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SM-EZMotion Module P/N 400361-00
User Manual
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Emerson SM-EZMotion Module P/N 400361-00, Control Techniques SM-EZMotion Module User Manual

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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
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.
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Customer Support
Control Techniques 12005 Technology Drive Eden Prairie, Minnesota 55344-3620 U.S.A.
Telephone: (952) 995-8000 or (800) 397-3786
It is Control Techniques’ goal to ensure your greatest possible satisfaction with the operation of our products. We are dedicated to providing fast, friendly, and accurate assistance. That is why we offer you so many ways to get the support you need. Whether it’s by phone, fax or modem, you can access Control Techniques support information 24 hours a day, seven days a week. Our wide range of services include:
FAX (952) 995-8099
You can FAX questions and comments to Control Techniques. Just send a FAX to the number listed above.
Website and Email www.emersonct.com
Website: www.emersonct.com
Email: info@emersonct.com
If you have Internet capabilities, you also have access to technical support using our website. The website includes technical notes, frequently asked questions, release notes and other technical documentation. This direct technical support connection lets you request assistance and exchange software files electronically.
Technical Support (952) 995-8033 or (800) 397-3786
Email: service@emersonct.com
Control Techniques’ “Motion Made Easy” products are backed by a team of professionals who will service your installation. Our technical support center in Eden Prairie, Minnesota is ready to help you solve those occasional problems over the telephone. Our technical support center is available 24 hours a day for emergency service to help speed any problem solving. Also, all hardware replacement parts, if needed, are available through our customer service organization.
When you call, please be at your computer, with your documentation easily available, and be prepared to provide the following information:
• 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 (952) 995-8000 or (800) 397-3786
Email: training@emersonct.com
Control Techniques maintains a highly trained staff of instructors to familiarize customers with Control Techniques’ “Motion Made Easy” products and their applications. A number of courses are offered, many of which can be taught in your plant upon request.
Application Engineering (952) 995-8000 or (800) 397-3786
Email: applengr@emersonct.com
An experienced staff of factory application engineers provides complete customer support for tough or complex applications. Our engineers offer you a broad base of experience and knowledge of electronic motion control applications.
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Customer Service (Sales) (952) 995-8000 or (800) 397-3786
Email: customer.service@emersonct.com
Authorized Control Techniques distributors may place orders directly with our Customer Service department. Contact the Customer Service department at this number for the distributor nearest you.
Document Conventions
Manual conventions have been established to help you learn to use this manual quickly and easily. As much as possible, these conventions correspond to those found in other Microsoft® Windows® compatible software documentation.
Menu names and options are printed in bold type: the File menu.
Dialog box names begin with uppercase letters: the Axis Limits dialog box.
Dialog box field names are in quotes: “Field 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.
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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
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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
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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.
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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
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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
Figure 3: Motor Feedback to Unidrive SP Connection Diagram
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SIBAA-xxx Cable
EZ or UM Motor
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 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 6: PowerTools Pro Organization
3.3.1 Menu Bar
Figure 7 shows the Menu Bar as found in PowerTools Pro. The items available on the Menu Bar may change under certain conditions (e.g., online, configuration open, etc.).
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.
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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
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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.
PowerTools Pro Configuration Software www.emersonct.com 13
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
Selecting Upload NVM will read the current value from each of the parameters in the SM-EZMotion module’s NVM memory and display it in the PowerTools Pro configuration. The file can then be saved to retain the current values stored in NVM.
3.3.2.9 Disconnect
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 Edit > Delete > Program from the Menu Bar. To delete a program, the user must select they specific program they wish to delete on the hierarchy. Once the program is selected, click on Delete Program on the Tool Bar. Doing so will delete the program instance. Once the program is deleted, the program code cannot be recovered. Can not be used while online.
3.3.2.14 View Current Errors
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.
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
Groups on the hierarchy can be expanded and collapsed much like with Windows Explorer. To expand a group of views, click on the “+” symbol next to the grouping. Doing so will show each of the branches available within that group. To collapse a group on the Hierarchy, click on the
“-“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
4 Communications
4.1 Communications Protocol
PowerTools Pro communicates with the SM-EZMotion module using 32-bit Modbus RTU protocol.
4.2 Connecting the PC to the SM-EZMotion Module
The SM-EZMotion communicates with the PC through the Unidrive SP's communications port. An RS-232 to RS-485 converter is necessary to communicate with the Unidrive SP. The Unidrive SP has an RJ45 serial port connector on the front of the drive.
Options > Preferences > Communications on the Menu Bar. Figure 22 shows the Modbus Setup window that allows the user to configure the communication settings.
Control Techniques offers a pre-made cable for this purpose called the “CT Comms Cable" (previously named SE71). Figure 21 below shows the CT Comms Cable.
Figure 21: CT Comms Cable
The RJ45 connector is located under a small rubber flap on the front of the Unidrive SP just below the keypad. The pin-out for this connector is described in the table below.
Pin Function
1 Termination Resistor
2RX TX
30V
4 +24V
5 Not Used
6 TX Enable
7RX\ TX\
8 Linked to Pin 7
Figure 22: Modbus Setup
In the Modbus Setup window, the user can configure the maximum node address they wish to poll for when uploading devices or Flash Upgrading devices. PowerTools Pro will not check to see if any devices with node addresses higher than the number entered are available on the network.
To change the COM port number and Baud Rate, the user must click the Configure Serial Port control button. Figure 23 shows the Communications Setup window.
Figure 23: Communications Setup
Once the COM port and Baud Rate are selected, click OK.
When SM-EZMotion modules are shipped from the factory, they are configured to communicate at a baud rate of 19200 baud.
4.4 Uploading and Downloading using PowerTools Pro
4.3 Configuring Communications in PowerTools Pro
Before attempting to upload or download a configuration using PowerTools Pro, the software must be configured to the correct communications settings. To configure communications, open PowerTools Pro then click on
Communications www.emersonct.com 17
Figure 24 below will be used throughout the Uploading and Downloading section of the manual to describe certain processes.
PC with PowerTools Pro
S
M-EZ Motion Module
PowerTools Pro configuration file (Arrow A on Figure 24 above). At the completion of the upload, the user will be asked if they wish to upload the NVM values. This dialog
A
B
Non-User NVM
C
User NVM
DHE
box is shown below.
F
G
RAM
Figure 24: Memory Storage in the SM-EZMotion
Module
4.4.1 Uploading
Uploading is the process of reading the configuration stored in the SM-EZMotion module and loading that data into a file on the PC. Arrow B on Figure 24 above represents a standard Upload. To upload a configuration from the SM-EZMotion module, first make sure the communications settings are correct, and then click on the Upload icon on the PowerTools toolbar or select Device > Upload from the Menu Bar.
4.4.2 Downloading
Downloading is the process of sending the PowerTools Pro configuration from the PC to the SM-EZMotion module. Changes made in PowerTools Pro will not take effect until the information has been downloaded or the Update to RAM icon has been clicked. Arrow A on Figure 24 above represents a standard Download. To download information to a SM-EZMotion module, click on the Download icon on the PowerTools Tool Bar or select Device > Download from the Menu Bar.
The first time a download is performed, PowerTools Pro will lead the user through a series of dialog boxes to configure the baud rate and COM port of the PC to be used.
4.4.3 Non-Volatile Memory (NVM) Options for Uploading and Downloading
When Uploading or Downloading, the user may be presented with options on how to handle the values stored in NVM memory. NVM is a type of memory that does not lose its contents when power is removed. Values in RAM are lost on power down, while values in NVM are retained. Following is a description of the options the user may encounter while uploading or downloading.
4.4.3.1 Uploading
When uploading from a SM-EZMotion module, the values that were last downloaded are uploaded and put into a
Figure 25: Upload NVM Option Window
By selecting Yes, the values of all parameters stored in NVM will be uploaded and entered into the PowerTools Pro configuration file values (Arrow H on Figure 24 above). If No is selected, the values entered into the PowerTools Pro configuration file will remain the same as those that were last downloaded to the SM-EZMotion module.
4.4.3.2 Downloading
When downloading to the SM-EZMotion module the user will be required to select how to handle the NVM parameters upon downloading. Figure 26 below shows the dialog box asking the user to select one of three options for the download.
Figure 26: 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 24). The values that are in NVM prior to the download will be lost.
Update - This option will upload the current NVM parameter values from the SM-EZMotion module and enter them into the user configuration. Once the NVM values have been stored in the file, the file is fully downloaded (First Arrow H followed by Arrow A in Figure 24. Data from H is saved in PowerTools Pro configuration).
Keep - This option will download the entire user configuration, but then NVM parameters will be restored to the value prior to download. This is similar to the Update option, but the Keep option does not upload the NVM
18 www.emersonct.com SM-EZMotion Module User Guide
values into the user configuration (First Arrow H followed by Arrow A, but data from H is not stored in PowerTools Pro file).
The table below shows an example of how these three options work:
Value After Download
Overwrite
Option
Update
Option
Keep
Option
PowerTools
Pro Value for
Index.0.Vel
N V M V a l u e f o r
Index.0.Vel
Value Before
Download
150 150 500 150
500 150 500 500
4.4.4 Updating to RAM
Modify Parameter
Values
Click the
Update to RAM
icon
More
Changes
Required?
YES
NO
Perform a
full Download
The Update to RAM button can be used to send changes to the SM-EZMotion module without performing a complete download (symbolized by Arrow F in Figure 24). The Update to RAM button is found in the PowerTools Pro toolbar. This operation will send only those changes that have been made since the last Update to RAM or Device > Download to the SM-EZMotion module. The changes will take effect immediately upon clicking on the icon.
The changed parameters will be sent to the SM-EZMotion module without stopping motion or disabling the drive. Because of this, it is important to use caution when changing motion parameters while the motor is in motion.
The Update to RAM button saves the parameters only to RAM and not to Non-Volatile Memory (NVM). Therefore, if the system power is removed, any changes made using the Update to RAM button will be lost. In order to save changes to NVM, a full-download must be performed.
The flowchart in Figure 27 describes a typical process using the Update to RAM to make changes, and then downloading when complete to save changes to NVM.
Figure 27: 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 icon will become enabled.
• If while the icon is enabled, the user modifies a parameter that requires a full download, the Update to RAM icon will become disabled.
• When the user clicks on the Update to RAM icon, all the modified parameters are transmitted to the SM-EZMotion module. Once transmitted, the icon 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 button will be disabled, and the changes will not be sent.
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4.4.5 PowerTools Pro Operation Preferences
To avoid getting all the option windows described above every time an Upload or Download is performed, the user can set certain preferences. To configure the preferences, select Options > Preferences > Ptools Operation from the Menu Bar. Figure 28 shows the Preferences Configuration window.
Figure 28: PowerTools Pro Operation Preferences
Window
Following is a description of each of the preference settings:
4.4.5.1 Download Group
4.4.5.1.1 Ignore saving file on Ptools/Drive revision conversion
On a download PowerTools Pro first checks the revision of the SM-EZMotion module firmware before downloading the configuration. If the firmware in the module is older than the matching software revision, PowerTools Pro then converts the user configuration to match the firmware revision in the module. Because certain parameters may need to be changed to match the firmware revision, PowerTools asks the user if they wish to save the file before it is converted. If the user wishes to download without saving every time, and therefore avoid being asked on every download, this checkbox should be checked.
4.4.5.1.2 Overwrite - Reset the NVM configuration
When this radio button is selected the "Overwrite" option will be used on every download to the module. For more details on how the Overwrite option works, see the Download NVM Options above.
Note
Note: It is required to Overwrite the Non-Volatile Memory on the first download to the module since no Non-Volatile Memory parameters have been loaded into the drive on initial startup.
4.4.5.1.3 Update - Upload the values into the current Update PowerTools Pro configuration
When this radio button is selected the "Update" option will be used on every download to the module. For more details on how the Update option works, see the Download NVM Options above.
4.4.5.1.4 Keep - Remember the values and restore them after the download
When this 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.
4.4.5.1.5 Ask on each download
When this radio button is selected, the user will be prompted on every download to select either the Overwrite, Update, or Keep option. This is the default preference setting.
4.4.5.2 Upload Group
4.4.5.2.1 Always convert Application to latest Ptools capability
When an Upload is performed, PowerTools Pro checks the revision of the SM-EZMotion module firmware before uploading the configuration. If this radio button is selected, and the firmware is older than the matching software revision, PowerTools Pro will automatically update the uploaded file to match the current functionality of PowerTools Pro.
4.4.5.2.2 Always leave Application matching Module capability
When an Upload is performed, PowerTools Pro checks the revision of the SM-EZMotion module firmware before uploading the configuration. If this radio button is selected, and the firmware is older than the matching software revision, PowerTools Pro will NOT automatically update the uploaded file to match the current functionality of PowerTools Pro.
4.4.5.2.3 Ask on each upload
When this radio button is selected, the user will be prompted on every upload to select whether they wish to convert the uploaded file to latest software capability or not. This is the default preference setting.
4.4.5.3 Upload Non-Volatile Memory (NVM) Group
4.4.5.3.1 Always upload NVM
When uploading a configuration, PowerTools Pro uploads from a Non-User NVM location, so the data uploaded only matches exactly what was last downloaded. If any parameters in the Save to NVM list have changed since the last download, those new values would not be uploaded. By selecting this radio button, the parameter values in the Save to NVM list will be uploaded into the PowerTools Pro configuration after the normal upload.
