapping tab is used to configure the data that will be sent and received from the Profibus Master (PLC) to the Profibus slave (SM-Profibus-DP module). The Master Receive tab configures the data from the EZMotion module/SP drive to the PLC.
Master Send Tab/Master Receive Tab
Individual parameters are mapped by dragging and dropping the parameter from the Variables list to the desired word. EZMotion parameters from the variables list can only be mapped to EZMotion parameter words, and SP parameters to SP parameter words.
EZMotion Parameter Words
There are a maximum of 32 EZMotion parameter words available, 24 is the default.
SP Parameter Words
There are a maximum of 8 SP parameter words available, the default is 8.
Total Parameter Words
The total number of parameter words available is 32, These may be divided between EZMotion parameter words and SP parameter words. This text box shows the number of words allocated vs. the total number available.
Advanced Tab
Figure 72: Slot # View (SM-Profibus Advanced Tab)
Max Loss Timeout
This provides a method on the drive to ensure that communication with the Profibus master is still present. The SM-Profibus module resets an internal timer when a valid message is received from the profibus network, if a message is not received within the specified period of time, in ms, the network loss trip is triggered. Default value is 200 ms, but the range is 0 to 3000 ms.
The network loss trip can be disabled by setting this parameter to 0. In this case, the drive will continue to operate using the last received values. It is the user’s responsibility to ensure that adequate safety precautions are taken to prevent
WARNING
When this check box is selected the PPO 4 Word mode is enabled. For more information see the SM-Profibus-DP User Guide.
damage or injury by disabling the drive in the event of a loss of communications.
Enable PPO 4 Word
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8.3.8 SM-Applications Plus Module View
If Apps/Apps Plus/Apps Lite is selected in the Slot# Module list box, the remainder of the view should be blank. The hierarchy tree automatically updates to show that an Applications Plus module is populated in the specific slot, see Figure 73.
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Figure 73: Slot# View (SM-Applications Plus Module)
8.3.9 SM-Ethernet
If Ethernet is selected in the Slot# Module list box, the remainder of the view should have configuration parameters for the Ethernet module communications. The hierarchy tree automatically updates to show that an Ethernet module is populated in the specific slot, see Figure 75.
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Figure 74: Slot# View (SM-Ethernet Module)
IP Address
This is a 32-bit identification number for each node on an Internet Protocol network. These addresses are represented as four 8-bit numbers (0 to 255), with periods between them. Each node on the Ethernet network must have a unique IP address. For
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detailed information see the SM-Ethernet User Guide.
Change IP Address Check Box
Change IP Address check box is used to determine if the user wants to use the scanner to determine the applications Ethernet address. If Change IP Address check box is selected then the scanner selected address becomes the new application address (saved with application). This applies for Downloads, Uploads into an existing application and Change Path.
When Change IP Address check box is clear the Ethernet Address scanner range is the last scan range entered using the scanner's "Stop Scan". If Change IP Address is selected, then the scanner's Ip Address Scan Range" will be loaded to select only the applications IP address.
The Change IP Address check box must be selected to change the IP Address, Subnet and Gateway.
Subnet
This 32-bit parameter indicates the Subnet mask used for this node. The subnet mask is used to group devices that are connected on the same physical connection. For a detailed description of Subnet mask refer to the SM-Ethernet User Guide.
Gateway
This 32-bit parameter indicates the default Gateway address for the SM-Ethernet module. When attempting to communicate with a device on a different Subnet, the message must go through this gateway to reach it’s destination. For a detailed description of the Gateway address refer to the SM-Ethernet User Guide.
Data Rate
The SM-Ethernet module can be set to automatically detect the data rate or be fixed at either 10 Mbs to 100 Mbs.
NOTE
This parameter should be left in the auto detect state.
Actual Data Rate
When online with the SM-Ethernet module, the actual data rate is displayed.
Value Actual Data Rate
0 Data rate not set 110 Mbs 2 100 Mbs
Disable Auto-crossover Check Box
Connecting a PC directly to a single SM-Ethernet module requires the use of a crossover cable. This allows the two devices to communicate without the need to change any settings on the module, in PowerTools Pro, or use a hub.
To avoid the need for cross over cables it is possible to change the SM-Ethernet RJ-45 port to auto detect the cable type used by selecting this check box, see the SM-Ethernet User Guide for more information.
Ethernet Diagnostic
When online with the module, this parameter gives an approximation of the number of packets processed, a zero indicates that SM­Ethernet is ready to communicate but is not yet communicating.
If this parameter is a negative value this indicates that the module is initializing or there is a fault. See the SM-Ethernet User Guide for more information.
Ethernet Comms Priority Option Buttons
Reduce Ethernet comms priority (Turn x 37 = Off)
Select this button when using the LCD Keypad Plus and the SM-Ethernet module this will turn .37 off.
Maintain elevated Ethernet comms priority (Leave x37 - On)
Select this button when using the standard LED Keypad is will leave x37 on.
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8.3.10 SM-I/O 120V
If I/O 120V is selected in the Slot# Module list box, the remainder of the view should have configuration parameters for the module’s digital I/O points. The hierarchy tree automatically updates to show that an SM-IO 120V module is populated in the specific slot, see Figure 75.
