Emerson P-N 400361-00 User Manual

SM-EZMotion Module

User Guide

P/N 400361-00

Revision: A1

Date: July 3, 2003

© Control Techniques Drives, Inc. 2003

SM-EZMotion Module

User Guide

Information furnished by Control Techniques Drives Inc. (Control Techniques) is believed to be accurate and reliable. However, no
responsibility is assumed by Control Techniques for its use. Control Techniques reserves the right to change the design or operation
of the equipment described herein and any associated motion products without notice. Control Techniques also assumes no
responsibility for any errors that may appear in this document. Information in this document is subject to change without notice.

P/N 400361-00

Revision: A1

Date: July 3, 2003

© Control Techniques Drives, Inc. 2003

© Control Techniques Drives, Inc. 2003 All rights reserved.

Part Number:

Revision: A1

Date: July 2003

Printed in United States of America

Information in this document is subject to change without notice, No part if this document may be reproduced or transmitted in any
form or by any means, electronic or mechanical, for any purpose, without the express written permission of Control Techniques.

The following are trademarks of Control Techniques and may not be reproduced in any fashion without written approval of Control
Techniques: EMERSON Motion Control, EMERSON Motion Control PowerTools.

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.

ii

Customer Support

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

Telephone: [phone] or [phone]

It is Control Techniques’ goal to ensure your greatest possible satisfaction with the operation of our products. We are
dedicated to providing fast, friendly, and accurate assistance. That is why we offer you so many ways to get the support you
need. Whether it’s by phone, fax or modem, you can access Control Techniques support information 24 hours a day, seven
days a week. Our wide range of services include:

FAX [phone]

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

Website and Email www.emersonct.com

Website: www.emersonct.com

Email: [e-mail]

If you have Internet capabilities, you also have access to technical support using our website. The website includes technical
notes, frequently asked questions, release notes and other technical documentation. This direct technical support connection
lets you request assistance and exchange software files electronically.

Technical Support [phone] or [phone]

Email: [e-mail]

Control Techniques’ “Motion Made Easy” products are backed by a team of professionals who will service your installation.
Our technical support center in Eden Prairie, Minnesota is ready to help you solve those occasional problems over the
telephone. Our technical support center is available 24 hours a day for emergency service to help speed any problem solving.
Also, all hardware replacement parts, if needed, are available through our customer service organization.

When you call, please be at your computer, with your documentation easily available, and be prepared to provide the
following information:

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

• The type of controller or product you are using

• Exact wording of any messages that appear on your screen

• What you were doing when the problem occurred

• How you tried to solve the problem

Need on-site help? Control Techniques provides service, in most cases, the next day. Just call Control Techniques’ technical
support center when on-site service or maintenance is required.

Training Services [phone] or [phone]

Email: [e-mail]

Control Techniques maintains a highly trained staff of instructors to familiarize customers with Control Techniques’ “Motion
Made Easy” products and their applications. A number of courses are offered, many of which can be taught in your plant upon
request.

Application Engineering [phone] or [phone]

Email: [e-mail]

An experienced staff of factory application engineers provides complete customer support for tough or complex applications.
Our engineers offer you a broad base of experience and knowledge of electronic motion control applications.

iii

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

Email: [e-mail]

Authorized Control Techniques distributors may place orders directly with our Customer Service department. Contact the
Customer Service department at this number for the distributor nearest you.

Document Conventions

Manual conventions have been established to help you learn to use this manual quickly and easily. As much as possible, these
conventions correspond to those found in other Microsoft® Windows® compatible software documentation.

Menu names and options are printed in bold type: the File menu.

Dialog box names begin with uppercase letters: the Axis Limits dialog box.

Dialog box field names are in quotes: “Field Name.”

Button names are in italic: OK button.

Source code is printed in Courier font: Case ERMS.

In addition, you will find the following typographic conventions throughout this manual.

This Represents

bold

italic

ALL CAPITALS Directory names, file names, key names, and acronyms.

SMALL CAPS Non-printable ASCII control characters.

KEY1+KEY2
example: (Alt+F)

KEY1,KEY2
example: (Alt,F)

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

Placeholders for information you must provide. For example, if you are directed to type
filename, you should type the actual name for a file instead of the word shown in italic type.

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

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

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

“Caution” indicates a potentially hazardous situation that, if not avoided, may result in minor or moderate injury.

“Caution” used without the safety alert symbol indicates a potentially hazardous situation that, if not avoided, may result
in property damage.

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” or "SP" refers to a Unidrive SP.

iv

Safety Instructions

General Warning

Failure to follow safe installation guidelines can cause death or serious injury. The voltages used in the product can cause
severe electric shock and/or burns and could be lethal. Extreme care is necessary at all times when working with or adjacent
to the product. The installation must comply with all relevant safety legislation in the country of use.

Qualified Person

For the purpose of this manual and product, a “qualified person” is one who is familiar with the installation, construction and
operation of the equipment and the hazards involved. In addition, this individual has the following qualifications:

• Is trained and authorized to energize, de-energize, clear and ground and tag circuits and equipment in accordance with
established safety practices.

• Is trained in the proper care and use of protective equipment in accordance with established safety practices.

• Is trained in rendering first aid.

Reference Materials

The following related 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-DeviceNet User Guide

• SM-Profibus DP Ussr Guide

• SM-INTERBUS User Guide

• SM-CANOpen User Guide

v

vi

Safety

Considerations

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.

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.