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4.4.5.3.2 Always bypass NVM upload
When uploading a configuration, PowerTools Pro uploads from a Non-User NVM location, so the data uploaded only matches exactly what was last downloaded. By selecting this radio button, the parameter values in the Save to NVM list will NOT be uploaded.
4.4.5.3.3 Ask on each upload
When this radio button is selected, PowerTools Pro will ask the user via a pop-up window whether to upload the NVM or to bypass the NVM upload on every upload.
Figure 30: Secure File Download
4.4.6 Secure Downloading
The Secure Download feature allows the user to download a configuration that prevents anyone from uploading the file, or going online with the system. This is used to protect a file from being accessed by unauthorized personnel. If a secure file is downloaded to the SM-EZMotion module, all diagnostics capabilities in the software are lost. The only way to go online with the system again is to download the original (non-secure) file over the secure version, or to download a completely new file.
Before performing a secure download, the file must first be saved in the secure file format. To do this, open the file you wish to save in the secure format using PowerTools Pro. Then click File > Save As on the Menu Bar. The following Save As window should appear on your screen.
A window will then pop up asking the user to select the secure file that they wish to download. Select the secure file that was just saved, and then click on the "Open" button. This will download the secure file to the target device.
A secure file (.EZs) cannot be opened or modified. The file extension cannot be changed to allow the user to open it. The secure file is only valid for use by the secure download function. If a user attempts to upload a secure file, a message will appear indicating that the file that resides in the SM-EZMotion module has been protected by the user. An example of this message is shown in Figure 31.
Figure 31: Upload Failure - File Protected By User
message
Figure 29: Secure File - Save As Window
On this window, check the "Save also as secure download format" check box located at the bottom of the window, then click on the Save button. Doing so will save your file in BOTH the standard file format (.EZ), as well as in the secure file format (.EZs).
The "s" at the end of the file extension stands for "secure". The secure file will be saved to the same directory as the standard file. To perform the Secure Download, close all open files in PowerTools Pro, then click on Device > Secure Download on the menu bar as shown below.
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22 www.emersonct.com SM-EZMotion Module User Guide
5 How Motion
Works
5.1 Introduction
The SM-EZMotion module offers four different motion object types. These four types are Jog, Home, Index, and Gear. All motion objects run on what is called a Profile. Only one motion object can run on a Profile at a time. For applications that need to run multiple motion objects simultaneously, the SM-EZMotion module has two different Profiles. This will be discussed further in the Summing Multiple Profiles subsection below.
This section will concentrate on how the different motion objects work, and not on how they are configured using PowerTools Pro. For more information on how to configure the motion objects in PowerTools Pro, see “Configuring an Application” on page 33.
5.2 Jog
Jog is a motion object that has Acceleration, Velocity, and Deceleration, but no dedicated distance. The user pressing a push button or foot pedal often controls jog motion. When the user presses the Jog button, the jog accelerates up to the jog velocity and continues to run at that velocity until the user releases the Jog button. When the user releases the Jog button, the jog decelerates from the Jog Velocity back down to zero velocity (stopped).
Figure 32shows an example of a Jog profile.
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 the SM-EZMotion module are Marker, Sensor, and Sensor then Marker. Following is a description of the three different Home types.
5.3.1 Home to Marker
Most motors used with the Unidrive SP have an encoder mounted in the back end of the motor. This encoder is used to feed positional data back to the Unidrive SP or SM-EZMotion module for position control. Each encoder has a special signal called the Encoder Marker Channel that activates once every revolution of the motor. The SM-EZMotion module can use this Marker as a reference signal when executing a Home.
The Marker provides an extremely accurate means of homing the system. The SM-EZMotion module will detect a rising edge 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 33 and 34 show examples of the Home to Marker profile, with calculated offset and with specified offset respectively.
Velo city
Jog Velocity
Jog Accel
Jog.PlusAc tivate
Jog Decel
Time
Figure 32: Jog Profile Diagram
The distance traveled by a Jog is entirely dependant on the duration that the Jog signal is held active. To accurately control the distance the motor moves, an Index is the preferred motion object type.
5.3 Home
Home is a motion object that has Acceleration, Velocity, and Deceleration. A Home works by accelerating up to the specified velocity until a reference signal activates. Once the reference signal activates, the motor either begins to
Velo city
Home Velocity
Home Accel
Home Initiate
Encoder Marker
Home Decel
Figure 33: Home to Marker Profile (Calculated Offset)
Time
How Motion Works www.emersonct.com 23
Velo cit y
Velo city
Home Velocity
Home Accel
Home Initiate
Encoder Marker
Home Offset
Home Decel
Time
Figure 34: \Home to Marker Profile (Specified Offset)
5.3.2 Home to Sensor
The Home to Sensor profile acts much like the Home to Marker profile, but instead of using the Encoder Marker as a reference, an external sensor mounted to the machine is used as the reference. In a Home to Sensor routine, the motor accelerates to the Home Velocity. The motor continues at the Home Velocity until the external sensor activates. Once this sensor activates, the motor immediately decelerates to a stop, or continues for a specified offset distance before stopping. Figures 35 and 36 show examples of the Home to Sensor profile, with calculated offset and specified offset respectively.
Velo city
Home Velocity
Home Accel
Home Initiate
Home Decel
Time
Home Velocity
Home Accel
Home Initiate
External Sensor
Home Offset
Home Decel
Time
Figure 36: Home to Sensor Profile (Specified Offset)
5.3.3 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. The SM-EZMotion module allows the user to home first to the external sensor, followed by a home to the next marker pulse. The Home to Sensor then Marker combines the accuracy of homing to the encoder marker with the flexibility of homing to an external sensor.
The Home to Sensor then Marker routine begins by accelerating up to the Home Velocity. The motor then continues at the Home Velocity until the external sensor activates. After the sensor activates, the motor continues at the Home Velocity until the next rising edge of the encoder marker is detected. Once the encoder marker activates, the motor either begins to decelerate immediately, or continues for a specified offset distance before stopping. Figures 37 and 38 show examples of the Home to Sensor then Marker profile, with calculated offset and specified offset respectively.
External Sensor
Figure 35: Home to Sensor Profile (Calculated Offset)
24 www.emersonct.com SM-EZMotion Module User Guide
Velo city
Home Accel
Home Velocity
Home Decel
Velo city
+
Home Sensor is active when Home is initiated, so motor travels in negative direction
Home Velocity
Home Accel
Home Decel
Time
Home Initiate
Encoder Marker
External Sensor Activates wait
External Sensor
for next Encoder Marker
Figure 37: Home to Sensor then Marker Profile
(Calculated Offset)
Velo city
Home Velocity
Home Accel
Home Initiate
Home Offset
Home Decel
Time
Time
Home Accel
-
Home Initiate
External Home Sensor
Home Velocity
Home Decel
External Home Sensor Clears
Figure 39: Home to Sensor (Back Off Before Homing)
5.3.4.2 Go Forward To Next Sensor
On some machines, motion in a certain direction may be prohibited due to mechanical design. In this case, the Back Off Before Homing option may not be practical. In this case, if the Home Sensor is active when the Home is initiated, the motor continues in the programmed direction until the next "Rising Edge" of the external home sensor is detected. Figure 40 shows the Home to Sensor profile when the Home Sensor is active when home is initiated and Go Forward To Next Sensor is selected.
Velo city
Home Velocity
Encoder Marker
External Sensor Activates wait
External Sensor
for next Encoder Marker
Figure 38: Home to Sensor then Marker Profile
Specified Offset)
5.3.4 If On Sensor Options
In a Home to Sensor, or Home to Sensor then Marker profile special conditions must be created to handle the situation when the External Sensor is already active when Home is initiated. Different users want the system to act differently in this condition, so the SM-EZMotion module has pre-programmed solutions for this condition. The two options are explained below.
5.3.4.1 Back Off Bef ore 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 39 shows the Home to Sensor profile when the Home Sensor is active when the home is initiated and Back Off Before Homing is selected.
Home Accel
Home Initiate
External Home Sensor
First rising edge is used as Home reference
Home Decel
Time
Figure 40: Home to Sensor (Go Forward To Next
Sensor)
5.4 Index
An Index profile is used to move the motor a precise distance or to a specific position. There are many different applications that can be solved using different combinations of Index types. The five major types of Indexes are Absolute, Incremental, Registration, Rotary Plus, and Rotary Minus. Each of these Index types are described in detail below.
5.4.1 Absolute Index
How Motion Works www.emersonct.com 25
An Absolute Index is used to move the motor to a specific
position. After completing an Absolute Index, the motor will
de
n
de
n
n
de
stance
n
n
always be in the same position regardless of the starting position of the motor. The direction that the motor moves during an Absolute Index is dependant upon its position when the index is initiated.
If an Absolute Index is initiated a second time, just after completing the first index the motor will not move because it is already at its specified absolute position.
Figures 41 and 42 show examples of an Absolute Index profile.
-2-4 -1 0 421
Starting Position: -2 Revs
x Position: 2 Revs
In
Positio (Revs)
Figure 41: Absolute Index Profile (Example 1)
-2-4 -1 0 421
Starting Position: 3 Revs
x Position: 2 Revs
In
Positio (Revs)
Figure 42: Absolute Index Profile (Example 2)
5.4.3 Registration Index
A Registration Index functions much the same as a Home profile. The index runs at a specified velocity until a registration signal activates. Once the signal activates, the index either beings to decelerate immediately, or it continues at velocity for a specified offset distance.
5.4.3.1 Registration to Sensor
In a Registration Index with Sensor defined as the registration signal, the index travels at velocity until an external sensor or switch activates. The sensor or switch must be wired to a digital input on the SM-EZMotion module, SP drive, or SM-IO Plus module. To get the highest accuracy for the Registration to Sensor, an SM-EZMotion module digital input must be used to take advantage of the high-speed capture capability. Three Figures below show examples of a Registration Index to Sensor using different Offset values.
Veloc ity
Index Velocity
Index Accel
Index Registration Offset
Index Decel
Note
If Rotary Rollover is active, an Absolute Index will take the shortest path to the specified index position.
5.4.2 Incremental Index
An Incremental Index is used to make the motor travel a specified distance each time the index is initiated. The final position after the Index is completed is entirely dependant on the starting position before the Index was initiated.
If an Incremental Index is initiated a second time, it will move the same distance each time.
Figures 43 and 44 show examples of an Incremental Index profile.
2134 8765
Starting Position: 2 Revs Index Distance: 4 Revs
Figure 43: Incremental Index Profile
2146 1412108
Starting Position: 2 Revs
x Di
In
: 3 Revs
Positio (Revs)
Positio (Revs)
Index Initiate
Registrati on Sensor
Figure 45: Registration to Sensor Profile (Offset > 0)
Velo city
Index Velocity
Index Accel
Index Initiate
Registration Sensor
Index Decel
Two areas are equal so motor ends at exact registration positio
Index Accel
Index Velocity
Figure 46: Registration to Sensor Profile (Offset = 0)
Time
Time
Index Decel
Figure 44: Incremental Index - Repeated 3 Times
26 www.emersonct.com SM-EZMotion Module User Guide
Velo city
o
S
o
g
S
+
Index Accel
-
Index Initiate
Index Velocity
Index Decel
Index Accel
Index Veloci ty
Offset Distance
Index Decel
Time
5.4.5 Rotary Minus Index
A Rotary Minus Index is used when Rotary Rollover is active. The Rotary Minus Index is similar to an Absolute Index, but it is forced to go in the 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 49 compares a Rotary Minus Index to an Absolute Index (Rotary Rollover is enabled).
tarting Position
o
0
Registration Sensor
Figure 47: Registration to Sensor Profile (Offset < 0)
5.4.4 Rotary Plus Index
A Rotary Plus Index is used when Rotary Rollover is active. The Rotary Plus Index is similar to an Absolute Index, but it is forced to go in the positive direction to get to its programmed position. The programmed position for a Rotary Plus Index must be within the Rotary Rollover range (Posn < Rotary Rollover). Figure 48 compares a Rotary Plus Index to an Absolute Index (Rotary Rollover is enabled).
tarting Position
o
0
o
90
Rotary Rollover: 360 Index Position: 270
Position After Index
o
0
o
180
o o
,
o
90
o
0
90
o
90
o
180
Rotary Rollover: 360 Index Position: 180
o o
,
Position After Index
180
Rotary Minus
(Forced Ne
o
0
o
90
o
ative)
o
0
o
180
Absolute
(Shortest Path)
90
Figure 49: Rotary Minus Index Profile
5.4.6 Timed Index
A Timed Index is not a specific type of index like the other types listed above. Timed Index is simply an option for the other types of indexes. Each index type (other than registration indexes) can be configured as a Timed Index.
In many applications, the user knows how far the load must move in a certain period of time. Rather than making the user calculate an acceleration, velocity, and deceleration so that an index takes the right amount of time, the SM-EZMotion module allows the user to enter the distance and the time instead.
o
180
Rotary Plus
(Forced Positive)
Figure 48: Rotary Plus Index Profile
How Motion Works www.emersonct.com 27
o
180
Absolute
(Shortest Path)
In a Timed Index, the user provides the distance and time, and the firmware automatically calculates the accel, velocity, and decel to finish in the right period of time. Figure 50 shows an example of a Timed Index profile.