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Figure 75: Slot# View (SM-IO 120V Module)
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8.3.11 SM-I/O 32
If I/O 32 is selected in the Slot# Module list box, the remainder of the view should have configuration parameters for the module’s digital I/O points. The hierarchy tree automatically updates to show that an SM-I/O 32 module is populated in the specific slot, see Figure 76.
Figure 76: Slot# View (SM-I/O 32 Module)
The SM-I/O 32 module has 32 digital I/O points that can each be defined by the user as either a digital Input or a digital Output. By default, each of the I/O points is configured as an Input. Use the list boxes for each of the I/O points to configure the functionality. When online, virtual LED's show the status of each of the I/O points (Green = ON, Gray = OFF).
When an SM-I/O 32 is used, the digital I/O for that module can be accessed on the Assignments view in PowerTools Pro just as any of the I/O on the Unidrive SP/Digitax ST or EZMotion itself.
When used with EZMotion the SM-I/O 32 module is only used in "Fast Update Mode". See the SM-I/O 32 User Guide for details. When an SM-I/O 32 module is used, EZMotion automatically reserves the following parameters in the drive's Menu 20 mapping: For the 1st SM-I/O 32 module:
20.38, 20.39, and 20.40 are reserved (regardless of which slot the module is in).
If a 2nd SM-I/O 32 module is used:
20.35, 20.36, and 20.37 are reserved (regardless of which slot the module is in).
Any attempts to use these reserved parameters will result in a malfunction of the SM-I/O 32 inputs and outputs.
NOTE
If no SM-I/O 32 module is being used, these parameters are NOT reserved and can be used for any other user functionality.
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8.3.12 Drive Menu Watch View
This view allows the user to view the online value of all the Unidrive SP/Digitax ST menu parameters as well as modify the value of a menu parameter. Figure 77 shows an example of the Drive Menu Watch view.
Figure 77: Drive Menu Watch View - SM EZMotion Application
To view the menu parameters, PowerTools Pro must upload the parameter values. To upload the parameters, click Get Menu Values on the right 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.
Get Menu Values Button
Click Get Menu Values and PowerTools Pro will 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.
8.3.13 Drive Menu Initialize View
The Drive Menu Initialize View is a utility to aid the user in configuring the Unidrive SP/Digitax ST base drive setup. Because the Unidrive SP/Digitax ST can operate in many different modes, and has many different features, it must be put into a known state so that EZMotion can control it. To get into this state, certain menu parameters must be set to specific values. The Drive Menu Initialize View is simply a list of parameters that EZMotion writes to the Unidrive SP/Digitax ST on powerup so that the Unidrive SP/Digitax ST is in a known state so EZMotion 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 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 button will restore the original list.
Figure 79 shows an example of the Drive Menu Initialize view.
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Parameter
.ini file stored on PC
.ini file
.ini file data is written into new SM-EZ Motion file when new file is created.
New SM-EZ Motion File
.ini file
EZMotion
Parameters
Used by
Diagnostics Glossary Index
Figure 78: Initialization File Example
The default contents of the Drive Menu Initialize view is generated from a file titled SpInitialize.ini. This file is installed to your
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PC as part of the PowerTools Pro installation. When a new EZMo tion file is created using PowerTools Pro, the contents of SpInitialize.ini is read and written into the configuration file.
Figure 79: Drive Menu Initialize View
Once the data is written from the SpInitialize.ini file into the new configuration, it is stored as part of the configuration. Therefore, if the file is downloaded to EZMotion, the contents of the Drive Menu Initialize 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 configuration file.
The Drive Menu Initialize 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 Drive Menu Initialize data in PowerTools Pro will change the initialization for that configuration 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 SpInitialize.ini file. Using a text editor (i.e. Microsoft™ 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 EZMotion configuration file 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 EZMotion can not control the drive if an incorrect change is made to the initialization list. Consult CT Applications Engineering with questions.

8.4 Configure Setup Parameters

Following is a list of the different views in the Setup group on the hierarchy tree. The Setup group is dedicated to configuring 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).
8.4.1 Setup View
The Setup view allows the user to setup various parameters related to how the overall system operates. Figure 80 shows an example of the Setup view.
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Figure 80: Setup View
Identification Parameters
Name
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.
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.
Configuration
Motor Feedback Source
Motor Feedback Source allows the user to specify where the motor feedback device is connected to the Unidrive SP/Digitax ST. Early releases of PowerTools Pro and EZMotion only allow selection of "Drive".
NOTE
When the Dual Loop Mode feature is used, this specifies the location of connection for the motor feedback device even though a different feedback device is being used to close the position loop.
Update
Trajectory Update
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 I/O is scanned.
Available selections for Trajectory Update Rate are 1, 1.25, 1.5, 1.75, 2, 2.25 and 2.5 milliseconds. The longer the update rate, the more time is dedicated to the user programs, and the less time dedicated to servo performance. The shorter the update rate, the more precise the servo performance, but less time is available to process user programs. Diagnostics are 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).