Fuses

Fuses protection must be provided at the input in
accordance with the instructions in the manual.

Isolation of control circuits

The installer must ensure that the external control circuits

SM-EZMOTION Module Manual www.emersonct.com vii

are isolated from human contact by at least one layer of
insulation rated for use at the applied AC supply voltage.

viii www.emersonct.com SM-EZ Motion Module Reference

Table of Contents

SM-EZMotion Module Technical Manual

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

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

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

General Warning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . v

Qualified Person . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . v

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

Safety Considerations vii

1 Introduction 1

1.1 Introduction. . .. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .1

1.2 SM-EZMotion Module for Unidrive SP. . .. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .1

1.3 Development Software. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .1

1.3.1 Features . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1

2 Installation 3

2.1 Mechanical Installation. . .. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3

2.2 Slot Selection. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3

2.3 Electrical Connections. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3

2.4 Digital I/O Connections. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3

2.5 Connecting Motor Encoder Feedback to the Unidrive SP. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3

2.6 Simple Servo Motor Phasing Test. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5

3 PowerTools Pro Configuration Software 7

3.1 Introduction. . .. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .7

3.2 Installing PowerTools Pro. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .7

3.2.1 From the Power CD. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7

3.2.2 From the Web . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7

3.3 How PowerTools Pro is Organized. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .7

3.3.1 Menu Bar. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7

3.3.2 Tool Bar. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13

3.3.3 Hierarchy . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15

3.3.4 View . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16

3.3.5 View Tabs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16

3.3.6 Status Bar. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16

4 Communications 17

4.1 Communications Protocol. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .17

4.2 Connecting the PC to the SM-EZMotion Module. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .17

4.3 Configuring Communications in PowerTools Pro. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .17

4.4 Uploading and Downloading using PowerTools Pro. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .17

4.4.1 Uploading . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18

4.4.2 Downloading . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18

4.4.3 Non-Volatile Memory (NVM) Options for Uploading and Downloading . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18