Veloci ty
e
e
g
Index Accel
Tim
2 Seconds
Figure 50: Timed Index Profile
In some cases, an index time is calculated based on other parameters in a user program. To avoid possible machine damage, the user can specify maximum values for accel, velocity, and decel. Therefore, when the SM-EZMotion firmware calculates accel, velocity, decel, they will never exceed the maximum values specified by the user, In this case, where the calculation is limited by a maximum value, the index will not finish in the specified time. If this happens, a parameter called Index.ProfileLimited will activate. It will remain active until cleared by the Index.ResetProfileLimited destination.
5.5 Gear
without a deceleration ramp.
Acceleration and Deceleration ramps can be enabled by the user. If enabled, the Accel and Decel ramps are specified in units of Follower Units / Velocity Time Base / Acceleration Time Base. Note that this is a Realtime ramp. Therefore, the time that it takes to reach the programmed ratio depends on how fast the master is traveling when gearing is activated.
Figure 51 demonstrates that the faster the Master Velocity, the longer it will take to reach the programmed ratio. If the Master Axis is not moving when gearing is initiated, then the follower locks into its programmed gear ratio instantly (no acceleration time required).
Velocity
Programmed
Gear Accel Rate
MV
3
MV
2
MV
1
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:
Gear Ratio =
# of Follower Distance Units
1 Master Distance Unit
The ratio is the number of follower distance units to move the motor per master distance unit of travel. Follower Distance Units are configured on the User Units view. Master Distance Units are configured on the Master Setup screen.
The gear ratio can be positive or negative and is a signed 32-bit parameter. The resolution of the parameter is determined by the number of decimal places configured for 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
T
Gear
Initiate
T < T < T = The greater the master velocity (MV) the
123
lon
er it takes to accelerate to the Gear Ratio.
T
1
2
T
3
Tim
Figure 51: Gear Acceleration Diagram
The GearRatio can be changed on the fly (while gearing is active and in motion), but acceleration or deceleration must be enabled to use ramps to achieve the new ratio. If gearing accel and/or decel ramps are not enabled, the motor will attempt to achieve the new ratio in one trajectory update.
5.6 Motion Timebase (Realtime vs. Synchronized)
The Timebase for a profile determines what parameter is used as the denominator for velocity and acceleration units. The default Timebase for all motion types (other than gear) is Realtime.
A Timebase of Realtime specifies that the denominator for velocity and acceleration units are units of actual time: Minutes, Seconds, or Milliseconds (defined on the User Units View). Therefore, units of velocity for a realtime
28 www.emersonct.com SM-EZMotion Module User Guide
profile are as follows:
Follower Distance Units / Velocity Timescale.
And units of acceleration for a realtime move are
Foll Distance Units / Velocity Timescale / Accel Timescale.
A few examples of these units are as listed below.
Realtime
Follower Distance Units Master Distance Units Vel. Timescale Accel Timescale Velocity Units Accel/Decel Units
Inches N/A Sec Sec Inches/Sec Inches/Sec/Sec
Revs N/A Min Sec Rev/Min Rev/Min/Sec
Degrees N/A Sec msec Degrees/Sec Degrees/sec/msec
Based on these units, we see that velocity and 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
Unit. If the distance units for master and follower are the same, then the user in effect specifies a ratio for the velocity.
The acceleration units for a synchronized move are again a function of Master Distance. Acceleration and Deceleration units are as follows:
Follower Distance Units / Master Distance Unit / Master Distance Unit
A few examples of Synchronized motion units are listed in
the table below. Therefore, the user specifies the number of follower distance units that the motor will travel per Master Distance
Synchronized
Follower Distance Units Master Distance Units Vel. Timescale Accel Timescale Velocity Units Accel/Decel Units
Inches MstrInch N/A N/A Inches/MstrInch
Revs MstrRev N/A N/A Revs/MstrRev Revs/MstrRev/MstrRev
Degrees MstrInch N/A N/A Degrees/MstrInch
5.7 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 is summed to generate the overall position command and velocity command for the motor.
the Profile on which motion run from the Assignments
screen operates. Therefore, in order to run motion from
both the Assignments screen and from a program
simultaneously, motion initiated by the program must be
run on Profile 1.
Figure XX below shows an example to two separate
profiles (Index 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.
Inches/MstrInch/
MstrInch
Degrees/MstrInch/
MstrInch
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 screen is automatically run on Profile 0. It is not possible to change
How Motion Works www.emersonct.com 29
Velocity
e
200
Velocity
-100
Velocity
200
100
Index 0 Initiate
Index 1 Initiate
Index 0 Profile 0
Index 1 Profile 1
Index 0 plus Index 1 Summed Profile
Tim
Time
Time
Figure 52: Two Indexes
30 www.emersonct.com SM-EZMotion Module User Guide
6 How I/O Works
6.1 I/O Scan
When used to activate SM-EZMotion functions, the Unidrive SP and SM-EZMotion module I/O are scanned every trajectory update. If the Unidrive SP I/O is used to trigger functions in the base drive itself (i.e. Threshold Detectors, Programmable Logic, Binary Sum, etc.), then the Unidrive SP I/O is only scanned every 4ms. The scan rate is different when the Unidrive SP I/O is used with SM-EZMotion functions because the SM-EZMotion processor scans the I/O faster than the base drive firmware does.
6.2 SM-EZMotion Module I/O
There are four digital inputs and two digital outputs on the SM-EZMotion module. These I/O are scanned normally at the trajectory update rate (user configured). If an input is assigned to a function that does not use captured data, then it will be updated every trajectory update.
The SM-EZMotion module I/O can also be captured with 1 microsecond accuracy by using the High Speed Capture object in the SM-EZMotion module. If an input is assigned to a function that uses captured data (i.e. Index.#.Initiate), then the input will automatically be captured with 1 microsecond accuracy, and the data is passed to the destination.
6.4 SM-I/O Plus Module I/O
The SM-I/O Plus module has three I/O points that are
configured by the user to be Inputs or Outputs, along with
three dedicated Inputs. The scan rate of the I/O on the
SM-I/O Plus module depends on how many SM-I/O Plus
modules are being used. If using one SM-I/O Plus module,
the I/O on the SM-I/O Plus module is updated every 8
milliseconds. If a second SM-I/O Plus module is used, the
I/O on both SM-I/O Plus modules are updated every 16
milliseconds.
To use the Unidrive SP I/O in the PowerTools Pro
Assignments view, the three Input/Output lines are called
SlotX.IO.#.In or SlotX.IO.#.Out depending on how they are
configured (where X represents the slot number the
module is located in, and # represents the specific I/O
number). The configured Input/Output lines will be listed
both under the Inputs group of Sources, and the Outputs
group of Destinations. Therefore, it is important for the user
to know how the Inputs/Outputs have been configured. The
dedicated Inputs are referred to as SlotX.Input.# (where X
represents the slot number the module is located in, and #
represents the specific I/O number).
Because of the slower scan rate of the SM-I/O Plus module
inputs and outputs, it is recommended that these I/O not be
used for critical motion functions (e.g. Home Switches,
Registration Sensors, Travel Limits, PLS’s, etc.).
To use the SM-EZMotion module I/O in the PowerTools Pro Assignments view, the four Inputs are called EZInput.# and the two Outputs are called EZOutput.# (where # represents the specific I/O number)
6.3 Unidrive SP I/O
The Unidrive SP has three I/O points that are configured by the user to be Inputs or Outputs, along with three dedicated Inputs. The scan rate of the I/O on the Unidrive SP depends on what they are being used for. If the I/O are being used by the SM-EZMotion module functions, then they are updated every trajectory update (user configured). If the I/O are being used solely for Unidrive SP functions (i.e. Threshold Detectors, Programmable Logic, Binary Sum, etc.), then they are updated every 4 milliseconds.
To use the Unidrive SP I/O in the PowerTools Pro Assignments view, the three Input/Output lines are called SPIO.#.In or SPIO.#.Out depending on how they are configured (where # represents the specific I/O number). The configured Input/Output lines will be listed both on the Inputs group of Sources, and the Outputs group of Destinations. Therefore, it is important for the user to know how the Inputs/Outputs have been configured. The dedicated Inputs are referred to as SPInput.# (where # represents the specific I/O number).
How I/O Works www.emersonct.com 31
32 www.emersonct.com SM-EZMotion Module User Guide
7 Configuring an
Application
7.1 Introduction
All applications using SM-EZMotion modules are configured using PowerTools Pro configuration software. For specific questions on PowerTools Pro operation, please refer to Section 3 of this manual.
The hierarchy in PowerTools gives the user a basic template on how to configure an application. The user should start at the top of the hierarchy, filling out necessary parameters on the different views, working all the way to the bottom of the hierarchy. Once the user is more familiar with the software, they may choose to skip various views.
By following the hierarchy from top to bottom, the user will start by configuring the hardware that the SM-EZMotion module will be used with (Drive Type, Motor Type, etc.). The user will then configure the different Setup views for all the different configuration parameters (i.e. User Units, Tuning, PLS, Torque Limits, etc.). Next, the user configures the Digital and Analog I/O for the drive, SM-EZMotion module, and any SM-I/O Plus modules. The user then defines all of the different motion profiles (Jogs, Homes, Indexes, Gears) to be used in the application. After the hardware, setup parameters, I/O, and motion have been configured, the user writes programs to tie the entire application together. Once the programs are complete, the user can create the interface for Modbus communications to the different drive/module parameters.
7.2 Define Hardware
Figure 53: Drive/Encoder View
7.2.2 Slot # View
The Slot # View(s) allow the user to configure which option
modules are populated in which slots. Some of the views,
depending on the option module selected, have
configuration or setup parameters associated with the
module. Each of the views for the different option modules
are shown below.
7.2.2.1 Empty Slot View
If Empty Slot is selected in the Slot # Module combo box,
the remainder of the view should be blank. The hierarchy
automatically updates to show that no module is populated
in the specific slot, see Figure 54.
7.2.1 Drive/Encoder View
The Drive/Encoder view allows the user to configure the Drive Type and Encoder Type being used in the application. Figure 53 shows the Drive/Encoder view.
Figure 54: Slot # View (Empty Slot)
Configuring an Application www.emersonct.com 33
7.2.2.2 SM-EZMotion Module View
7.2.2.4 SM-Universal Encoder Plus Module View
If SM-EZMotion is selected in the Slot # Module combo box, the remainder of the view should be blank. The hierarchy automatically updates to show that an SM-EZMotion module is populated in that specific slot, see Figure 55.
Figure 55: Slot # View (SM-EZMotion Module)
If Universal Encoder Plus is selected in the Slot # Module combo box, the remainder of the view should have configuration parameters to define what type of encoder is being used and to define the encoder properties. The hierarchy automatically updates to show that a SM-Universal Encoder Plus module is populated in that specific slot, see Figure 57.
7.2.2.3 SM-I/O Plus Module View
If I/O Plus is selected in the Slot # Module combo box, the remainder of the view should have configuration parameters for the modules Digital Inputs and Outputs. The hierarchy automatically updates to show that an SM-I/ O Plus module is populated in that specific slot, see Figure
56.
Figure 57: Slot # View (SM-Encoder Plus Module)
7.2.2.5 SM-Resolver Module View
If Resolver is selected in the Slot # Module combo box, the remainder of the view should have configuration parameters to define the resolver properties. The hierarchy automatically updates to show that a SM-Resolver module is populated in that specific slot, see Figure 58.
Figure 56: Slot # View (SM-I/O Plus Module)
34 www.emersonct.com SM-EZMotion Module User Guide
Figure 58: Slot # View (SM-Resolver Module)
7.2.2.6 SM-DeviceNet Module View
7.2.2.8 Applications Plus Module View
If DeviceNet is selected in the Slot # Module combo box, the remainder of the view should have configuration parameters to define the properties of the DeviceNet device and network. The hierarchy should automatically update to show that a DeviceNet module is populated in that specific slot, see Figure 59.
Figure 59: Slot # View (SM-DeviceNet Module)
7.2.2.7 SM-Profibus DP Module View
If Profibus DP is selected in the Slot # Module combo box, the remainder of the view should have configuration parameters to define the properties of the Profibus device and network. The hierarchy automatically updates to show that a Profibus module is populated in that specific slot, see Figure 60.
If Applications Plus is selected in the Slot # Module combo
box, the remainder of the view should be blank. The
hierarchy automatically updates to show that an
SM-Applications Plus module is populated in the specific
slot, see Figure 61.
Figure 61: Slot # View (SM-Applications Plus Module)
7.2.3 Unidrive SP Parameters View
This view allows the user to view the online value of all the
Unidrive SP menu parameters as well as modify the value
of a menu parameter. Figure 62 shows an example of the
Unidrive SP Parameters view.
Figure 60: Slot # View (SM-Profibus DP Module)
Configuring an Application www.emersonct.com 35
Figure 62: Unidrive SP Parameters View
To the view the menu parameters, PowerTools Pro must
upload the parameter values. To upload the parameters,
click on the "Get Menu Values" control button on the right
side of the view. The values displayed are only the values at the time the "Get Menu Values" button was selected. The values are NOT continuously updating.