Switching Frequency
Frequency
This parameter defines the switching frequency of the Unidrive SP/Digitax ST. 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 or the Digitax ST User Guide.
Positive Direction
The Positive Direction consists of a CW (clockwise) Motor Rotation Radio Button or a CCW (counter-clockwise) Motor Rotation Radio Button.
The motion will move in either CW direction or 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 considered to be motion in the positive direction
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(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).
Dual Loop Group
Dual Loop Control Mode Enable Check Box
Select this check box to enable the Dual Loop Mode feature which accepts a secondary feedback device to close the position loop while still using the motor encoder to close the velocity loop.
Position Feedback Source
This list box is used to define the physical connection location of the Position Feedback Encoder to the Unidrive SP/Digitax ST system. This is different from the Motor Feedback Source.
Position Feedback Polarity
This list box is used to define which direction the Position Feedback Encoder counts when the feedback device moves in the "positive" direction. Positive = Counts Up, Negative = Counts Down.
Dual Loop Encoder Ratio
Motor Enc Revs
This parameter is the numerator in the ratio used to define the mechanical ratio between the Motor Encoder and the Position Feedback Encoder. This parameter is only used when Dual Loop Control Mode is enabled, and must be set correctly to achieve the correct target velocity.
Posn Fdbk Enc Revs
This parameter is the denominator in the ratio used to define the mechanical ratio between the Motor Encoder and the Position Feedback Encoder. This parameter is only used when Dual Loop Control Mode is enabled, and must be set correctly to achieve the correct target velocity.
8.4.2 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 81 shows an example of the User Units View.
Figure 81: User Units View
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 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.
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This scaling factor is as follows:
Scaling - Characteristic Distance
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.
Scaling - Characteristic Length
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 travel distance.
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.
Decimal Places
The number of decimal places defined in this parameter determines the max resolution of all real-time velocity parameters found throughout the PowerT ools Pro sof tware. Set between 0 and 6 decimal places. Higher number of decimal places allows higher velocity resolution, but can limit the max speed allowed by the application.
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.
Decimal Places
The number of decimal places defined in this parameter determines the max resolution of all real-time acceleration and deceleration parameters found throughout the software. Set between 0 and 6 decimal places.
8.4.3 Master Units View
The Master Units view is used to configure the parameters for the master axis used in synchronized motion applications. The master axis is most often a second encoder, or possibly another upstream drive. Figure 82 shows an example of the Master Units view.
Feedback Setup
Scaling
Characteristic Distance
------------------------------------------------------------------=
Characteristic Length
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Figure 82: Master Units Setup View
Master Feedback Source
Master Feedback Source indicates the source of the master encoder input. 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.
Select User Defined Drive Parameter, the Drive Parameter text box will become available to enter the drive parameter that will be the source of the master.
Select User Defined Module Parameter, the Module Variable text box will become available to enter a parameter. The module variable can be entered two ways: type the parameter into the text box using the program format for the variable, or click the Popup Variables button and the Select Variables from Tree window will open. Select the variable and drag it over to the Module Variable text box.
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When Virtual Master is selected as the Master Feedback Source, the parameters on the Virtual Master view in the application will need to be setup to generate VirtualMaster.Counts.
Drive Parameter
When User Defined Drive Parameter is selected as the Master Feedback Source, this text box becomes available to enter the parameter number that will be used as the feedback source.
Master Polarity
This interprets what the encoder will consider positive or negative movement.
Master Position Setup
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
When selected, 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 position 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 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:
Scaling =
MasterDistUnits.MasterRev OR MasterDistUnits.ModuleVarScalingDenominator
MasterDistUnits.CharacteristicDistance
The numerator (top value of the scaling fraction) is the Characteristic Distance (MasterDistUnits.CharacteristicDistance). The Characteristic Distance is the number of Master Distance Units that will be traveled per number of units defined in the bottom value of the fraction (denominator).
When the Master Feedback Source is Drive or one of the Slot#s then the denominator (MasterDistUnits.MasterRev) is the # of encoder revolutions. The master revs parameter is the number of incoming whole revolutions it takes to travel the specified characteristic distance.
When the Master Feedback Source is User Defined Drive Parameter or User Defined Module Parameter the denominator (MasterDistUnits.ModuleVarScalingDenominator) value has units based on the parameter chosen. If Virtual Master is chosen the denominator (MasterDistUnits.ModuleVarScalingDenominator) units will be virtual counts. The denominator is the number of incoming whole revolutions it takes to travel the specified characteristic distance.
In revisions of PowerTools Pro software prior to version 4.1, the MaserDistUnits.CharacteristicDistance and MasterDistUnits.MasterRevs could only be changed by editing the configuration and downloading. However, with the introduction or PowerTools Pro 4.1, these two scaling parameters can be modified within a user program. This allows users to create a series of user programs to automatically change the scaling factor to handle multiple products on the same machine, without requiring the user to download a new configuration. Extreme caution should be used to prevent the change of scaling when synchronized motion is active. The motor should be stopped and the drive disabled when changing these scaling factors in a program.