4.4.4 Updating to RAM . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19

4.4.5 PowerTools Pro Operation Preferences. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19

4.4.6 Secure Downloading . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21

5 How Motion Works 23

5.1 Introduction. . .. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .23

ix

SM-EZMotion Module Technical Manual

5.2 Jog. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .23

5.3 Home. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .23

5.3.1 Home to Marker . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .23

5.3.2 Home to Sensor. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .24

5.3.3 Home to Sensor then Marker . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .24

5.3.4 If On Sensor Options. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .25

5.4 Index. . .. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .25

5.4.1 Absolute Index . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .25

5.4.2 Incremental Index . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .26

5.4.3 Registration Index. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .26

5.4.4 Rotary Plus Index . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .27

5.4.5 Rotary Minus Index . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .27

5.4.6 Timed Index . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .27

5.5 Gear. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .28

5.6 Motion Timebase (Realtime vs. Synchronized). . .. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .28

5.7 Summing Multiple Profiles. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .29

6 How I/O Works 31

6.1 I/O Scan. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .31

6.2 SM-EZMotion Module I/O. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .31

6.3 Unidrive SP I/O. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .31

6.4 SM-I/O Plus Module I/O. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .31

7 Configuring an Application 33

7.1 Introduction. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .33

7.2 Define Hardware. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .33

7.2.1 Drive/Encoder View . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .33

7.2.2 Slot # View . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .33

7.2.3 Unidrive SP Parameters View. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .35

7.2.4 SP Menu Initialization View. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .36

7.3 Configure Setup Parameters. . .. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .36

7.3.1 Setup View . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .37

7.3.2 User Units View . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .37

7.3.3 Master Units Setup View . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .38

7.3.4 Position View . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .40

7.3.5 Velocity View . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .41

7.3.6 Ramps View . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .41

7.3.7 Current View. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .42

7.3.8 Tuning View . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .42

7.3.9 Errors View. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .43

7.3.10 PLS View . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .45

7.3.11 Setup NVM View . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .46

7.3.12 Capture View . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .46

7.3.13 Queues View. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .48

7.3.14 User Variables View . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .49

7.3.15 User Bits View . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .50

7.4 Configure I/O. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .52

7.4.1 Assignments View . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .52

7.4.2 SP I/O Setup View . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .54

7.4.3 EZ Motion I/O Setup View. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .54

7.4.4 Selector View . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .54

7.5 Define Motion Profiles. . .. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .55

7.5.1 Jog View . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .55

7.5.2 Home View . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .57

7.5.3 Index View . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .59

7.5.4 Gearing View . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .63

x

7.6 Create User Programs. . .. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .63

7.6.1 Program View . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 63

8 How User Programs Work 65

8.1 Program Window Components. . .. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .65

8.2 Program Parameters. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .65

8.2.1 Program Name. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 65

8.2.2 Program Number . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 65

8.2.3 Task Number . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 65

8.2.4 Run Anytime Enable . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 66

8.3 Program Toolbar. . .. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .66

8.3.1 Undo . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 66

8.3.2 Redo. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 66

8.3.3 Find . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 66

8.3.4 Find Next. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 66

8.3.5 Bookmark . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 66

8.3.6 Goto Next Bookmark . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 66

8.3.7 Goto Previous Bookmark . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 66

8.3.8 Clear All Bookmarks. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 66

8.3.9 Red Dot Help. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 67

8.3.10 Drag In Operands . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 67

8.3.11 Drag In Variables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 67

8.3.12 Lock Program . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 67

8.3.13 Run Program . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 67

8.3.14 Program Where Am I?. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 67

8.3.15 Stop . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 67

8.3.16 Disable/Enable Error Check . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 67

8.4 Program Instruction List. . .. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .68

8.4.1 Program Flow Instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 68

8.4.2 Motion Instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 71

8.4.3 Motion Modifier Instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 73

8.5 Red Dot Error Bar. . .. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .73

8.6 Program Code Window. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .74

8.7 Program Multi-tasking. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .74

9 Starting and Stopping Motion 77

9.1 Starting Motion. . .. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .77

9.1.1 From Assignments. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 77

9.1.2 From Programs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 78

9.1.3 From PowerTools Pro . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 80

9.2 Stopping Motion. . .. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .80

9.2.1 From Assignments. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 80

9.2.2 From Programs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 80

9.2.3 From PowerTools Pro . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 81

10 Starting and Stopping Programs 83

10.1 Starting Programs. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .83

10.1.1 From Assignments. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 83

10.1.2 From Programs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 83

10.1.3 From PowerTools Pro . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 83

10.2 Stopping Programs. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .83

10.2.1 From Assignments. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 83

10.2.2 From Programs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 83

10.2.3 From PowerTools Pro . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 83

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SM-EZMotion Module Technical Manual

11 Parameter Descriptions 85

12 Drive Parameters Used by SM-EZMotion Module 111

12.1 Description. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .111

12.2 Chart. . .. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .111

12.3 SM-EZMotion Module Setup Parameters. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .114

13 Diagnostics 117

13.1 Errors and Error Codes. . .. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .117

13.2 Analog Outputs. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .120

13.3 PowerTools Pro. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .120

13.3.1 Watch Window . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .120

13.3.2 Errors View. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .121

13.3.3 Status Bar . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .122

13.3.4 Where Am I?. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .122

13.3.5 Online View Tabs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .122

13.4 Clearing SLX.dF trip after installing SM-EZMotion module. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .123

13.5 Clearing the SM-EZMotion module memory. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .123

14 Creating a Custom Motor File 125

15 Glossary 129

16 Index 133

xii

1 Introduction

1.1 Introduction

Modern variable speed drive such as the Unidrive SP offer
a multitude of built-in features such as ramp control, speed
control, PID Loops, and even simple position control.
However, the base drive’s functionality is too limited for
many applications. When it comes to more complex
applications, the user must resort to using external
equipment such as PLC's to control the drive from a
system point of view.

However, the flexibility of the Unidrive SP can be
substantially increased by using an SM-EZMotion module.
The SM-EZMotion module is 1 1/2 axis controller with a

dedicated processor that allows the user to write their own
application specific software. The Unidrive SP drive also
offers powerful networking capabilities in addition to the
SM-EZMotion module so that many drives (and other
equipment) can be linked together to communicate
process wide information thus offering a complete
application solution.

1.2 SM-EZMotion Module for Unidrive SP

The SM-EZMotion module for the Unidrive SP is an option
module that can be fitted to any one of the three expansion
slots in the Unidrive SP. Figure 1 shows the three slot
positions.

Figure 1: Slot Diagram

The SM-EZMotion module is powered from the Unidrive
SP internal power supply.

When using PowerTools Pro to program the SM-EZMotion
module, the user must indicate which options slot the
module is fitted in. By default, PowerTools Pro will select
Slot 3 for the SM-EZMotion module.

1.3 Development Software

Applications for the SM-EZMotion module are developed
by the user using PowerTools Pro software. PowerTools
Pro is an easy-to use, Windows® based setup and
diagnostics tool. It provides you with the ability to create,

Introduction www.emersonct.com 1

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 11/2 axis motion controllers.

1.3.1 Features

• "Hierarchy View" for quick navigation to any setup
view

• Simple I/O function assignments

• Powerful online diagnostic capabilities

• Fill-in-the-blank motion profile parameters

• Programming

PowerTools Pro will run on Windows 98, NT, 2000, and XP

operating systems.

2 www.emersonct.com SM-EZMotion Module User Guide

2 Installation

This section of the manual will cover basic installation
information.

2.1 Mechanical Installation

Please refer to the Installation Sheet that comes with the
SM-EZMotion module for details on installing the module
into the Unidrive SP.

2.2 Slot Selection

the Setup view in PowerTools Pro (see “Setup View” on
page 37 for more information on the Trajectory Update
Rate).

The digital I/O on the SM-EZMotion module are also
unique (as compared to Unidrive SP digital I/O and SM-I/O
Plus module I/O) because they can be used in the
SM-EZMotion high speed capture process. Even though
they are only updated once every Trajectory Update, the
SM-EZMotion processor knows when they activate to
within 1 microsecond. Therefore, when Capture is used,
they can be accurate to 1 microsecond (see “Capture
View” on page 46 for more information on the
SM-EZMotion Capture object).

The SM-EZMotion module may be placed in any of the
three available option slots on the Unidrive SP. The user
must indicate which slot the SM-EZMotion is fitted in using
PowerTools Pro configuration software. The default slot
number is Slot 3 in the configuration software.

2.3 Electrical Connections

The SM-EZMotion module has three separate terminal
blocks used to access the different features. Figure 2
shows a diagram of these connections.

12345

Figure 2: Connection Diagram

The terminals are numbered from Terminal 1 on the left to
Terminal 7 on the right. The different terminal functions are
listed in the table below.