Control Button
Get Menu Values
Pressing the Get Menu Values control button will cause PowerTools Pro to read the current value of all the parameters in the selected menu and display them in the memory column, If the value in the memory is different from the default value. The parameter value will be highlighted in yellow in the default column.
7.2.4 SP Menu Initialization View
The SP Menu Initialization View is a utility to aid the user in configuring the Unidrive SP base drive setup. Because the Unidrive SP can operate in many different modes, and has many different features, it must be put into a known state so that the SM-EZMotion module can control it. To get into this state, certain menu parameters must be set to specific values. The SP Menu Initialization View is simply a list of parameters that are written by the SM-EZMotion module to the Unidrive SP on powerup so that the Unidrive SP is in a known state that the SM-EZMotion module can control it.
A default list of parameters is included so the user does not need to enter each of these parameters by hand. The user can modify the default list, adding new parameters or removing some of the parameters. If the user makes changes, and then wishes to revert back to the original default list, the "Reset to Defaults" control button will restore the original list.
Figure 64 shows an example of the SP Menu Initialization view.
.ini file stored on PC
.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
Figure 64: SP Menu Initialization 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 an SM-EZMotion module, the contents of the SP Menu Initialization view resides in the module. If the file is uploaded using PowerTools Pro, the contents of the SP Menu Initialization list is uploaded as part of the file.
The SP Menu Initialization data can be modified just like a user program. If the user wishes, new parameters can be added to the default data, or files can be removed from the default data. Changes made to the SP Menu Initialization data in PowerTools Pro will change the initialization for that file only (not for another new configuration created later).
If the user wishes to make a change to the initialization for every new file they create, then changes can be made directly to the source SpInitialize.ini file. Using a text editor (i.e. MS Notepad), the .ini file can be modified to include new parameters or remove existing default parameters. Once the modified .ini file is saved, those changes will be included in every new SM-EZMotion configuration created in the future.
Care should be taken when editing the default list. Changes made to this file will directly impact the functionality of the system. It could be possible to cause a condition where the SM-EZMotion module can not control the drive if an incorrect change is made tot he initialization list. Consult CT Applications Engineering with questions.
Figure 63: Initialization File Example
The default contents of the SP Menu Initialization view is generated from a file titled SpInitialize.ini. This file is installed to your PC as part of the PowerTools Pro installation. When a new SM-EZMotion file is created using PowerTools Pro, the contents of SpInitialize.ini is read and written into the configuration file.
36 www.emersonct.com SM-EZMotion Module User Guide
7.3 Configure Setup Parameters
Following is a list of the different views in the Setup group on the hierarchy. The Setup group is dedicated to 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).
7.3.1 Setup View
The Setup view allows the user to setup various parameters related to how the overall system operates. Figure 65 shows an example of the Setup view.
available on the Status Online tab when online with the
device to help select the ideal setting. (See description of
Control Loop Group of online parameters for further
information)
Positive Direction
The Positive Direction consists of a clockwise (CW) Motor
Rotation Radio Button or a counter-clockwise (CCW)
Motor Rotation Radio Button.
The motion will move in either CW direction or
counter-clockwise CCW direction. Perspective of rotation
is defined as you face the motor shaft from the front of the
motor.
CW Motor Rotation Radio Button
Select this radio button for applications in which CW motor
rotation is considered to be motion in the positive direction
(increasing absolute position).
CCW Motor Rotation Radio Button
Select this radio button for applications in which CCW
motor rotation is considered to be motion in the positive
direction (increasing absolute position).
Figure 65: Setup View
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.
SP Modbus Node Address
This is the Modbus address of the target drive to which you will download the configuration. The default target drive address is 1.
Motor Feedback Source
Motor Feedback Source allows the user to specify where the motor feedback device is connected to the Unidrive SP. Early released of PowerTools Pro and SM-EZMotion only allow selection of "Drive".
Trajectory Update Rate
This parameter configures the interrupt interval for the processor. This defines how often the motion program is interrupted and the Control Loop is processed. In the Control Loop, the feedback information is processed and a new position command is generated. Also in the Control Loop, the I/O is scanned.
Switching Frequency
This parameter defines the switching frequency of the
Unidrive SP. Available switching frequencies are 3kHz,
4kHz, 6kHz, 8kHz, 12kHz and 16kHz. For more
information on how the switching frequency effects drive
performance refer to the Unidrive SP User Guide.
7.3.2 User Units View
The User Units view allows the user to configure the
distance, velocity, and acceleration units to be used for the
motor axis throughout the application. Figure 66 shows an
example of the User Units View.
Available selections for Trajectory Update are 1, 1.25, 1.5,
1.75 and 2 milliseconds. The longer the update, the more time is dedicated to the user programs, and the less time dedicated to servo performance. The shorter the update, the more precise the servo performance, but less time is available to process user programs. Diagnostics are
Configuring an Application www.emersonct.com 37
Figure 66: 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. This scaling factor is as follows:
Scaling
Scaling - Characteristic Distance
This is the distance the load travels (in user units) when the motor travels the characteristic length (in motor revolutions).
Scaling - Characteristic Length
This is the distance the motor travels (in whole number of revolutions) to achieve one characteristic distance of load travel.
Velocity
Time Scale List Box
The time can be one of two values: seconds or minutes. This selection sets the real-time velocity time scale.
Acceleration
Time Scale List Box
From this list box, select the acceleration time scale to be used for all real-time profiles. The time scale selected will be used for both acceleration and deceleration parameters. You can select from milliseconds or seconds.
Characteristic Distance
-------------------------------------------------------------= Characteristic Length
7.3.3 Master Units Setup View
The Master Units Setup view is used to configure the parameters for the master axis used in synchronized motion applications. The master axis is most often a second encoder, or possibly another upstream drive. Figure 67 shows an example of the Master Setup view.
Select from Drive, Slot 1, Slot 2 or Slot 3. If Drive is selected, then that means that the motor feedback must be routed to one of the option module slots.
Figure 67: Master Setup View
Master Position Source
Master Feedback Source indicates the hardware location of the master encoder input.
Define Home Position
Define Home Position is the value that the Master Position Feedback will be set to when the MasterAxis.DefineHome destination is activated. After the MasterAxis.DefineHome has been activated, the MasterAxis.AbsolutePosnValid source will activate.
Rotary Rollover Check Box
If checked, the rotary rollover feature for the Master Axis will be enabled.
Rotary Rollover
If enabled, the Master Position will rollover to zero at the value specified here. As the master encoder counts up, the master 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
38 www.emersonct.com SM-EZMotion Module User Guide
synchronized motion throughout the software. Using a high number of decimal places will improve position resolution, but will also limit the maximum position. You can select from zero to six decimal places of programming resolution.
The denominator (bottom value of the scaling fraction) is the # of encoder revolutions. The master revs parameter is the number of incoming whole revolutions it takes to travel the specified characteristic distance.
Master Distance Units Scaling
The scaling factor is defined as following:
Scaling
MasterDistUnitsCharacteristicDis cetan
-------------------------------------------------------------------------------------------------------------------= MasterDistUnitsEncoderRevs
The numerator (top value of the scaling fraction) is the Characteristic Distance. The Characteristic Distance is the number of Master Distance Units that will be traveled per number of revs defined in the bottom value of the fraction.
Feedforward OFF Feedforward ON
One update of phase shift
(not velocity dependent)
No Filtering
Small Lag (function of speed),
Low Filtering
Medium Lag (function of speed),
Medium Filtering
Large Lag (function of speed),
High Filtering
# of
Samples
Disabled
4
8
16
Master Position Filter Enable
The enable check box is used to turn on or turn off the Master Position Filter. If checked, the filter is active and the user must select the number of samples used by the filter. If unchecked, the filter is not used
Master Position Filter Samples
Defines the number of samples used by the filter to smooth the master signal. Increasing the number of samples increases smoothness, but also increases lag. See Filter table below to select proper setting.
No delay,
No Filtering
Poor at low speed,
Low Filtering
Good at low speed,
Medium Filtering
Best at low sp eeds,
High Filtering
Reduced Lag
Smoother
Increasing Lag
with FF Off
Enable Feedforward
The Enable Feedforward Check Box is used to turn on or turn off feedforward. If checked, feedforward is active. If unchecked, feedforward is not used.
Configuring an Application www.emersonct.com 39
7.3.4 Position View
The Position View allows the user to configure parameters related to position control of the SM-EZ Motion module. Figure 68 shows a sample of the Position view.
Following Error Limit. If enabled, a fault will be generated if the absolute value of the following error ever exceeds the value in the following error parameter. If disabled, a fault will never be generated.
Following Error Limit
Following Error is the difference between the Position Command and the Position Feedback. It is positive when the Position Command is greater than the Position Feedback. If the absolute value of the following error exceeds the value you enter here, the drive will generate a Following Error Fault. All accumulated Following Error will be cleared when the drive is disabled.
The Following Error Limit is defined in user units.
Enable Software Travel Limits
Check this box to enable (or disable if not checked) the software travel limits. If unchecked, the software travel limits are not monitored.
Software Travel Limit Plus
If the absolute position is greater than or equal to this value the Software Travel Limit Plus Active source shall activate.
Figure 68: Position View
Define Home Position
This is the value to which the position command will be set when the Define Home destination is activated. This is used in applications which do not use a home routine, but require a known reference point. The units are defined on the User Units View.
In Position Window
The absolute value of the Following Error must be less than or equal to this value at the end of an index in order for the InPosn source to activate. This window is set in units specified in the User Units View.
Example:
The In Position window is set to 0.0025 revs. At the end of an index, the following error is calculated to be 0.0012 revolutions. Therefore, the InPosn source will activate.
In Position window is set to 0.001 inches. If at the end of an index, the following error is calculated to be 0.0015 inches, then the InPosn source will not activate.
In Position Time
This is the amount of time in seconds that commanded motion must be complete and the 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.
Enable Following Error
Check this box to enable (or disable if not checked) the
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.
Software Travel Limit Minus
If the absolute position is less than or equal to this value the Software Travel Limit Minus Activate shall activate.
A rising edge occurs when the absolute position is less than or equal to the parameter Software Travel Limit -. A falling edge will be generated as soon as the above is not true.
Enable Rotary Rollover
Check this box to enable (or disable if not checked) the rotary rollover feature.
Rotary Rollover Position
This parameter is used in rotary applications and determines the position at which the internal position counter will be reset to zero.
Example:
The user has a rotary table application with distance user units of degrees, 360.00 degrees/1 rev. The Rotary Rollover would be set to a value of 360°.
The motor is traveling in the positive direction. As the feedback position reaches 359.999 and continues on, the feedback position will reset (or roll-over) to zero. If the motor changes direction and travels in the negative direction, the position will rollover at 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
40 www.emersonct.com SM-EZMotion Module User Guide
software.
If an absolute index is used with a non-zero rotary rollover point, the SM-EZMotion will calculate the shortest path to its destination and move in the required direction.
To force the motor to run a certain direction, use the Rotary Plus or Rotary Minus type of indexes.
7.3.5 Velocity View
The Velocity View allows the user to define parameters related to the velocity control of the SM-EZ Motion module. Figure 69 shows an example of the Velocity view.
Figure 70: Ramps View
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.
Figure 69: 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.
7.3.6 Ramps View
The Ramps View allows the user to define various accel/ decel ramps used under typical application conditions. Figure 70 shows an example of the Ramps view.
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
Stop Deceleration
The value you enter here defines the deceleration rate which is used when the Stop destination is activated. The default is 100 RPM/second.
The Stop destination is found in the Ramps Group in the Assignments view.
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Feedhold Decel/Accel
When the Feedhold destination is activated, the motor will decelerate to a stop in the time specified by the FeedholdDecelTime parameter. When feedhold is cleared, the motor will accelerate back to speed in the same specified period of time.
Feedhold is a means to halt the motor within a velocity profile and then return to the profile later at the exact same place in the profile. Feedhold does not ramp and does not decelerate in terms of velocity. Instead, it stops by decelerating time. For example, if the motor is running at 50 revs/second and feedhold is activated with 2 seconds specified in the FeedholdDecelTime parameter, then the motor will actually slow and stop in 2 seconds as measured time (on a time/velocity profile) goes from 100% to 0%.
Travel Limit Deceleration
The value entered here is the deceleration ramp that is used when a software or hardware travel limit is hit.
7.3.7 Current View
The Current View allows the user to configure Current Level Flags and Current Limits for use in the application.
7.3.8 Tuning View
The Tuning View contains all the parameters that are adjusted to properly tune the motor/drive system. Figure 72 shows an example of the Tuning View.
Figure 72: Tuning View
Figure 71: Torque View
Current Level
This parameter sets the activation point for the Current Level Active source. If set to 100%, the Current Level Active source will activate any time the Current Command reaches or exceeds 100% continuous.
Current Limit
This parameter sets the value to which the Current Command will be limited when the Current Limit Enable destination is active. To make the Current Limit always active, assign the Current Limit Enable destination to the Initially Active source on the Assignments view.