Changing the scaling within a user program or from an HMI will automatically clear the AbsolutePosnValid signal, and for Absolute encoders the AbsoluteHomeDefined signal. This means that when the values are changed, the machine must be homed again.
Master Position Filter
Master Position Filter Enable Check Box
The Master Position Filter Enable check box is used to turn on or turn off the Master Position Filter. When the check box is selected, the filter is active and the user must select the number of samples, from the Samples list box, used by the filter. If the check box is clear, 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
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smoothness, but also increases lag. See Filter table below to select proper setting.
Disabled
# of Samples
Enable Feedforward
The Enable Feedforward check box is used to turn on or turn off feedforward. When the check box is selected, feedforward is active. If the check box is clear, feedforward is not used.
Master Velocity Units
Decimal Places
The number of decimal places defined in this parameter determines the max resolution of all synchronized time base velocity parameters found throughout the PowerTools Pro software. Set between 0 and 6 decimal places. Higher number of decimal places allows higher velocity resolution, but can limit the max speed allowed by the application.
Master Acceleration Units
Decimal Placed
The number of decimal places defined in this parameter determines the max resolution of all synchronized time base acceleration and deceleration parameters found throughout the software. Set between 0 and 6 decimal places.
8.4.4 Absolute Position View
NOTE
If not using an absolute encoder type in your application, this view can be skipped altogether.
The primary reason for using an absolute encoder is that position is not lost when power to the machine is cycled. The absolute encoder does not require that you maintain logic power, nor do most absolute encoders require any type of battery power backup. Therefore, on power-up, the motor encoder can provide its position feedback to the motion controller without the need to "re-home" the machine to a sensor or encoder marker pulse. Since the machine does not need to be re-homed, the customer saves time and in many cases reduces product waste.
This view is used to define how the position feedback from the absolute encoder is to be interpreted by the EZMotion on power-up or after a warm-start.
Feedforward OFF Feedforward ON
One update of phase shift
(not velocity dependent)
No Filtering
Small Lag (function of speed),
4
Medium Lag (function of speed),
8
16
Large Lag (function of speed),
Low Filtering
Medium Filtering
High Filtering
No delay,
No Filtering
Poor at low speed,
Low Filtering
Good at low speed,
Medium Filtering
Best at low speeds,
High Filtering
Reduced Lag
Smoother
Increasing
Lag with FF
Off
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Figure 83: Absolute Position View
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Motor Axis and Master Axis Tabs
The Absolute Position view allows the user to configure the necessary parameters for both the Motor Axis (this is the axis being controlled by the EZMotion), and the Master Axis (if applicable). If the encoder selected for use on either the Motor Axis or Master Axis are not of the absolute type, then the setup parameters on that tab will be grayed-out and cannot be modified. The following descriptions of the Absolute Position Setup parameters are duplicated for both the Motor Axis and Master Axis.
Absolute Position Setup
Absolute Position Auto-Calculate Enable
This check box is used to enable or disable the automatic calculation of the position for EZMotion, based on a defined absolute home position, on power-up.
If this check box is selected, EZMotion will only read the position from the absolute feedback device on power-up, and then set the position feedback equal to that value. However, EZMotion will NOT take into account any previously defined home position. This is how EZMotion worked in and prior to A8 firmware (previous to the release of this feature). If you have already achieved the desired absolute position calculations by creating a user program, and you wish to continue using that method (instead of this new method), leave the check box clear. If clear, the Absolute Position Mode parameters will remain unavailable.
If the check box is selected, EZMotion will internally calculate the correct feedback position of the machine in user units based on a previously defined home position and the position feedback from the absolute feedback device. The previous sentence is valid only if the system has been previously homed (either using a homing routine or the DefineHome function). The Application Type radio buttons are then used to determine the method used for calculating the position feedback on power-up or after a warm-start (see below).
Absolute Position Mode
One-Sided Mode
One-Sided Mode implies that once the absolute home position has been defined, the user wishes to utilize the full multi-turn resolution of the encoder in ONE DIRECTION from the home point. Using the example of a 12-bit multi-turn absolute encoder, the motor could then travel 4096 revs in the positive direction without experiencing any problems due to absolute rollover.
NOTE
In One-Sided mode, if the motor moves in the negative direction from the home position, EZMotion cannot detect this condition, and therefore the absolute position would be incorrectly calculated on the next power up.
EXAMPLE: The user homes the motor to a sensor. When the sensor activates, the motor is at the machine home position PM = 0 revs (where PM is the Position feedback of the Machine). When the motor is at the home position of 0 revs, the absolute encoder reads PA = 1375 revs (where PA is the Position feedback of the Absolute Encoder). In this example, 1375 is just a randomly chosen number for demonstration purposes. Therefore, EZMotion now uses this relationship of PM and PA at the home position to calculate the machine position (PM) on power up.
Position Feedback of Machine when at Home = PMH = 0 Position Feedback of Absolute Encoder when at Home = PAH = 1375 If the motor then moves 1000 revs in the positive direction, PM will be PMH + 1000 or PM = 1000, and PA is PAH + 1000 or PA =
2375. If the machine is powered-down and then back up, EZMotion would read the position from the absolute encoder PA, subtract the position of the absolute encoder at the home position PAH, and then add the position feedback of the machine at the home position PMH, to get PM.