Ter m inal # Function Description

1OV Common

2 Input1 Digital Input 1

3 Input2 Digital Input 2

4 Input3 Digital Input 3

5 Input4 Digital Input 4

6 Output1 Digital Output 1

7 Output 2 Digital Output 2

OV Common connection for

67

digital I/O

2.5 Connecting Motor Encoder Feedback to the Unidrive SP

Figure 3 can be used to connect the encoder feedback
signals for various different motors to the Unidrive SP. For
further installation information, please refer to the Unidrive
SP User Guide.

2.4 Digital I/O Connections

The SM-EZMotion module is equipped with 4 digital inputs
and 2 digital outputs. The I/O are electrically sourcing I/O.
All I/O utilize positive logic meaning that they are active
when positive voltage is applied (10-30 VDC). See the
Specifications section at the back of the manual for more
detailed information on the digital I/O.

These digital I/O can be used to control different functions
in the SM-EZMotion module. The digital I/O on the
SM-EZMotion are updated at the SM-EZMotion Trajectory
Update Rate. The Trajectory Update Rate can be found on

Installation www.emersonct.com 3

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

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

I/O Connector 1

I/O Connector 2

I/O Connector 4

L1 L2 L3 U V W

NT, MG, or MH Motor

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

1

2

3

4

5

6

7

8

9

10

11

12

13

14

15

GRY/PNK

RED/BLU

RED

BLUE

WHT/GRN

BRN/GRN

GREEN

YELLOW

GREY

PINK

BLACK

PURPLE

RED

BLUE

BROWN

SIBAA-xxx Cable

EZ or UM Motor

Figure 3: Motor Feedback to Unidrive SP Connection Diagram

4 www.emersonct.com SM-EZMotion Module User Guide

2.6 Simple Servo Motor Phasing Test

When connecting a non-standard servo motor to the
Unidrive SP, it is necessary to know the wiring
configuration of the motor. At times, all of the necessary
wiring documentation for connecting the motor is not
readily available from the motor manufacturer. In that case,
it may be possible to follow the simple servo motor phasing
test described below. This will help to determine if the
motor phases (U, V, and W) are wired correctly along with
the encoder commutation and channel signals. If the
procedure described below is followed, and you still have
problems, please refer to the Unidrive SP User Guide for
further wiring information.

Begin by entering the motor peak current, continuous
current, number of poles, encoder lines per rev., etc. Then
follow the steps below.

Step 1: Verify wiring of encoder channels per the

documentation. Define CW rotation of the motor
shaft, from the flange side, with increasing counts.

To verify this, do the following

A Disable the drive

B Navigate the keypad to display parameter # 3.29

Step 7: Verify wiring of commutation signals. The

Unidrive SP Advanced User Guide section 3
(parameter 3.25) is helpful for this step.

If no trips were encountered during Step 2, this step can be
skipped.

To verify correct commutation, follow the steps below:

A Enable the drive.

B Navigate the keypad to display parameter #0.40 and

set the parameter to 1.

C If an tunE3 or other tunEx trip results, rewiring is

needed.

D Swap the U and V commutation signals at the drive

end.

Repeat steps A through C to verify.

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

should be swapped

E Repeat A through C of Step 1

Step 6: Verify wiring of motor power cables. Define

CW rotation of the motor with a positive drive
command. The phasing test of the Unidrive will
give a CW rotation during the test.

To verify this, complete the following steps:

A Enable the drive.

B Verify that the motor is free of any load.

C Navigate the keypad to display parameter #0.40.

D Set the parameter to 1. The phasing test will

command the motor to move one rev CW. It will also
reset the parameter to 0.

E If the motor moves in the CCW direction, the motor

power is wired incorrectly.

F Swap the U and V phases and repeat A through D of

Step 2.

Note

Disregard any encoder phasing trip at this time

[tunEx trips]

Installation www.emersonct.com 5

6 www.emersonct.com SM-EZMotion Module User Guide

3 PowerTools Pro

Configuration

Software

3.1 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 can also be used
as a diagnostic tool and for troubleshooting assistance.

3.2 Installing PowerTools Pro

3.2.1 From the Power CD

PowerTools Pro can be installed directly from the
PowerCD that ships with every Unidrive SP (in North
America). To install PowerTools Pro, insert the Power CD
into the CD-ROM drive of your PC. The Power CD will
auto-launch on your PC (if not, use Windows Explorer to
find the Launch.exe file on the CD drive, double click).
From the Power CD Main Menu, click on the Install
Software control button. Figure 4 shows the software
installation screen.

www.emersonct.com.

Figure 5: Control Techniques’ North America

Website

3.3 How PowerTools Pro is Organized

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

Figure 6: PowerTools Pro Organization

3.3.1 Menu Bar

Figure 4: PowerCD Software Installation Screen

Select PowerTools Pro from the software list and the
installation will begin. Follow the install shield instructions
to complete the software installation.

3.2.2 From the Web

PowerTools Pro can be downloaded from the Control
Techniques website at the following address:

PowerTools Pro Configuration Software www.emersonct.com 7

Figure 7 shows the Menu Bar as found in PowerTools Pro.
The items available on the Menu Bar may change under
certain conditions (e.g., online, configuration open, etc.).

Figure 7: 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 options. On the menu, either click an option 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 8

3.3.1.1 File

The File menu on the Menu Bar contains many different
options for file handling (e.g., saving files, importing files,
etc.). Figure 8 below shows the File menu expanded.