Inertia Ratio
This parameter is the ratio between the load inertia and the motor rotor inertia. The formula is defined as follows:
InertiaRatio
In order to calculate the Inertia Ratio, the user must first calculate the load inertia. The load inertia is the inertia of the load reflected to the motor shaft. Control Techniques offers a free sizing software called CTSize that helps the user calculate the load inertia. CTSize can be downloaded from the Control Techniques’ website at no charge (www.emersonct.com).
When entering the inertia ratio, if the exact ratio is not known, it is better to enter a lower (more conservative) value than to enter a “higher-than-actual” value. Higher numbers in the Inertia Ratio amplify the gains of the Velocity and Position Loop parameters described below.
The motor rotor inertia used in this calculation can be found on the Motor Tab on the Motor/Encoder view in PowerTools Pro EZ or in the SPMotor.ddf file that is installed with PowerTools Pro EZ software.
Velocity Loop Bandwidth
The Velocity Loop Bandwidth is the theoretical bandwidth of the velocity controller. It is important for the motor data file to be accurate for ideal velocity performance, in particular the Motor Inertia and Motor Current Constant (Ke). Higher Velocity Loop Bandwidth values will result in better response to change in velocity command, however
LoadInertia
-----------------------------------= RotorInertia
42 www.emersonct.com SM-EZMotion Module User Guide
setting the bandwidth too high can result in ringing (audible ringing) in the velocity loop. The units for Velocity Loop Bandwidth are Hz.
Position Loop Response
The Position Loop Response directly impacts the stiffness of the position loop. Position Loop Response is effectively the Proportional gain term for the position loop controller. Higher Position Loop Response values will result in less following error throughout a motion profile, however setting the response too high can result in instability in the position loop.
Enable Velocity Feedforward
The Velocity Feedforward applies the calculated velocity command directly to the drive’s velocity loop. Enabling the Velocity Feedforward will generally yield faster velocity response, however the feedforward will introduce some overshoot. It is vital in applications that require the use of Jog profiles to enable the Velocity Feedforward signal.
Current Demand Filter
The Current Demand Filter is a first-order low pass filter applied to the current command of the Unidrive SP. The parameter entered by the user is a time constant, t, in the filter formula. The frequency of the filter, f, can be derived as follows:
f
1
-------------= 2πt()
8. Gradually increase the Velocity Loop Bandwidth until the velocity plot shows less than 20% velocity overshoot with no ringing (instability).
9. Audible noise may be introduced by increasing the Velocity Loop Bandwidth due to velocity jitter. The Current Demand Filter can be used to reduce the noise. Begin with a 1 ms value in the Current Demand Filter and gradually increase until the noise is reduced.
10. After adding the Current Demand Filter, you may be able to slightly increase the Velocity Loop Bandwidth again.
11. Gradually increase the Position Loop Response until Following Error is minimized. Often, a value approximately 1/4th of the Velocity Loop Bandwidth will work well. Increase until oscillation is introduced and then slightly decrease.
12. Save file.
7.3.9 Errors View
The Errors View contains information about Drive Trips and Module Errors that are currently active as well as a log of the last ten drive trips. PowerTools Pro must be online with the module to obtain this information. Figure 73 shows an example of the Errors View when Online with the module.
The units for the parameter are milliseconds. This parameter is written directly to parameter 4.12 of the Unidrive SP parameter database.
Simple Tuning Procedure
1. Select the desired Drive Type and Motor Type on the Drive/Encoder view in PowerTools Pro EZ.
2. Verify that the values of each of the motor parameters have been entered correctly, paying close attention to the Motor Rotor Inertia and the Motor Ke.
3. Enter the calculated Inertia Ratio into the edit box on the Tuning view.
4. Set the Position Loop Response to zero.
5. Enable the Velocity Feedforward parameter.
6. Configure an index that will simulate a step signal (make sure not to configure accel/decel values that you cause the motor to be current limited)
7. Initiate the index while recording velocity feedback on an oscilloscope.
Figure 73: Errors View
Active Errors
The Active Errors box shows any drive trips or module errors that are currently active. The user can reset any drive trip or module error by clicking on the Reset control button underneath the Active Errors box. If the situation that caused the trip or error has not been fixed, then the trip or error will activate again immediately.
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Power Up
active error.
The Power Up box contains information related to the lifetime of the Unidrive SP and SM-EZMotion module. Following are the parameters listed in the Power Up information box:
Module Power Up Count
Module Power Up Count is a current value of how many times the SM-EZMotion module has been powered up. Each time power is cycled to the system, this number increments by one. This parameter is stored in the SM-EZMotion module, and is not reset if the module is switched to another drive.
Module Power Up Time
The Module Power Up Time is the time elapsed since power has been cycled to the EZMotion Module. The units for the parameter are Hours with a resolution of 0.1 Hours.
Module Total Time
Module Power Up Time is total elapsed time that the SM-EZMotion module has been powered up (since reset by the factory). The units for the parameter are Hours with a resolution of 0.1 Hours. This parameter is stored in the SM-EZMotion module, and is not reset if the module is switched to another drive.
Drive Power Up Time
Slot 3 Error Code – This will show the error code that is active for the module in Slot 3 of the Unidrive SP. If 0 is displayed, then the module in this slot does not have an active error.
The error code for each slot is simply being read directly from the Unidrive SP. The error code can be found in parameter 50 in each of the different option module slot menus. Parameter 50 stores the active trip/error code for the particular solutions module. The Menu number depends on which slot is being referenced. Following is a list of the different error code references.
Parameter 15.50 – Slot 1 Error Code
Parameter 16.50 – Slot 2 Error Code
Parameter 17.50 – Slot 3 Error Code
For a list of the individual trip/error codes, please refer to the specific solutions module reference manual. Error Codes for the SM-EZMotion module can be found in “Diagnostics” on page 117.
Trip Log
The Trip Log is history of the last 10 Trips that occurred on the Unidrive SP. This information is read directly from the Unidrive SP and is not stored in the SM-EZMotion module. PowerTools Pro must be online to view the Trip Log.
The Drive Power Up Time is the time elapsed since power has been cycled to the Unidrive SP. The format for this parameter is Years.Days and Hours.Minutes. These values must be used in combination to find the actual time.
Example:
Drive Power Up Time = 2.123 Years.Days
05.22 Hrs.Min
In the example above, the time elapsed since the last power cycle is 2 Years, 123 Days, 5 Hours, and 22 Minutes.
Drive Run Time
The Drive Run Time is the Total Time that the drive has been powered up and the Bridge Enabled since last reset by the factory. The format for this parameter is Years.Days and Hours.Minutes. For an example of this format, please see Drive Power Up Time above.
Error Codes
The Error Codes box contains the current error code for each solutions module slot.
Slot 1 Error Code – This will show the error code that is active for the module in Slot 1 of the Unidrive SP. If 0 is displayed, then the module in this slot does not have an active error.
Slot 2 Error Code – This will show the error code that is active for the module in Slot 2 of the Unidrive SP. If 0 is displayed, then the module in this slot does not have an
Within the Trip Log Tab is the Parameter Trip 0 Time. The Trip 0 Time is a reference of when the most recent drive trip occurred. The time in this parameter is based off of the Drive Run Time described above. This means that the Trip time indicates when the trip happened in reference to the total time that the drive bridge has been enabled. The user can use the Drive Run Time as a gauge to determine exactly when the trip actually occurred.
The Trip 0 Time is displayed in a format of Years.Days and Hours.Minutes. These must be used in combination to find the time that the trip action happened. For example
Trip 0 Time = 0.005 Years.Days
17.35 Hrs.Min
In the example above, the Trip 0 occurred after 5 Days, 17 Hours, and 35 Minutes of run-time.
The rest of the Trip Log is shown as a chart. Following are the columns of data found in the chart:
Trip Number
The 10 most recent Trips are stored in the drive. The most recent Trip is listed as Trip 0, and Trip 9 is the oldest. When the next fault occurs, Trip 0 will be moved down to Trip 1 and all the remaining trip numbers will also increment one. Trip number 9 will fall out of the log because it is no longer one of the ten most recent Trips.
Trip Code
The Trip Code displays the actual trip code from the Unidrive SP. For a reference of the Unidrive SP Trip
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Codes, please refer to the Unidrive SP Users Guide or Unidrive SP Advanced Users Guide. Note that this trip code is not the same as the Trip Code or Error Code within a solutions module. For example, if an error occurs in a SM-EZMotion module located in Slot 1, the Trip Log will not store the SM-EZMotion module Error code, but instead it will store SL1.Er indicating that an error occurred in Slot 1. The specific error codes for the different solutions modules are NOT stored in the Trip Log.
Time Before Trip 0
feedback position executes the OnPosn, the PLS.#.Status will activate. As the motor continues in the same direction, the PLS.#.Status will deactivate when feedback position reaches or exceeds the OffPosn. If motor travel changes to the negative direction, the PLS.#.Status will activate when the feedback position reaches the OffPosn, and will deactivate when it continues past the OnPosn. All on/off positions are defined in user units.
PLS.#.Status will be active if:PLS.#.OnPosn < Feedback Position £ PLS.#.OffPosn
All Trip Times for Trips other than Trip 0 are stored as a period of Time between Trip 0 and the specific Trip. The format for the Time is Hrs.Minutes. For example, if Trip 4 Time is shown as 1.20, that would signify that Trip 4 occurred 1 Hour and 20 Minutes prior to Trip 0. The largest value that can be stored in the Time Before Trip 0 is 600 Hours and 00 Minutes. If 600 Hours is exceeded, the 600 Hours and 00 Minutes is displayed in the Trip Log.
7.3.10 PLS View
The PLS View allows the user to configure all the parameters necessary for the available Programmable Limit Switches. Figure 74 is an example of the PLS view.
Off Point
PLS.#.Status will be active when the selected source position is between the PLS.#.OnPosn and the PLS.#.OffPosn. Assume that the PLS.#.Direction is set to "Both". When traveling in the positive direction and the feedback position reaches the OnPosn, the PLS.#.Status will activate. As the motor continues in the same direction, the PLS.#.Status will deactivate when feedback position reaches or exceeds the OffPosn. If motor travel changes to the negative direction, the PLS.#.Status will activate when feedback position reaches the OffPosn, and will deactivate when it continues past the OnPosn.
PLS.#.Status will be active if:PLS.#.OnPosn < Feedback Position £ PLS.#.OffPosn
If using negative values for your OnPosn and OffPosn, the most negative value should go in the OnPosn parameter, and the least negative value should go in the OffPosn.
If the PLS has a rollover point, and the OnPosn is greater than the OffPosn, the PLS will be active whenever the position feedback is not between the On and Off positions, and in-active whenever the position feedback is between the two positions. However, the PLS.#.Status will not turn on until it reaches the OnPosn the first time.All on/off positions are defined in user units.
Direction
This parameter specifies the direction of motion that a particular PLS output will function. If set to Both, the PLS will activate regardless of whether the motor (or master motor) is moving in the positive or negative direction. If set to Plus, the PLS will activate only when the motor is moving in the positive direction. If set to Minus, the PLS will
Figure 74: PLS View
Source
The source of a PLS can be assigned to the motor axis (MotorPosnFeedback, MotorPosnCommand) or a master synchronization signal (MasterPosnFeedback). The term motor axis refers to the motor being controlled by the SM-EZMotion/drive combination. The source list box is used to select the source for the individual PLS.
On Point
PLS.#.Status will be active when the selected source position is between the PLS.#.OnPosn and the PLS.#.OffPosn. Assume that the PLS.#.Direction is set to "Both". When traveling in the positive direction and the
Configuring an Application www.emersonct.com 45
activate only when the motor is moving in the negative direction.
For example, a flying cutoff or flying shear application may use this feature to activate the PLS to fire the knife only when the axis is moving in the positive direction.
Rotary Enable
This parameter is used to enable the RotaryRolloverPosn for this PLS.
Rollover Position
This parameter is the absolute position of the first repeat position for this PLS. When enabled it causes the PLS to repeat every time this distance is passed. The repeating
range begins at an absolute position of zero and ends at the RotaryRolloverPosn.
For example, in a rotary application a PLS could be setup with an OnPosn of 90 degrees and an OffPosn of 100 degrees. If the RotaryRolloverPosn is set to 360 degrees the PLS would come on at 90, go off at 100, go on at 450 (360+90), go off at 460 (360+100), go on at 810 (2*360+90), go off at 820 (2*360+100), and continue repeating every 360 degrees forever.
7.3.11 Setup NVM View
This View allows the user to configure which parameters are saved when power is cycled. If a parameter is not in this list, the value of the parameter will revert back to the value that was downloaded when power is cycled. If a parameter is in the list, the value that was being used just before power is cycled will be used when power is restored.
Figure 76: Capture View
A detailed explanation of each of the Capture components is below.
Name - You can assign a descriptive name to each capture, making the configuration easier to follow. The length of the text string is limited by the column width with a maximum of 12 characters.
Figure 75: Setup NVM View
7.3.12 Capture View
The Capture View allows the user to configure the various Capture object parameters. Figure 76 shows an example of the Capture view.
Simply double click on the Name field of any capture line to assign a name to it.
Capture Number - This parameter defines the number of Capture objects available. Maximum is eight.