Calculation #1: Used when P P
M
= PA - PAH + P
MH
A
> P
AH
= 2375 - 1375 + 0 = 1000 revs
If the motor then moves an additional 2000 revs in the positive direction, P
1000) or P
= 3000. PA would be PAH + 3000 or PA = 4375. However, we know that since this is a 12-bit multi-turn absolute encoder,
M
will be PMH + 3000 (because we had already moved
M
the absolute encoder rev counter will reach 4096 and rollover to 0. Therefore, we will never get a value of 4375 on the absolute encoder. In this case, the absolute encoder would read P
= 4375 - rollover position = 4375 - 4096 = 279 revs. Since the user has
A
defined the application type to use One-Sided Mode, EZMotion can interpret this position from the absolute encoder to properly calculate the correct machine position. If the machine was powered-down, and then back up, the P
Calculation #2: Used when P P
M
= (Maximum Encoder Multi-Turn Resolution - PAH) + PA + P
A
< P
AH
MH
would be calculated as follows:
M
= (4096 - 1375) + 279 + 0 = 3000 revs
3000 revs is exactly the result that we wanted! Notice that even though P
rolled over when it reached 4096, we can still calculate
A
the correct position since the user has defined that the application is running in One-Sided Mode. If the motor moves an additional 2000 revs in the positive direction, P
= 5000. PA would be PAH + 5000 or PA = 6375. Again, since the 12-bit encoder cannot exceed 4096, we need to recalculate PA
or P
M
= 6375 - 4096 = 2279. Notice that when PA = 2279, we should use Calculation #1 above since 2279 > 1375. Therefore, our PM
as P
A
will be PMH + 5000 (because we already moved 3000 before)
M
is as follows: P
M
= PA - PAH + P
MH
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= 2279 - 1375 + 0 = 904 revs
Note that this value is NOT correct. This is because after 5000 revs, we have exceeded the absolute resolution of the encoder in a single direction.
So you can see that when using One-Sided Mode, as long as the motor does not move more than 4096 revolutions in the positive direction from the home position, EZMotion can correctly calculate the absolute machine position on power up.
Tw o-Sided Mode
Two-Sided Mode implies that once the absolute home position has been defined, the user wishes to distribute the full multi­turn resolution of the encoder evenly in BOTH DIRECTIONS from the home point. Using the example of a 12-bit multi-turn absolute encoder, the motor could then travel 2048 revs in either the positive or negative direction without experiencing any problems due to absolute rollover. IMPORTANT NOTE: In Two-Sided mode, if the motor moves in excess of 2048 revs in either direction from the home position, EZMotion cannot detect this condition, and therefore the absolute position would be incorrectly calculated on the next power up.
Example:
The user homes the motor to a sensor. When the sensor activates, the motor is at the machine home position P (where P reads P chosen number for demonstration purposes. Therefore, EZMotion now uses this relationship of P position to calculate the machine position (P
Position Feedback of Machine when at Home = P Position Feedback of Absolute Encoder when at Home = P We then need to calculate the value equal to half the resolution of the encoder (E
is the Position feedback of the Machine). When the motor is at the home position of 0 revs, the absolute encoder
M
= 1375 revs (where PA is the Position feedback of the Absolute Encoder). In this example, 1375 is just a randomly
A
) on power up.
M
= 0
MH
= 1375
AH
), and the position that distributes the
half
and PA at the home
M
encoder resolution in half. This is the position feedback of the absolute encoder at the rollover point (or P E
half
= Max Resolution / 2 = 4096 / 2
= 2048
P
AR
= PAH + E
half
= 1375 + 2048 = 3423
must be within the max resolution of the encoder, so if PAR calculated above is > Max Encoder Resolution we need to
P
AR
subtract the max resolution: P
AR
If the motor then moves 1000 revs in the positive direction, P
= PAR - Max Resolution
will be PMH + 1000 or PM = 1000,and PA is PAH + 1000 or PA =
M
2375. If the machine is powered-down and then back up, EZMotion would read the position from the absolute encoder P subtract the position of the absolute encoder at the home position P the home position P
Calculation #1: Used when P P
M
= PA - PAH + P
, to get PM.
MH
MH
AR
> E
AND PA < P
half
AR
, and then add the position feedback of the machine at
AH
= 2375 - 1375 + 0 = 1000 revs
If the motor is again at the home position and then moves 1000 revs in the negative direction, P
-1000. If we power down, and then back up, P are met, so we will use it again to find P
P
M
= PA - PAH + P
MH
would be PAH - 1000 or PA = 375. Once again, the conditions for Calculation #1
A
.