3.3.1.1.5 Save As...

Save As allows the user to save the active file using a
different name or to save an existing file to a different
directory location. Navigate to the directory to which the file
is to be saved, and click on the Save button.

3.3.1.1.6 Import

Import allows the user to import an existing FM-3 file into
an FM-4 configuration, or an existing FM-3 or FM-4 file into
an SM-EZMotion configuration. To import the file, open a
new file and select the configuration type that you wish to
convert to. Once the new file (of the desired configuration
type) is open, select Import, and find the file that is to be
converted. Select the file to be converted, and then click
Open. The existing file will then be converted into the new
file type. The new file must then be saved with the new file
name and extension.

3.3.1.1.7 Print

Print will send the active file to the printer specified by the
user. A Print Options box will open allowing the user to
specify which sections of the configuration are to be
printed. By default, all sections will be printed. To remove
a given section from the printout, uncheck the specific box
by clicking on the check mark.

3.3.1.1.8 Print Preview

Figure 8: File Menu

3.3.1.1.1 New

New will open a new PowerTools Pro file. The user will be
asked what type of configuration to create (FM-3, FM-4, or
SM-EZMotion). For modules to be used with the Unidrive
SP, the SM-EZMotion should be selected.

3.3.1.1.2 Open

Open allows the user to open an existing application
created with PowerTools Pro. Navigate to the directory that
the desired file is located in, and double-click on the
specific file. Doing so will open the file for editing.

3.3.1.1.3 Close

Close will close the active configuration. If multiple files are
open simultaneously, the active file is the one in which the
Title Bar is highlighted.

3.3.1.1.4 Save

Print Preview will open a new window that displays what an
actual hardcopy printout would look like. This can be
helpful to determine if formatting is correct.

3.3.1.1.9 Print Setup

Selecting Print Setup allows the user to change the Target
Printer, Paper Type, Paper Source, Print Orientation, and
other printer related parameters.

3.3.1.1.10 Recently Used Files

Also displayed on the File Menu are the last four files that
were edited using PowerTools Pro. To quickly access one
of these last four files, simply click on the file name in the
File Menu. Clicking on one of these files will open the
configuration for editing.

3.3.1.2 Edit

Figure 9 below shows the Edit Menu as selected from the
PowerTools Pro Menu Bar.

Selecting Save will save the active file on the users PC.
The location to which the file is saved is based on where
the file was previously saved. If the file has not yet been
saved, the Save As control box will open instead.

8 www.emersonct.com SM-EZMotion Module User Guide

matches the text in the Find What field, and replace it with
the text in the Replace With field. The user can select to
replace just the next match, or all existing matches with the
Replace All control button.

3.3.1.2.7 New

Selecting New will bring up a sub menu allowing the user
to add a new Index, Home, or Program. Indexes, Homes,
and Programs may not be added while online with the
SM-EZMotion.

3.3.1.2.7.1 Index

Figure 9: Edit Menu

3.3.1.2.1 Undo

Selecting Undo will undo the last change made to a user
program. Up to the last ten changes made can be undone.

3.3.1.2.2 Cut

Selecting Cut will remove the highlighted text from a user
program. To highlight text in a program, place the mouse
point at the leftmost character to be selected, then press
and hold the left mouse button. Move the cursor over the
text until the mouse pointer is positioned over the final
desired character, and then release the mouse button.
Once the text is highlighted, the text can be cut, copied, or
pasted.

3.3.1.2.3 Copy

Selecting Copy will copy any highlighted text in a user
program. To highlight text in a program, place the mouse
pointer at the leftmost character to be selected, then press
and hold the left mouse button. Move the cursor over the
text until the mouse pointer is positioned over the final
desired character, and then release the mouse button.
Once the text is highlighted, the text can be cut, copied, or
pasted.

3.3.1.2.4 Paste

Selecting Paste will place the last cut or copied text into a
user program. See Cut and Copy above for further
information.

3.3.1.2.5 Find

Selecting Find will bring up the Find window. In the find
window, the user can type in a specific word, number, or
any character that they wish to find in a user program.
Once the user enters the text they wish to find, the Find
Next or Mark All control button is clicked. The Find Next
button will highlight the next segment of code after the
cursor that matches the search text. The Mark All control
button will put a mark next to each line of the program that
has matching text. The user also has several other options
on searching the program for matching text.

3.3.1.2.6 Replace

Selecting Replace bring up the Find window (see Find
above) with an additional parameter called Replace With.
Using this method will search the user program for text that

Selecting 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.

3.3.1.2.7.2 Home

Only one home is available in the initial release of the
SM-EZMotion

3.3.1.2.7.3 Program

Selecting Edit > 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.

3.3.1.2.8 Delete

Selecting Delete will bring up a sub menu allowing the user
to delete an existing Index, Home, or Program. Indexes,
Homes, and Programs may not be deleted while online
with the SM-EZMotion.

3.3.1.2.8.1 Index

To delete an index, the user must select the specific index
they wish to delete on the hierarchy. Once the index is
selected, click on 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.

3.3.1.2.8.2 Home

Homes cannot be deleted in the initial release of
SM-EZMotion.

3.3.1.2.8.3 Program

To delete a program, the user must select the specific
program they wish to delete on the hierarchy. Once the
program is selected, click on Edit > Delete > Program on
the Menu Bar. Doing so will delete the program instance.
Once the program is deleted, the program code cannot be
recovered.