The following four parameters are the data that is acquired by the position capture object. These parameters are available to be used as variables in a program. The four parameters can be accessed as follows:
Capture.#.CapturedTime - The time, in microseconds, from a free-running 32-bit binary counter at which the CaptureActivate signal activated.
Capture.#.CapturedPositionCommand - The command position, in user units, at the time when the CaptureActivate signal activated.
Capture.#.CapturedPositionFeedback - The feedback position, in user units, at the time when the CaptureActivate signal activated.
Capture.#.CapturedMasterPostion - The master axis feedback position, in master axis distance units, at the time when the CaptureActivate signal activated.
The captured data remains in these parameters until the capture component is reset and CaptureActivate is activated the next time. When the capture component is reset and CaptureActivate is activated, the data related to the previous capture will be over-written by the most recent capture data.
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Capture Sources and Destinations
d
p
Figure 77 shows a block diagram of the Capture object
CaptureEnable
CaptureActivate
CaptureReset
Time
Command Position
Feedback Position
Master Position
Captured Data
CaptureTriggere
Figure 77: Capture Object
Sources
CaptureTriggered - The CaptureTriggered signal is read-only and indicates that the Capture component was activated, and that data has been captured. CaptureTriggered will activate on the leading edge of CaptureActivate if the Capture component is enabled and reset. Capture Triggered will remain active until CaptureReset is activated.
Destinations
CaptureEnable - The CaptureEnable is used to enable or "arm" the capture component. If the CaptureEnable is not active, then the CaptureActivate has no effect, and the CaptureTriggered remains inactive. Once the CaptureEnable is activated, the Capture component is ready and waiting for a CaptureActivate signal to capture data. CaptureEnable is a read-only destination on the Assignments view, and is accessible through a user program.
CaptureActivate - If the Capture component is enable and has been reset (CaptureTriggered is inactive), then the rising edge of CaptureActivate will capture the four data parameters and cause CaptureTriggered to be activated. If the Capture component is not enabled, or has not been reset, the CaptureActivate will be ignored.
CaptureReset - The CaptureReset is used to reset or re-arm the capture component after it has been activated.
Once the capture has been activated, the CaptureTriggered destination will be active. The capture component cannot capture data again until it has been reset. The capture component will automatically reset itself if the CaptureEnable signal is removed.
CaptureEnable
CaptureActivate
CaptureTriggered
Ca
tureReset
1
2
3
Figure 78: Capture Timing Diagram
Figure 78 is a timing diagram that shows how the different capture related sources and destinations function. The three numbers located on the diagram are associated to the following three notes respectively:
1. While CaptureTriggered is active, a rising edge on CaptureActivate will be ignored. The capture object can not activate again until it has been reset.
2. When CaptureEnable is deactivated, CaptureTriggered automatically deactivates because the capture object is automatically reset. The captured data is retained until the capture component is re-enabled and CaptureActivate is activated.
3. CaptureActivate has no effect while the capture component is not enabled.
Sources That Can Accurately Capture Data
Only a select few sources can accurately capture data. The reason that only certain signals can accurately capture data is because they are wired directly to the SM-EZ Motion FPGA or the signal is generated internally by the processor and can be activated in the FPGA. Signals that are not wired to the FPGA or sent to the FPGA can be used to capture data, but it will only be accurate to the Trajectory Update Rate. This means that the capture will only occur the next time the signal is updated and not when it actually activates.
Sources that CAN accurately capture data:
• SM-EZ Motion Inputs
• Motor Encoder Marker Channel
• Index.#.CommandComplete
• Jog.#.CommandComplete
• Index.#.AtVelocity
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• Jog.0.AtVelocity
• PLS.#.Status
All other Sources are only accurate to the Trajectory Update Rate.
Assignments that Automatically Use Position Capture
The sources listed above automatically capture data each
time they activate even when a capture object is not configured. If any of these Sources are assigned to a destination, the captured data may be used by the destination function.
The Destinations that can use the automatically captured data are as follows:
• Index.#.Initiate
• Index.#.SensorTrigger
The automatically captured data is not available to the user like it is when a capture object is used. The processor takes care of resetting the automatic capture internally.
Index.#.Initiate - When one of the Sources listed above (Sources That Accurately Capture Data) is assigned to an Index Initiate, the captured information is automatically applied to the index starting point. This offers extremely high accuracy for initiation of motion, which is beneficial especially in synchronized applications.
Index.#.SensorTrigger - The sensor trigger destination used in registration indexes can use captured data to accurately calculate the ending position of the index based on the Registration Offset parameter. The Offset distance is added to the captured position to let the accurate stopping position for the registration index.
7.3.13 Queues View
The Queues View allows the user to configure the necessary parameters for the Queue object to function properly. Figure 79 shows an example of the Queue view.
the user program. Two types of data are most often used with the queue: Position Feedback, and Master Position Feedback.
Queue Size
This is the maximum number of elements that can be stored in the queue. If more than this number of pieces of data is in the queue at a time, then a Queue Overflow source will activate.
Queue Offset
The Queue Offset is the value that is added to the Queue Data and then compared to the selected source to determine when the Queue Exit event activates. For instance, if the source in selected source is set to Feedback Position, and the Queue Offset is set to 10, and the user puts the value 5 into the queue, the Queue Exit source will activate when the Feedback Position is greater than or equal to 5 + 10 or 15.
Full Level
The amount of data in the queue is constantly monitored and the Queue Full source will activate when the number of pieces of data in the queue exceeds the Full Level parameter. Queue Full is only a flag and does not cause an error or a trip of any kind.
Source
The Source determines which parameter the sum of the Queue Data and Queue Offset are compared to in order to activate the Queue Exit function. If set to Position Feedback, the sum of the data and offset are compared to the Position Feedback parameter. If set to Master Position, then the sum is compared to the Master Feedback Position parameter, and if set to Command Position, then the sum is compared to the Motor Commanded Position.
Name
You can assign a descriptive name to each queue, making the setup easier to follow. The length of the text string is limited by the column width with a maximum of 12 characters.
Simply double click on the Name field of any queue to assign a name to it.
Number of Queue Units
This selects the number of Queues available. Maximum of eight.
Queue Sources and Destinations
Figure 80 shows a block diagram of the Queue object.
Figure 79: Queues View
A detailed explanation of each of the queue components is as follows:
Queue Data
The queue data is loaded into the queue by statements in
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QueueClear
w
Q
Data In
Set # of Queue Objects = 0 and clear data in queue
Queue Size
Full Level
Source Select:
MasterPosn FeedbackPosn CommandPosn
IF (# of Queue Objects = 0)
IF (# of Queue Objects = or > Full Level)
QueueEmpty
QueueFull
Clear
Compare Enable
Queue Object
Data[ ] Size Offset Full Level Comparitor Select Name
Exit
Empty
Full
Overflow
Data Out
QueueExit
QueueOverflo
CompareE nable
Queue Offset Exit Position
Sum
IF (# of Queue Objects = Queue Size)
Comparitor
Figure 80: Queue Block Diagram
Sources
Queue Exit - This source activates when the Comparator Select parameter is greater to or equal to the sum of the data entered into the queue, and the queue offset.
Queue Empty - This source is active if no data is stored in the queue. It will become inactive when the first piece of data is loaded into the queue and remain inactive until all data has been removed from the queue.
Queue Full - The Queue Full source will activate if the number of pieces of data in the queue equals or exceeds the Full Level parameter. The source will deactivate when the number of pieces of data in the queue is less than the Full Level.
Queue Overflow - This source activates when there is no more room in the queue to store data. The maximum number of pieces of data is determined by the Queue Size parameter.
Data In
ueue Data = X
Data Out
Y = Queue Data
Figure 81: Queue Object and Components Diagram
7.3.14 User Variables View
User variables allow the user to store data related to their application into a parameter, which the user can name. The user must define each user variable by giving it a Name, Resolution (number of decimal places), and Initial Value. All user variables are signed 32-bit parameters. Figure 82 shows an example of the User Variables view.
Destinations
Queue Clear - This destination automatically clears all of the data out of the queue. The cleared data is not saved and there is no way to recover the cleared data. This is typically activated on power-up of the system to make sure no old data remains in the queue.
Queue Compare Enable - The Compare Enable causes the comparator internal to the queue to function. If the Compare Enable is inactive, then the Queue Exit source will never activate.
If activated, then the Queue Exit source will activate when the Queue Data plus the Queue Offset is greater than or equal to the Comparator Select parameter.
To fully understand the operation of the queue, Figure 81 has a more detailed view of the Queue object.
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Figure 82: User Variables View
The following parameters are part of the User Variable definition:
Name - This is a twelve-character string that allows the user to assign a descriptive name to the parameter. Spaces are not allowed in the name of a user variable.
Decimal - This parameter defines the number of digits (up to 6) to be used after the decimal point for the specific variable. This is the maximum resolution that the parameter will have.
Initial Value - This is the initial value of the user variable that will be used on power up. If the user variable has been configured as a Save to NVM parameter, then the value in NVM will overwrite the initial value on power up.
Adding and Deleting Variables
The default number of variables is ten. To add more user variables, click on the up arrow next to the "Number of User Variables" spinner box on the User Variables view. The maximum number of user variables is 256.
Only the last variable in the list can be deleted. To delete the last variable, simply click on the down arrow next to the "Number of User Variables" spinner box.
User variables are all Global variables. A Global variable means that it can be accessed from any program.
Using User Variables in a Program
Once setup, User Variables can be used inside a program for calculations, motion profile setup, or any other user-desired function. To access User Variables, click on the "Drag In Variables" icon in the user program toolbar. User Variables is a branch in the Drag In Variables selection box.
7.3.15 User Bits View
User Bits act just like User Variables except that they allow the user to store bit level parameters rather than 32-bit parameters. The user may customize each User Bit by giving it a Name and an Initial Value.
The Name for each bit may be up to 12 characters in length, and must start with a alpha character (non-numeric character). Spaces are not available in the Name for a User Bit, however the underscore character ("_") may be used.
The Initial Value for each user bit is configured using a checkbox for the specific bit. To make the Initial Value "On" or "Active", simply enable the checkbox for that bit. The default value for each User Bit will be "Off" or "Inactive".
Figure 83 shows an example of the User Bits view.
Figure 83: User Bits View
The following parameters are part of the User Variable definition:
Name - This is a twelve-character string that allows the user to assign a descriptive name to the bit. Spaces are not allowed in the name of a user bit.
Initial Value - This is the initial value of the user bit that will be used on power up. If the user bit has been configured as a Save to NVM parameter, then the value in NVM will overwrite the initial value on power up.
Using User Bits in a Program
User Bits may be accessed in a User Program. Bits are turned on by setting them equal to ON, TRUE, YES, SET, or ENABLE (not case sensitive), and can be deactivated by setting them equal to OFF, FALSE, NO, CLEAR, or DISABLE.
Setting an individual bit equal to 1 or 0 in a user program will cause a red dot error. The Boolean values listed above must be used.
Adding and Deleting User Bits
User Bits can be added or deleted in groups of 32-bits. Individual bits cannot be added or deleted. The default number of User Bits available is 32. To add an additional 32 bits, simply click on the "Up Arrow" on the spinner box at the top of the User Bits view (see Figure 47).
To decrease the number of User Bits by 32, click the "Down Arrow" on the spinner box. When decreasing the number of User Bits, it is always the last 32 bits in the list that will be eliminated.
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User 32-bit Bit Register and User Bit Masking
When using different communications protocols (i.e. DeviceNet, Profibus, Modbus), it is often desirable to access groups of User Bits in a single parameter, rather
than having to access them individually. In the SM-EZMotion module it is possible to access 32 User Bits in a single parameter. This parameter is named BitRegister.#.Value. Because some of the 32 User Bits may be used by the program, and should not be modified from the network communications, it is possible to "Mask Off" certain bits. Masking bits prevents them from being modified in the program when the 32-bit parameter is written to.
When a User Bit Register (group of 32 User Bits) is written to, the value is then logic-AND'ed with the mask to determine the resulting state of each of the 32 individual bits. If the individual bit value of the 32-bit mask is "1", then the corresponding bit from the written 32-bit parameter is passed through, and the resulting value stored in the specific bit will be the written bit value. If the bit value of the 32-bit mask is "0", then that particular bit is blocked (or masked), and the resulting bit value does not change, (Original Value AND NOT 32-Bit Mask) or (Value Written over Network AND 32-Bit Mask). An example of this is shown in Figure 84.
Original Valu e
Value written over network
32-bit Mask
Result stored in each bit
Bit #31
10000001010000001000001 000000000
01101000011110000111111 101010110
01010101010101010101010 101010101
11000000010100001101011 101010100
015
FM-3/4
Write
Network
Master
Written data is AND’ed with the Mask and then written into 32-bit Value.
Read data is read directly from the 32-bit Value and bypasses the Mask.
Read
AND
Mask
Val ue
Figure 85: User Bit Read/Write Process
Configuring the User Bit Mask Register
The User Bit Mask is a 32-bit parameter that can be configured through Power Tools Pro, in the User Program, or over the communications network. The default value for the Mask register is 0xFFFFFFFF (HEX), or all bits ON. To change the Mask value using PowerTools Pro, navigate to the Mask tab on the User Bits view, see Figure 86.