M
will be PMH - 1000 or PM =
M
= 375 - 1375 + 0 = -1000 revs
If we now start from the home position again, and move the motor 2000 revs in the negative direction, P
= -2000. If we power down and then back up, PA should be PAH - 2000, or PA = -625. However, we know that since this
or P
M
M
is a 12-bit multi-turn absolute encoder, when traveling in the negative direction, the absolute encoder rev counter will reach 0 and rollover to 4096. Therefore, we will never get a value of -625 on the absolute encoder. In this case, the absolute encoder would read P
= (PAH - 2000) + Max Encoder Resolution = 3471. Since the user has defined the application type to utilize
A
Two-Sided Mode, EZMotion can interpret this position from the absolute encoder to calculate the correct machine position. If the machine was powered-down, and then back up, the P
Calculation #2: Used when P P
M
= PA - PAH - Max Enc Resolution + P
AR
> E
AND PA > P
half
MH
would be calculated as follows:
M
AR
= 0 revs
M
).
AR
,
A
will be PMH - 2000
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= 3471 - 1375 - 4096 + 0 = -2000 revs
-2000 revs is exactly the result that we wanted! Notice that even though P correct position since we know that the application is running in Two-Sided Mode. If the motor moves an additional 200 revs in the negative direction, P before) or P
= -2200. PA would be PAH - 2200 + Max Encoder Resolution or PA = 3271. Notice that with PA = 3271 we no longer
M
match the conditions of Calculation #2, but now instead match those of Calculation #1. Therefore, P P
M
= PA - PAH + P
MH
= 3271 - 1375 + 0 = 1896 revs
Note that this value is NOT correct. The desired result of the calculations is -2200. This is because after 2048 revs in either given direction from the home position, we have exceeded half of the absolute resolution of the encoder in that direction.
We could test the same scenario in the positive direction. If the motor starts from the original home position and moves 2200 revs in the positive direction. P
= PAH + 2200 = 3575. In this case, we match the conditions for Calculation #2 and therefore use it to calculate PM.
P
A
P
M
= PA - PAH - Max Enc Resolution + P
at that point would be PMH + 2200 or PM = 2200. If we power the system down and then back up, we find
M
= 3575 - 1375 - 4096 + 0
= -1896 revs Again, -1896 is NOT the correct position since we expected to get 2200 revs instead. So you can see that when using Two-Sided Mode, as long as the motor does not move more than 2048 revolutions in either direction
from the home position, EZMotion can correctly calculate the absolute machine position on power up. It should be noted that there is a different set of calculations used to find P
Calculation #3: Used when P P
M
= Max Enc Resolution - PAH + PA + P and
Calculation #4: Used when P P
M
= PA - PAH + P
MH
8.4.5 Reasons for Re-Homing
Once an absolute home routine has been executed, either using a Home motion profile or a DefineHome, the system can automatically calculate its position after a download or power-cycle without the need to re-home the machine. Under normal circumstances, the system should never need to be homed again.
However, it is important to note that there are a few reasons or actions that could require the system to be re-homed. These are as follows:
1. Flash Upgrade
If EZMotion is flash upgraded, the contents of NVM is lost and hence, the system needs to be re-homed to re-learn the absolute home position of the machine. The absolute home position is not stored as part of the user configuration, so downloading the previous user configuration will not re-load the absolute home position.
2. UndefineHome or MasterAxis.UndefineHome
The UndefineHome function (for the motor or follower axis) and the MasterAxis.UndefineHome function (for the master axis) are used to tell the system to no longer use the previously defined Absolute Home Position. Additionally, the AbsolutePosnValid and AbsoluteHomeDefined signals will deactivate when the UndefineHome is used. The UndefineHome and MasterAxis.UndefineHome functions by themselves do not cause a new absolute home routine to be performed. The user must initiate a new Home motion profile or use the DefineHome to re-home the system. When the UndefineHome or MasterAxis.UndefineHome functions are activated, they do not set the previously stored values of for the absolute home position to zero. The previously stored values will remain in the absolute home position registers until another absolute home routine is performed.
3. Exceeding the range of the absolute encoder
Absolute Encoders fall into two categories called Single-Turn Absolute and Multi-Turn Absolute.
Single-Turn Absolute encoders are only absolute within a single revolution of the motor. Once the motor turns more than a single revolution, the absolute position provided on power-up could now be off by one or more revolutions. For example:
A Single-Turn Absolute encoder reads a value of 0.25 revolutions on power up. If the device moves 0.5 revolutions in the positive direction, the position feedback should read 0.75 revolutions. If the system is powered down and back up, the encoder would still read 0.75 revolutions, just as it should. Now, if the system is powered-down, then moved one full revolution in the positive direction, the position feedback should be 1.75 revolutions. However, since the device is only a single-turn absolute device, the encoder would read 0.75 revolutions on power up. Therefore, the encoder cannot differentiate between 0.75, 1.75, 2.75, and so on. The encoder is only absolute within a single revolution.