3.3.1.3 Device

Figure 10 shows the Device Menu as selected from the
PowerTools Pro Menu Bar.

PowerTools Pro Configuration Software www.emersonct.com 9

Figure 10: Device Menu

3.3.1.3.1 Change Address

Selecting Change Address from the Device menu allows
the user to change the Modbus node address of a drive/
module system. The user must be online with the device for
Change Address to be available. The user will be prompted
for the new node address. After entering the new node
address, click OK. The drive will immediately change to the
new address.

3.3.1.3.2 Change Baud Rate

Selecting Change Baud Rate from the Device menu allows
the user to change the Baud Rate for the application stored
in the SM-EZMotion. If the baud rate setting in PowerTools
Pro does not match the baud rate for the application,
PowerTools will not be able to communicate with the
SM-EZMotion module.

3.3.1.3.3 Download

Selecting Download will send the active configuration from
the PC to the target node address (specified on the Setup
view). For more information on Downloading, see Section
4 - Communications in this manual.

Drive option will not be available on the Edit menu.

3.3.1.3.7 Reset Errors

Selecting Reset Faults will clear any active Errors or Trips.
If the trip condition still exists, the trip may reactivate
immediately after clearing it.

3.3.1.3.8 View Faults

Selecting View Faults from the Edit menu will open the
Active Faults pop up window. The Active Faults window will
show any fault conditions that have not been reset.

3.3.1.3.9 Reboot Drive

Selecting Reboot will cause the SM-EZMotion to reboot
itself (similar to cycling power). Rebooting will cause
PowerTools Pro to lose communications with the
SM-EZMotion module.

3.3.1.3.10 Feedhold

Selecting Feedhold will put the SM-EZMotion module into
a feedhold condition. Feedholding is a means of pausing
motion that is active. For more information on Feedhold,
see Section 8 - Starting and Stopping Motion in this
manual.

3.3.1.3.11 Where Am I? (Global)

Selecting Where Am I? will launch a utility that shows the
user what line in a user program is currently being
processed. If multiple user programs are running
simultaneously, the user will be asked to specify which task
they wish to follow. A blue arrow will appear next to the
active line of the program. The global Where Am I will
continuously update until it is deactivated. This is different
from the Where Am I found on the Program Toolbar.

3.3.1.4 Options

Figure 11 shows the Options Menu as selected from the
PowerTools Pro Menu Bar.

3.3.1.3.4 Disconnect

Selecting Disconnect will terminate communications
between the PC and any nodes the PC is online with.

3.3.1.3.5 Upload Drive

Upload Drive will upload only the node address specified in
the active configuration. To use Upload Drive, open a new
file and set the Node Address on the setup view to the
address you wish to upload. Then select Upload Drive.
This will overwrite the active configuration with the
uploaded data.

3.3.1.3.6 Update Drive

Selecting Update Drive will send any parameters that have
been changed since the last download into RAM. Doing so
allows the user to send changes to the system without
requiring a complete download. Certain parameters when
changed require a complete download and cannot be sent
to RAM. If one of these parameters is changed, the Update

10 www.emersonct.com SM-EZMotion Module User Guide

Figure 11: Options Menu

3.3.1.4.1 Preferences

Underneath the Preferences menu option, there are three
sub-options: Communications, User Levels, and
PowerTools Operation. Selecting one of these sub-options
allows the user to configure the preferences related to that
specific topic.

3.3.1.4.1.1 Communications

Selecting Options > Preferences > Communications will
launch the Modbus Setup window as seen in Figure 12.

Figure 12: Modbus Setup Window

On the Modbus Setup window, the user can configure the
maximum node address they wish to poll for when
uploading devices or flash upgrading devices. PowerTools
Pro will not check to see if any devices with node
addresses higher than the number entered are available
on the network.

To change the COM port number and Baud Rate, the user
must click the Configure Serial Port control button. Once
the COM port and Baud Rate are selected, click OK.

most commonly used parameters are available. If user
level is set to "Too Much Mode", then all parameters will be
visible. This feature is designed to make the most common
parameters easier to find and use in programs,
assignments, and throughout the software.

3.3.1.4.1.3 Ptools Operation

Selecting Options > Preferences > Ptools Operation allows
the user to configure certain setting for the way
PowerTools Pro software functions. Figure 15 shows the
PowerTools preferences window.

Figure 13: Com Port and Baud Rate Setup

3.3.1.4.1.2 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

Figure 15: PowerTools Preferences

This window is used to configure several options related to
downloading files, uploading files, and file saving. Once the
parameters have been set in this window, the user will no
longer be prompted with pop-ups when the upload or
download files.

For more information on these options, refer to Section 4 ­Uploading and Downloading Using PowerTools Pro in this
manual.

3.3.1.5 Tools

Figure 16 shows the Tools Menu as selected from the
PowerTools Pro Menu Bar.

Figure 16: Tools Menu

PowerTools Pro Configuration Software www.emersonct.com 11

3.3.1.5.1 Watch Window

Selecting Watch Window will launch a diagnostics tool that
allows the user to view the current value of multiple
SM-EZMotion parameters while online with the module.
For more information on the Watch Window, refer to
Section 11 - Diagnostics of this manual.

3.3.1.5.2 Drive Menu

The Drive Menu Watch Window allows the user to read or
write a single SP Menu Parameter from within PowerTools
Pro.