Figure 84: Writing to the User Bit Register
The Mask is only used when WRITING to the 32-bit parameter, BitRegister.#.Value. When reading the 32-bit value, all bits are read regardless of the mask.
Figure 86: User Bits View (Mask Tab)
In the User Bits view - Mask Tab, each bit of the Mask can be set to 0 or 1 individually. ON (or 1) is indicated by a shaded square, and OFF (or 0) is indicated by an empty square. Bit 31 is the most significant bit in the word, and bit 0 is the least significant bit. If the bit is shaded, it means
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that particular bit will be passed through when written.
Each additional group of 32 User Bits that are added, a new Mask parameter will appear for that group. Mask 0 will control the mask for User Bits 0 through 31. Mask 1 will control the mask for Bits 32 through 63. This sequence repeats for each additional 32 bits that is added.
To configure the mask in a user program, the parameter named BitRegisiter.#.ValueMask is written to. The mask can be written to using Hexadecimal based values or decimal based values. To write a hexadecimal value to the parameter, the hex value must be preceded with the characters "0x". To write a decimal value to the parameter, normal notation is used. For examples of writing the Mask to a value in a program, see below.
For example: BitRegister.0.ValueMask = 0xFFFF0000
This example writes a 1 into all bits of the upper sixteen bits, and 0 into each of the lower sixteen bits using hexadecimal value. To write the same value using decimal notation, the following instruction would be used.
For example: BitRegister.0.ValueMask = 4294901760
This instruction would also write a 1 into each of the upper sixteen bits, and a 0 into each of the lower sixteen bits.
destination. Destinations are found on the right side of the Assignments view, and are functions that need to be triggered, such as Index Initiates, Program Initiates, Jog Initiates and so on. Sources are located on the left side of the Assignment view and reflect the status of events that occur in the drive. These events are based on drive activity. Figure 87 shows an example of the Assignments view.
7.4 Configure I/O
7.4.1 Assignments View
External control capability is provided through the use of assignments to the sources (SP Inputs, SM-EZ Motion Inputs, and I/O Plus Inputs) or the destinations (SP Outputs, SM-EZ Motion Outputs, and I/O Plus Outputs).
Assignments provide a mechanism for the user to define the internal and external dynamic control structure to separate complex motion profiles. These functions directly correspond to any input or output line on the drive or option modules. External controllers, such as a PLC or other motion controllers, may be connected to affect or monitor the device's operation.
The Unidrive SP is equipped with up to six input lines (three can be configured as Input or Output) and up to five output lines (three can be configured as Input or Output and two are Relay outputs). The SM-EZ Motion module has an additional four input and two output lines.
The SP drive's input and output lines can be accessed through the two removable 11-pin control connectors. The SM-EZ Motion input and output lines are located on the front face of the SM-EZ Motion module.
All inputs and outputs are configured as sourcing and are designed to operate from a +10 to 30 VDC power source. The user is responsible for limiting the output current to less than 10 mA or less for each digital output.
Assignments View
The Assignments View is used to tie a source to a
Figure 87: Assignments View
Sources and Destinations are put into groups based on functionality. By expanding individual groups, you will see the individual Sources or Destinations.
For example, if you expand the Inputs source group, you will see SP I/O, SP Inputs, EZ Motion Inputs, and I/O Plus I/O if a module is used. You can use these Source events to trigger certain actions (or destinations) on the right side of the view.
To make an assignment in the SM-EZ Motion module, you must assign a Source to a Destination. Any Source can be tied to any Destination to create the desired system operation.
Creating An Assignment
Various methods can be used to assign a Source (such as SPInput.4) to a Destination, such as Index.0.Initiate.
Drag and Drop Method
First, position the mouse pointer over the Source on the left that is to be assigned to a Destination on the right. Press and hold the left mouse button down, drag the Source until the mouse pointer is positioned over the desired Destination and release the left mouse button.
Once the mouse button is release, the assignment is created. The view will update to show that the assignment is created. In the Sources side, the "Assigned To" column will show which Destination the Source is assigned to. In the Destinations side, the "Set From" column will show
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which Source has been assigned to it.
Destinations can also be dragged from right to left, over to Sources.
Assign Button Method
Click on both the Source and Destination that are to be assigned to each other. Once both are highlighted, the Assign button in the lower left corner of the view will become enabled. Click on the Assign button to complete the assignment.
Once the mouse button is release, the assignment is created. The view will update to show that the assignment is created. In the Sources side, the "Assigned To" column will show which Destination the Source is assigned to. In the Destinations side, the "Set From" column will show which Source has been assigned to it.
Any source can be assigned to up to ten different destinations maximum. Any destination can have as many sources as desired assigned to it.
Deleting An Assignment Delete Button Method
Click on both the source and destination for the assignment to be deleted. Once both are highlighted, the Delete button in the lower left corner will become available. Click on the Delete button to remove the assignment.
Right Click Method
Position the mouse pointer over the specific assignment to be deleted and click the right mouse button. A selection box will appear. From this selection box, choose Delete.
After either of these procedures, the assignment will disappear. The "Assigned To" and "Set From" columns should no longer have any data for the specific Source and Destinations.
This could cause motion to initiate on loss of I/O Power.
Default polarity for a new assignment is Active On. There are two methods that can be used to change the polarity of an assignment.
Polarity Button Method
Click on both the source and the destination to be changed. Once highlighted, the Polarity button will become enabled in the lower left corner of the view. Click on the Polarity button and change the settings as desired in the Polarity edit box. Click OK to apply the changes.
Right Click Method
Position the pointer over the specific assignment you with to change polarity for and click the right mouse button. A selection box will appear. From this selection box, choose "Polarity". A Polarity edit box will appear. Change the Polarity settings as desired and click OK to apply the changes.
User Level
The User Level filters the available assignments. The User Level is changed on the Options menu at the top of the PowerTools Pro Tool Bar. Choose Options > Preferences > User Levels. Easy mode filters out all but the most commonly used sources and destinations. Detailed mode filters out less, expanding the list of sources and destinations for more complex configurations. Too Much mode does not filter at all and provides all sources and destinations.
Only Show Assigned
This checkbox removes the unassigned sources and destinations from this view. It allows the user to quickly see how many sources and destinations have been assigned.
Assignment Polarity
The active state of an assignment can be programmed to be Active Off, Active On, or Custom using PowerTools Pro. Making an assignment "Active On" means that the Destination will become active when the Source it is assigned to becomes active, and is inactive when the Source is inactive. Making an assignment "Active Off" means that the Destination will be active when the Source it is assigned to becomes inactive, and will be inactive when the Source is active.
The polarity of the assignment can also be changed to Custom when required. Custom polarity allows you to make a Destination activate and deactivate based on two different Sources.
Note
Destination functions that initiate motion (Jog.PlusInitiate, Jog.MinusInitiate, Index.#.Initiate, Home.#.Initiate, and Gear.Activate) should not be set to "Active Off".
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7.4.2 SP I/O Setup View
0
3
4
5
Figure 88: Drive I/O Setup View
7.4.3 EZ Motion I/O Setup View
Figure 90: Selector View
The selector helps to minimize the required number of inputs and outputs to initiate different actions. The selector limits the I/O by using a conversion from binary to decimal. Figure 91 shows a block diagram of the Selector Object.
Selector.Select0 Selector.Select1 Selector.Select2 Selector.Select3
Selector.SelectorInitiate
Selector Object
Selector.Selection0 Selector.Selection1 Selector.Selection2 Selector.Selection3 Selector.Selection4 Selector.Selection5 Selector.Selection6 Selector.Selection7 Selector.Selection8 Selector.Selection9 Selector.Selection1 Selector.Selection11 Selector.Selection12 Selector.Selection1 Selector.Selection1 Selector.Selection1
Figure 89: Module I/O Setup View
7.4.4 Selector View
The Selector View allows the user to configure the Selector object. The selector uses a binary to decimal conversion, which requires fewer I/O points than direct assignments. Figure 90 shows an example of the Selector view.
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Figure 91: Selector Block Diagram
The Selector is configured by using a series of Sources and Destinations on the Assignments view. The inputs to the selector are Selector.Select# and Selector.SelectorInitiate. These inputs to the Selector can be found under the Selector group of Destinations on the Assignments view. The outputs from the selector are called Selector.Selection#, and can be found under the Selector group of Sources on the Assignments view.
In most cases, hardware inputs are assigned to the Selector.Select functions.
Based on the status of the binary select lines, a selector.selection source will be active when the Selector.SelectorInitiate destination is activated.
At the top of the Selector view (see Figure 90), the Selector Input Destinations field defines how many Select lines will be used. The number of Selector.Selection outputs is a
direct result of the number of Select lines. The formula is as follows:
# of Selection outputs = 2n (where n is the number of Select inputs)
The maximum number of Select lines is eight.
Once you have determined how many select lines you want, the assignments to these
Selector.Select lines must then be made in the Assignments view.
For example, if the user enters 2 for the number of Selector Input Destinations, we would have 4 Selection lines (Selector.Selection0 through Selector.Selection3). The Selector.Selection number that activates is determined by the status of the Selector.Select lines when the Selector.SelectorInitiate bit is activated. Each select line has a specific binary value.
The binary value is determined as follows:
Sn x 2n where Sn = Status of Selector.Select line n
Sn = 0 if Selector.Select line n is inactive, and
Sn = 1 if Selector.Select line n is active
The sum of all the binary values determines which Selector.Selection line will be active.
The following examples demonstrate how to determine which Selector.Selection will activate based on the Selector.Select lines.
Example 1:
If Selector.Select2 is active, Selector.Select1 is inactive, and Selector.Select0 is active, then the total binary value is as follows:
until the Selector.SelectorInitiate destination is activated.
Selector.Selection sources can be tied to any destination in the Assignments view. Figure 92 shows the four Selection lines being assigned to Index 0 through Index 3 Initiates, and the two Select lines being assigned to digital inputs. By doing this, we could initiate up to four indexes with only two Select lines and a Selector Initiate. This helps to minimize the number of inputs required to initiate a large number of indexes or programs.
Figure 92: Selector Assignments Example
7.5 Define Motion Profiles
7.5.1 Jog View
S2 = 1, S1 = 0, and S0 = 1. Therefore,
Total Binary Value = (1 x 22) + (0 x 21) + (1 x 20)
Total Binary Value = 4 + 0 + 1
Total Binary Value = 5
Therefore, when Selector.SelectorInitiate activates, Selector.Selection5 will activate.
Example 2:
If Selector.Select2 is inactive, Selector.Select1 is active, and Selector.Select0 is active, then the total binary value would be as follows:
S2 = 0, S1 = 1, and S0 = 1. Therefore,
Total Binary Value = (0 x 22) + (1 x 21) + (1 x 20)
Total Binary Value = 0 + 2 + 1
Total Binary Value = 3
Therefore, when Selector.SelectorInitiate activates, Selector.Selection3 will activate.
The Selector.Select lines can change without any action
Figure 93: Jog View
Jog Number
This scroll box allows you to select between Jog0 and Jog1 setup views.
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Jog Name
This is a descriptive character string which can be assigned to the specific jog. Giving a name to a jog can make the motion setup easier to follow.
Time Base
This list box allows the user to select the time base for the individual jog. The options are Realtime and Synchronized.
Jog Velocity
This parameter specifies the target jog velocity for the individual Jog. The motor will run at this velocity when jogging with an assignment or through a program. This value is a signed number. The direction of the jog is determined by the sign of the jog velocity as well as using the Jog.PlusInitiate or the Jog.MinusInitiate.
Jog Acceleration
This is the acceleration ramp used when initiating this individual Jog. If S-Curve ramps are used, then this is the average acceleration rate for the entire ramp. The units for the acceleration are setup in the Setup - User Units view in PowerTools Pro.
Jog Deceleration
This is the deceleration ramp used when stopping this individual Jog. If S-Curve ramps are used, then this is the average deceleration rate for the entire ramp. The units for the deceleration are setup in the Setup - User Units view in PowerTools Pro.
Jog Sources and Destinations
Sources
Jog.AnyCommandComplete - The Jog.AnyCommandComplete source will activate when either Jog0 or Jog1 completes its deceleration ramp, and reaches zero commanded velocity. It will deactivate when any Jog is initiated again. If the Stop destination is used during a Jog, then the Jog.AnyCommandComplete will not activate.
Jog.#.Accelerating - This source is active while a jog is accelerating to its target velocity. Once the Jog reaches the target velocity, the Jog.#.Accelerating source will deactivate.
Jog.#.AtVel - This source activates when the individual jog reaches its target velocity. It deactivates when a jog deceleration ramp begins.
Jog.#.CommandInProgress - The Jog.#.CommandInProgress source is active throughout an entire jog profile. The source activates at the beginning of a jog acceleration ramp, and deactivates at the end of a jog deceleration ramp.
Jog.#.CommandComplete - The Jog.#.CommandComplete source will activate when the specific jog completes its deceleration ramp. It will remain active until the specific jog is initiated again. If the Stop
destination is used during a Jog, then the Jog.#.CommandComplete will not activate.
Jog.#.Decelerating - This source is active while a jog is decelerating from its target velocity. Once the Jog reaches zero velocity (or its new target velocity), the Jog.#.Decelerating source will deactivate.