Multi-Turn Absolute encoders are absolute for more than a single revolution, and up to some maximum number of revolutions defined by the design of the encoder. For example a multi-turn encoder contains 12 bits of encoder turns information which equates to 2^12 revolutions or 4096 revolutions absolute. This means the absolute encoder position can range from 0 to 4096 revolutions and still know exactly where it is through a power cycle. This is sufficient for most applications, however multi-turn
AR
AR
< E
< E
AND PA < P
half
AND PA > P
half
MH
MH
AR
AR
rolled over when it reached 0, we can still calculate the
A
will be PMH - 2200 (because we already moved -2000
M
is calculated as follows:
M
when PAR is < E
M
. These calculations are as follows:
half
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devices suffer the same fate as the single-turn absolute encoder if the encoder moves past the absolute range of the multi­turn device (4096 revs in this case). For example:
A 12-bit Multi-Turn Encoder reads a value of 5.35 revs on power up. If the device moves 10 revs in the positive direction, the position feedback reads 15.35 revs. If the system is powered down and back up, the encoder would read 15.35 revs since it is a multi-turn absolute encoder. If the system is powered-down again, and this time is moved 4096 revs in the positive direction (causing us to exceed the absolute resolution of the encoder), the desired position feedb ack would be 4096 revs + 15.35 revs = 4111.35 revs. However, since the encoder in question only contains 12-bits (or 4096) revs of absolute turns information, the feedback position reaches 4096 and starts over at zero. So the position feedback on power­up would read 4111.35 revs - 4096 revs = 15.35 revs. Therefore, the encoder cannot differentiate between the 15.35 revolutions position that it was at after the first short move, or the 15.35 position that we are at after moving 4096 additional revs.
So, regardless of the type of encoder (Single-Turn or Multi-Turn), if the motor moves outside the range of the absolute encoder, the system must be homed again to establish the desired absolute home position of the machine.
NOTE
It is the user's responsibility to design the machine such that the encoder does not move outside of its supported absolute range.
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4. Disabling of Absolute Position Auto-Calculate Enable
If the user un-checks the Absolute Position Auto-Calculate Enable check box after the system has been homed, and then downloads the configuration, the AbsoluteHomeDefined signal will be automatically reset. The previously stored home position registers will not be cleared. Note that simply re-selecting the Absolute Position Auto-Calculate Enable check box and downloading will not allow you to continue using the previously defined home position information. In order to again use the automatic position calculation it is necessary to re-home the system.
5. Motor/Encoder Replacement
If the motor/encoder is repaired or replaced, it is necessary for the user to undefine the absolute home and then repeat the homing procedure. This can be done using an actual Home motion profile, or using the UndefineHome/DefineHome functions. This is necessary because the new or repaired motor/encoder almost certainly will not be mounted with the exact same absolute position when at the machine home position. There is no way for EZMotion to monitor that this scenario has occurred, so it is up to the user to manually undefine the home, and then repeat the homing procedure.
6. Change in User Unit Scaling
If the user changes the User Unit Scaling for either the motor axis or the master axis, the respective AbsHomeDefined signal will automatically be cleared. This must be done since the relationship between the stored values of the Absolute Home Rev Count/Posn and Absolute Home Position in User Units is no longer valid.
8.4.6 Virtual Mast er View
The Virtual Master View is used to create a simulated encoder output. It generates an encoder stream of counts without the actual operation of a motor. This count can be used by the drive itself as an input to the Master Source (MasterAxis.Source). It can also be transmitted to other drives through the Sync Encoder Output connector and into their Master Sync Input
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connector.
Figure 84: Virtual Master View
Enable Virtual Master Check Box
Enable Virtual Master check box (VirtualMaster.VirtualMasterEnable) by default is clear. Select the check box to enable the virtual master feature.
Virtual Master Setup Group
Distance
Distance (VirtualMaster.Dist) is the incremental distance virtual master will move, in user units, if the virtual master is initiated as an index.
Velocity
Velocity (VirtualMaster.Vel) is the maximum virtual velocity that will be attained by the virtual master. This parameter is in user units.
Acceleration
Acceleration (VirtualMaster.Accel) is the acceleration rate, in user units, that the virtual master will use to accelerate. This parameter is used when in either jog or indexing mode.
Deceleration
Deceleration (VirtualMaster.Decel) is the deceleration rate, in user units, that the virtual master will use to decelerate in either jog or index mode.
Virtual Master Conversion Ratio Group
Scaling
Converts the user units distance into virtual counts.
VirtCnts
The numerator (top value of the scaling fraction) is the VirtualMaster.CharacteristicLength. The characteristic length is the number of virtual counts that will be generated per the distance, in user units, defined by the denominator (bottom number of the scaling fraction).
Distance (UserUnits)
The denominator (bottom value of the scaling fraction) is VirtualMaster.CharateristicDistance, in user units, and is used with VirtualMaster.CharacteristicLength to create the virtual master conversion ratio.
If the user sets the numerator to 10,000 and the denominator to 1 revs, then 10,000 virtual counts will be sent out when the virtual master produces 1 rev of virtual motion.
Feedrate Group
FeedRate Override
This parameter (VirtualMaster.FeedRateOverride) is used to scale the Virtual Master counts. It can be described as “scaling in real time”. The default setting of 100% will allow all counts to occur in real time. A seeing of 50% will scale time so that all counts are half as fast as they are at 100%. A setting of 200% will scale time so that all count run twice as fast as they would at 100%. Feed Rate Override is always active, and this parameter may be modified via Modbus, Ethernet, or in a program.