Reading a Menu Parameter

To read a Menu Parameter, enter the Menu Parameter
number to be read in the Menu.Parameter box. The Menu
Parameter is entered using the MM.PP format (where MM
is the Menu number and PP is the parameter number).
Once the Menu parameter is entered, then click on the
Read control button. The value read from the Unidrive SP
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 box. The Menu
Parameter is entered using the MM.PP format (where MM
is the Menu number and PP is the parameter number).
Once the Menu parameter is entered, then enter the value
to be written to that parameter in the Parameter Data box.
Then click on the Write control button. The value in the
Parameter Data box will be written to the specified Menu
Parameter. If the user wishes to verify that the data was
written properly, they could either click the Read button, or
navigate to the parameter using the SP keypad manually.

3.3.1.5.3 Flash Upgrade

Selecting Flash Upgrade will launch the utility that lets the
user upgrade the firmware in the SM-EZMotion module.
New firmware becomes available from Control Techniques
to add new features or to fix problems in prior releases.

Figure 17: Flash Upgrade Window

To upgrade the firmware in a given node, click on the
Select File control button in the top-right corner of the
window. Navigate to the folder location where the new
flash file is stored. Select the new flash file and click Open.
If the selected flash file is compatible with the devices in the
list, the LED next to the device will turn from red to green.
If the selected flash file is not compatible with the device,
the LED will remain red. Once the LED next to the desired
device has turned green, click on the device to be
upgraded so that it is highlighted, then click the Upgrade
control button.

The upgrade process can take up to fifteen minutes (at
19200 baud). When complete, cycle power on the system
for the new firmware to take effect.

3.3.1.6 View

Figure 18 shows the View Menu as selected from the
PowerTools Pro Menu Bar.

When the user selects Flash Upgrade, PowerTools Pro will
search for all devices available on the Modbus network.
Once PowerTools detects devices, a window similar to that
shown in Figure 17 will appear.

12 www.emersonct.com SM-EZMotion Module User Guide

Figure 18: View Menu

3.3.1.6.1 Toolbar

By default, the Toolbar is visible on the PowerTools Pro
screen. To hide the Toolbar, select Toolbar to remove it
from the display. If the Toolbar is not visible, select Toolbar
to make it appear again.

3.3.1.6.2 Status Bar

By default, the Status Bar is visible on the PowerTools Pro
screen. To hide the Status Bar, select Status Bar to remove
it from the display. If the Status Bar is not visible, select
Status Bar to make it appear again.

3.3.1.6.3 Show Navigation Tree

By default, the Hierarchy is visible on the PowerTools Pro
screen. Some users with low resolution monitors wish to
hide the Hierarchy to allow for more room while
programming. To hide the Hierarchy, select Show

Navigation Tree to remove it from the display. If the
Hierarchy is not visible, select Show Navigation Tree to
make it appear again.

3.3.1.7 Window

Figure 19 shows the Window Menu as selected from the
PowerTools Pro Menu Bar.

Figure 19: Window Menu

3.3.1.7.1 Arrange Icons

No function.

3.3.1.7.2 Cascade

If the user has multiple configurations open
simultaneously, selecting Cascade will neatly layer the
windows so the titlebar is visible and the active
configuration in front.

3.3.1.8.2 Using Help

Selecting Using Help will launch a window that lets the user
select different topics available as part of the help file. This
utility makes it easier to navigate the different sections of
the help file.

3.3.1.8.3 About PowerTools...

About PowerTools Pro will bring up a window that shows
what revision of PowerTools Pro software is currently
running.

3.3.2 Tool Bar

3.3.2.1 New

Same as File > New from the Menu Bar. Selecting New will
open a new PowerTools Pro file. The user will be asked
what type of configuration to create (FM-3, FM-4, or
SM-EZMotion). For modules to be used with the Unidrive
SP, the SM-EZMotion should be selected.

3.3.2.2 Open

3.3.1.7.3 Tile

If the user has multiple configurations open
simultaneously, selecting Tile will resize each of the
windows to have equal area on the screen. The active
configuration will have a highlighted Titlebar on the
window.

3.3.1.7.4 Current Files Open

If the user has multiple configurations open
simultaneously, each of the open files will be listed on the
Window menu. The active file will have a check mark next
to it as seen in Figure 19 above. By selecting a different file
from this list, the selected file will become the active file.

3.3.1.8 Help

Figure 20 shows the Help Menu as selected from the
PowerTools Pro Menu Bar.

Figure 20: Help Menu

3.3.1.8.1 Help Topics

By selecting Help Topics, the help file will be launched
allowing the user to lookup and read information related to
the SM-EZMotion module and PowerTools Pro software.

Same as File > Open from the Menu Bar. Selecting Open
will allow the user to open an existing application created
with PowerTools Pro. Navigate to the directory that the
desired file is located in, and double-click on the specific
file. Doing so will open the file for editing.

3.3.2.3 Save

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.

3.3.2.4 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 box will open allowing the user to specify
which sections of the configuration are to be printed. By
default, all sections will be printed. To remove a given
section from the printout, uncheck the specific box by
clicking on the check mark.

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3.3.2.5 Upload

3.3.2.10 Add Index

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.

3.3.2.6 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 17 in this manual.

3.3.2.7 Send to RAM

Same as Device > Update Drive from the Menu Bar.
Selecting Update Drive will send any parameters that have
been changed since the last download into RAM. Doing so
allows the user to send changes to the system without
requiring a complete download. Certain parameters when
changed require a complete download and cannot be sent
to RAM. If one of these parameters is changed, the Update
Drive option will not be available on the Edit menu.
Parameter values only sent to RAM will be list when power
is cycled.

3.3.2.8 Upload N VM

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.

3.3.2.11 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. Once the index is
selected, click on Delete Index on the Tool Bar. 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.

3.3.2.12 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.

3.3.2.13 Delete Program

Same as Edit > Delete > Program from the Menu Bar. To
Selecting Upload NVM will read the current value from
each of the parameters in the SM-EZMotion module’s NVM
memory and display it in the PowerTools Pro configuration.
The file can then be saved to retain the current values
stored in NVM.

delete a program, the user must select they specific

program they wish to delete on the hierarchy. Once the

program is selected, click on Delete Program on the Tool

Bar. Doing so will delete the program instance. Once the

program is deleted, the program code cannot be

recovered. Can not be used while online.

3.3.2.9 Disconnect

3.3.2.14 View Current Errors

Same as Device > Disconnect from the Menu Bar.
Selecting Disconnect will terminate communications
between the PC and any nodes the PC is online with.

14 www.emersonct.com SM-EZMotion Module User Guide

Same as Device > View Errors... from the Menu Bar.

Selecting View Errors... from the Edit menu will open the

Active Errors pop up window. The Active Errors window will

show any error or trip conditions that have not been reset.

3.3.2.15 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.

3.3.2.16 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
SM-EZMotion parameters while online with the module.
For more information on the Watch Window, refer to
“Diagnostics” on page 117 of this manual.

3.3.2.17 Drive Watch Window

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.

3.3.2.21 Hide/Show Hierarchy

Same as View > Show Navigation Tree on the Menu Bar.
By default, the Hierarchy is visible on the PowerTools Pro
screen. Some users with low resolution monitors wish to
hide the hierarchy to allow for more room while
programming. To hide the hierarchy, select Hide/Show
Hierarchy from the Tool Bar to remove it from the display.
If the hierarchy is not visible, select Navigation Tree to
make it appear again.

3.3.2.22 Help Contents

Selecting Drive Watch Window will launch a diagnostics
tool that allows monitoring and editing of individual drive
menu parameters while online. For more information see
“Drive Menu” on page 12.

3.3.2.18 Stop

Using the Stop icon on the Tool Bar will stop all motion and
programs that are currently active in the SM-EZMotion.
The Stop icon will toggle on and off meaning that once it is
clicked to stop motion and programs, it will remain active
until it is clicked again. Until the Stop is toggled off, motion
and program will be prevented from being initiated.

3.3.2.19 Feedhold

Same as Device > Feedhold from the Menu Bar. Selecting
Feedhold will put the SM-EZMotion into a feedhold
condition. Feedholding is a means of pausing motion that
is active. For more information on Feedhold, see “Starting
and Stopping Motion” on page 77 in this manual.

3.3.2.20 Global Where Am I?

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 the
SM-EZMotion module and PowerTools Pro software.

3.3.2.23 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 on the CSH icon on the Tool Bar, the mouse graphic
will turn from a pointer to a pointer with a question mark
next to it. Once the mouse pointer graphic changes, click
on the parameter on any of the PowerTools Pro views that
the user wants help information for.

3.3.3 Hierarchy

Figure 6 shows the Hierarchy as found in PowerTools Pro.
The Hierarchy is a navigational aid that helps the user step
through a configuration. The different parameters related
to configuring the system are grouped into logical groups
and placed on different Views within the software. To see
a certain View, the user simply selects that View from the
Hierarchy. Once the use clicks on a given branch on the
Hierarchy, that view is then displayed on the right-hand
side of the screen.

Groups on the hierarchy can be expanded and collapsed
much like with Windows Explorer. To expand a group of

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

PowerTools Pro Configuration Software www.emersonct.com 15

views, click on the “+” symbol next to the grouping. Doing
so will show each of the branches available within that
group. To collapse a group on the Hierarchy, click on the

“-“symbol next to the grouping. Doing so will hide all of the
branches within that group.

Natural progression through the hierarchy, starting at the
top, and working towards the bottom will step the user
through the entire configuration. The Hierarchy starts 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, the
configuration should be ready to be downloaded to the
module.

3.3.4 View

Figure 6 shows an example of a View in PowerTools Pro.
A View will typically contain edit boxes, list boxes, scroll
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. To see a specific View, it must be selected
on the PowerTools Pro hierarchy.

3.3.5 View Tabs

Some Views in PowerTools Pro (see explanation of View
above) have tabs at the bottom half of the View to organize
more specific parameters. Some examples of View Tabs
are Calculations and Online. Online Tabs are only visible
when online with a module.

On the Calculations Tab the user will find simple
calculations to help realize how much time a motion will
take, or how much time or distance is covered during
certain segments of a motion profile. On Index –
Calculation Tabs, a graph is created based on data
entered by the user to give some visualization of what the
profile looks like.

The Online Tab is used to show feedback and other
diagnostic information to the user while online with a
module. The parameters shown on an Online view will
change depending on which View is being displayed.
PowerTools Pro must be online (connected) in order to see
the Online Tab.

3.3.6 Status Bar

The Status Bar is used to give quick diagnostic information
to the user about the status of the drive/module, what
motion is active, Position and Velocity Feedback, and
Online Status. For more details, see the “Diagnostics” on
page 117.

16 www.emersonct.com SM-EZMotion Module User Guide