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FeedRate Decel/Accel
FeedRate Decel/Accel (VirtualMaster.FeedRateDecelerationTime) 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%. Therefore, the user must specify the amount of time (in seconds) to accelerate or decelerate 100% of programmed feedrate.
8.4.7 Position View
The Position view allows the user to configure parameters related to position control of EZMotion. Figure 85 shows a sample of the Position view.
Figure 85: Position View
Settings
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 absolute 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.
Limits
Enable Following Error
Select this check box to enable (or disable if clear) the 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
Select this check box to enable (or disable if clear) the software travel limits. If clear, 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 Limit +. A falling
edge will be generated as soon as the above is not true.
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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.
Rotary
Enable Rotary Rollover
Select this check box to enable (or disable if clear) 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 0 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 software.
If an absolute index is used with a non-zero rotary rollover point, the EZMotion will calculate the shortest path to its destination and move in the required direction.
To force the motor to run a certain direction, use the Rotary Plus or Rotary Minus type of indexes.
8.4.8 Velocity View
The Velocity view allows the user to define parameters related to the velocity control of EZMotion. Figure 86 shows an example of the Velocity view.
Figure 86: Velocity View
Feedrate Override
This parameter is used to scale all motion. It can be described as scaling in real time. The default setting of 100% will allow all motion to occur in real time. 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.
8.4.9 Ramps View
The Ramps view allows the user to define various accel/decel ramps used under typical application conditions. Figure 87 shows an example of the Ramps view.
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Figure 87: Ramps View
Settings
Acceleration Type
Press the arrow by the Acceleration Type list box. It will display the various acceleration types: 5/8 S-Curve, 1/4 S-Curve, Linear, and S-Curve.
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 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
Honor Distance Enable
User Ramps/Auto Calculate Ramps
The user has the ability to select one of two ramp control types for the entire motion control system. By default, User Ramps is selected. The user can change the ramp controls in PowerTools Pro and perform a download to make the change, or the parameter AutoCalcRampsEnable can be turned On or Off within a program. To enable User Ramps, AutoCalcRampsEnable should be turned Off, and to enable Auto Ramps, AutoCalcRampsEnable should be turned On. Once a motion profile is in progress, changes to this parameter will be ignored until the next motion is initiated.
See the description of each of the ramp types below.
User Ramps
Prior to the introduction of this feature in firmware revision A8 of EZMotion, User Ramps was the only ramp control type available. When User Ramps are enabled, the Acceleration or Deceleration ramp entered by the user will ALWAYS be used during a motion profile, even if that means the motor must overshoot the entered stopping position. Under this circumstance, the acceleration or deceleration ramp would be honored, and therefore the motor may need to reverse directions after coming to a stop in-order to reach the user entered target position. This scenario most often occurs when using Compound or Blended Index instructions within a program. During Compound or Blended indexes, the user occasionally does not enter an aggressive enough acceleration or deceleration ramp to reach the target velocity within the specified distance. See the Figures 88 and 89 below for examples of how User Ramps work. For more information on Index.#.CompoundInitiate and/or Index.#.BlendInitiate, see the programming section of this User Guide.
Auto Calculate Ramps
When Auto Calculate Ramps is selected EZMotion will automatically calculate the necessary ramp to reach the target velocity within the user specified distance without any overshoot. In this scenario, the user entered acceleration or deceleration rate is ignored. See the Figures 88 and 89 below for examples of how Auto Calculate Ramps work.
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1250
Distance
(Revs) Index 0 20 1250 2000 3000 Index 1 3 500 500 500
= Index 0 = Index 1
Velocity
(RPM)
Accel
(RPM/sec)
Decel
(RPM/sec)
V
1
500
Compound Index
User Ramps
Blended Index
User Ramps
2
Compound Index
Auto Ramps
3
Blended Index
Auto Ramps
4
Figure 88: Ramps Examples of a Fast Index to a Slower Index
1. Index.1.Accel specified by user is used to decelerate from Index.0.Vel, to Index.1.Vel, but overshoots since ramp is not aggressive enough to reach Index.1.Vel within Index.1.Dist of 3 Revs.
2. Index.1 begins at Index.1.Vel but since Index.1.Decel specified by user is not aggressive enough to decelerate to zero velocity within Index.1.Dist of 3 Revs slight overshoot occurs.
3. Index.1 begins at Index.0.Vel and ramp is automatically calculated to reach zero speed within Index.1.Dist of 3 Revs without any overshoot. If Index.1.Accel and or Decel were aggressive enough to reach zero speed within 3 Revs, they would have been used instead of automatically calculating the ramp.
4. Index.1 begins at Index.1.Vel and ramps is automatically calculated to reach zero speed within Index.1.Dist of 3 Revs without any overshoot. If Index.1.Decel was aggressive enough to reach zero speed within 3 Revs, it would have been used instead of automatically calculating the ramp.
Distance
(Revs) Index 0 5 500 1000 1000 Index 1 20 1250 2000 2000
Velocity
(RPM)
Accel
(RPM/sec)
Decel
(RPM/sec)
t
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