Destinations
The following destination functions can be found in the Assignments view under the I/O setup group:
Jog.PlusActivate
When this destination is activated, jogging motion will begin in the positive direction. The jog velocity is determined by which jog (Jog0 or Jog1) is active or not. A jog stops when this destination is deactivated. If the jog velocity is negative, Jog.PlusActivate will cause the motor to jog in the negative direction.
Jog.MinusActivate
When this destination is activated, jogging motion will begin in the negative direction. The jog velocity is determined by which jog (Jog0 or Jog1) is active or not. A jog stops when this destination is deactivated. If the jog velocity is negative, Jog.MinusActivate will cause the motor to jog in the positive direction.
Jog.Select0
This destination is used to select between Jog0 and Jog1. When the Jog.Select0 destination is not active, the target velocity for the jog is the Jog.0.Velocity. If the Jog.Select0 destination is active, the target velocity of the jog is the Jog.1.Velocity. Jog.Select0 can be toggled "On" or "Off" while jogging. Jog acceleration and deceleration ramps are used to ramp between jog velocities.
Below is a description of jog operation using these destinations.
Note
In the table below Jog.0.Velocity = 100 RPM and Jog.1.Velocity = -500 RPM.
Jog.PlusActivate Jog.MinusActivate Jog.Select0 Motion
Off Off Off 0 RPM
On Off Off +100 RPM
Off On Off -100 RPM
On Off On -500 RPM
Off On On +500 RPM
On On Off 0 RPM
On On On 0 RPM
All Jog destinations are level sensitive.
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Figure 94: Jog Activate
Switch that is active.
7.5.2 Home View
Figure 96: Home View
Home Number
0
The Home Number parameter displays which home sequence you are editing and allows you to scroll through multiple home sequences using the up and down arrows. The first release only allows for one home sequence.
Name
Figure 95: Jog Select Usage
If the Jog direction is reversed, the Jog.#.Decel value will be used to decelerate the motor to zero speed and then the Jog.#.Accel will be used to accelerate to the new (opposite sign) velocity.
Note
The Jog destinations cannot be initiated when any other motion type (homing, indexing, or programs) is in progress.
If both jog input functions are "On" there is no motion after a jog deceleration (they effectively cancel each other). The drive's display will show "R", for ready.
If the device is jogging with the Jog.PlusActivate destination active and the Jog.MinusActivate destination activates, the motor will behave the same as if it would if Jog.PlusActivate just deactivated.
The Stop destination (found under the Ramps group in the Assignments view) will override the Jog operation and decelerate the motor to zero speed at the stop deceleration rate.
Jog Motion can be used to jog off of a Travel Limit Switch. Use the Jog Initiate for the opposite direction of the Limit
Allows you to assign a descriptive name to the home sequence up to 10 characters in length.
Home Reference
This parameter determines the signal used as the reference. The parameter can have one of three different values: 'Sensor', 'Marker', or 'Marker then Sensor'. When the home reference is 'Sensor' the rising edge of the 'Home.#.SensorTrigger' destination is used to establish the home position. When the home reference is 'Marker' the rising edge of the motor encoder's marker channel is used to establish the home position. When the home reference is 'Sensor then Marker' the home position is established using the first marker rising edge after the Home.#.SensorTrigger destination activates.
Time Base
Selects the Time Base for the home move velocity and acceleration/deceleration. Realtime and Synchronized are the allowed selections.
Velocity
Sets the target velocity for the home. The polarity determines the home direction. Positive numbers cause motion in the positive direction and negative numbers cause motion in the negative direction in search of the
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home reference.
End of Home Position
Acceleration
Average Acceleration rate used during the home. Units are specified on the User Units View.
Deceleration
This is the average Deceleration rate used at the end of the Home move in user units.
If on sensor... Group
These radio buttons determine how the system reacts if the Home.#.SensorTrigger is already active when the home is initiated.
'Back off before homing' Radio Button
If this radio button is set, the drive will back off the sensor before beginning the home. It does this by moving the direction opposite to that specified by the sign of the home velocity. It continues moving in this direction at the target home velocity until the sensor deactivates. The motor then decelerates to a stop and performs a standard home.
'Go forward to next sensor' Radio Button
If this radio button is set, then the system will ignore the sensor that is active when the home is initiated, and move in the proper direction until the first low to high transition of the Home Reference signal.
Home Offset Group
The Home Offset group has two buttons, the calculated Offset Radio Button and the Specified Offset Radio Button.
Calculated Offset Radio Button
The calculated offset is defined as the distance traveled during deceleration ramp from the home velocity to a stop plus the distance traveled at the home velocity for 1600µs. This extra distance is used to guarantee that the motor will not need to backup after the deceleration ramp.
Specified Offset Radio Button
The specified offset allows the user to choose an exact offset from the Home Reference point.
The commanded motion will stop at exactly the offset distance away from the reference point as specified. If the specified offset is smaller than the calculated offset, the motor will decelerate to a stop and then back up to its final offset position.
Limit Distance LimitDistEnable
This checkbox enables the specified Home Limit Distance.
The Limit Distance parameter places an upper limit on the incremental distance traveled during a home. If no home reference is found in this distance, the motor will decelerate to a stop at the limit distance and activate the Home.#.LimitDistHit source.
This parameter defines the position at the completion of the home. This defaults to 0.0 such that at the end of a home, the Feedback Position and the Commanded Position are set to 0.0.
If you wish your Feedback Position to be something other than 0.0 at the end of a home, then enter the exact desired position here.
Below is a diagram of a home using the "Back off before homing" radio box, a Home Reference of "Sensor", and using a "Calculated Offset".
Home Sources and Destinations Sources
Home.AbsolutePosnValid - This source is activated when a Home is successfully completed. It indicates that the device has been homed properly. It is will be deactivated by the Home.#.Initiate destination, an encoder fault, a reboot, or when the device is powered down, unless using Auxiliary Logic Supply (ALP).
Home.AnyCommandComplete - This source is activated when any home motion command is completed. If a drive stop destination is activated before the home has completed, this source will not activate. It will be deactivated when another home is initiated.
Home.#.Accelerating - This source is active while a home is accelerating to its target velocity. Once the home reaches the target velocity, the Home.#.Accelerating source will deactivate. This source will also activate during the "back off sensor" motion before the actual home.
Home.#.AtVel - This source activates when the home reaches its target velocity. It deactivates when a home deceleration ramp begins. Home.#.AtVel will not be activated during the "back off sensor" portion of the home.
Home.#.CommandComplete - The Home.#.CommandComplete source will activate when the specific home completes its deceleration ramp. It will remain active until the specific home is initiated again. If the drive stop destination is used during a home, then the Home.#.CommandComplete will not activate.
Home.#.CommandInProgress - Activated when the Home is initiated and remains active until all motion related to the Home has completed.
Home.#.Decelerating - This source is active while a home is decelerating from its target velocity. Once the home reaches zero velocity (or its' new target velocity), the Home.#.Decelerating source will deactivate. This source will also activate during the "back off sensor" motion before the actual home.
Home.#.LimitDistHit - This source is activated when the home reference is not found before the Home Limit Distance is traveled. It will remain active until the home is initiated again.
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Destinations
machine operations.
Home.#.Initiate - The Home.#.Initiate destination is used to initiate the home function. The Home is initiated on the rising edge of this function. The device will not initiate a Home if there is an Index, Jog, or Program in progress, or if the Stop destination is active or if a travel limit is active.
Home.#.SensorTrigger - This destination is required to be used if you are homing to a sensor. This destination is edge sensitive. The home position is determined when the Home Sensor destination is activated.
If the device receives a Home.#.Initiate input while the Home.#.SensorTrigger is active, you can choose to have the motor "back-off" of the home sensor before it initiates the home function, or move forward to the next sensor.
If debounce is used on the hardware input that the Home.#.SensorTrigger is assigned to, the debounce determines the length of time the input must be active to be considered a valid input.
The rising edge of the sensor is still used for the reference position. This maintains accuracy while providing the ability to ignore false inputs.
7.5.3 Index View
IndexType
Select the index type from Incremental, Absolute, Registration, Rotary Plus, or Rotary Minus.
Click the down arrow on the parameter list box to select the desired type of Index Profiles, as follows:
Incremental Indexes run a specified distance from the current position.
Absolute Indexes move to an exact position with respect to the home reference point. The absolute index could run in either a clockwise (CW) or counterclockwise (CCW) direction dependent on the current position when it is initiated.
A Registration Index runs at the specified velocity until a registration sensor is seen or until it reaches the Registration Limit Distance. If a Registration Sensor is seen, then the index runs an additional Registration Offset distance.
Rotary Plus and Rotary Minus type indexes are typically used in applications which use rotary rollover. These absolute indexes are forced to run in a specific direction regardless of the starting point.
TimeBase
Figure 97: Index View
Following is a list of parameters used to configure each index.
Index Number
The Index Number parameter selects the index number with a scroll box.
Index Name
The User can specify an Index name of up to 12 alphanumeric characters. This allows assigning a descriptive name to each index indicating different
This list box selects the Time Base for the index velocity and acceleration/deceleration. Realtime and Synchronized are the available selections.
Distance/Position
The Distance/Position parameter is a signed value that specifies the distance the index will travel (incremental index) or the absolute position the index will move to (absolute index). In the case of an incremental index, this parameter also determines the direction the index will travel. If an index type of Registration is selected, then this is a limit distance, or the maximum distance the index will travel if a registration sensor is not seen.
Velocity
This sets the target velocity for the index profile. The velocity parameter is unsigned and must be greater than zero. Direction of the index is not determined by the velocity, but by the Distance/Position parameter.
Acceleration
Average Acceleration rate used during the index. Units are specified on the User Units view.
Deceleration
The Deceleration parameter specifies the deceleration value to be used during the index in user units.
Timed Indexes
A Timed Index allows the user to specify the amount of time in which to perform an index rather than specifying the Velocity, Acceleration, and Deceleration. The processor in
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the SM-EZ Motion module will automatically calculate the necessary velocity, accel, and decel in order to achieve the programmed distance in the specified time.
Note
A user program cannot compound into a Timed Index, or compound out of a Timed Index.
All index types can be specified as a Timed Index, except for Registration type indexes. This is because a registration index does not have a specified distance or absolute position. During a registration type index, the registration sensor could activate at any time, and therefore it is impossible to calculate the necessary velocity, accel, and decel. If Registration type is selected, then the Time checkbox will become disabled.
Based on the Distance entered (or Position for Absolute indexes) and the Time value specified, the calculations could result in extremely high Velocities, Accels, and Decels. To avoid damage to mechanical parts, or potentially dangerous situations, the user is allowed to enter the Maximum Velocity, Acceleration, and Deceleration used for the calculations. The results of the firmware calculations will never exceed the maximum values specified.
Figure 98 shows a screen capture in which the Timed checkbox has been enabled. Notice how the parameters that normally say Velocity, Acceleration, and Deceleration have changed to say Max. Velocity, Max. Acceleration, and Max. Deceleration. When the Time checkbox is enabled, these parameters automatically become maximums for use in the calculations.
cannot be performed as desired. The internal calculation are performed only when the index is initiated, and therefore is the only time the flag will activate. The Index.ProfileLimited flag will remain active until cleared using the Index.ResetProfileLimited assignment or program instruction. In this situation, the index will still operate, but the time will be extended. In other words, the profile will be performed using the maximums values and still cover the specified distance, but not in the specified time.
The units for the Time parameter depend on the current setting of the Time Base parameter.
If Time Base is set to "Realtime" (default), then the units for the Time parameter are Seconds. The user can program the index time with resolution of 0.001 Seconds (or milliseconds). If Time Base is set to "Synchronized", the units for the Time parameter are defined by the Master Distance Units found on the Master Setup screen.
Doing a synchronized Timed Index means that the user can specify the master distance in which the index should be performed. This can be very useful in many synchronized motion applications.
The internal calculations are designed to calculate a triangular profile (all accel and decel). The ratio of acceleration to deceleration will be the same ratio as Max. Acceleration to Max. Deceleration parameters. For example, if the deceleration is desired to be twice the acceleration, a number twice the value of max acceleration would be entered for maximum deceleration. Even in trapezoidal moves, the same ratio of acceleration and deceleration is maintained.
The calculations are based on the assumption that Feedrate Override is set to 100%. If set to greater that 100%, the motor could run in excess of the specified Max. Velocity.
Figure 98: Index View with Timed Index Selected
If the values for Max.Velocity, Max.Acceleration, and Max.Deceleration are such that the distance cannot be covered in the specified time, the Index.ProfileLimited flag will activate when the index is initiated, indicating the index
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Max Accel
Trapezoidal
Move
Triangle
Move
Max Velocity
Time
Max Decel
Index.ProfileLimited activates
for this profile
Figure 99: Timed Index Profile Diagram
Enable Index PLS
This check box enables (when checked) or disables the Index PLS function.
An Index PLS is similar to a global PLS (explained in the PLS View section), but is incremental in nature. The Index
PLS has On and Off points just like a global PLS, but the On and Off points are specified as an incremental distance from the start of the index, instead of absolute positions. Each index has its own On and Off points, and the Index.#.PLSStatus is only updated when Index# is run. The direction of the PLS does not matter, the Index.#.PLSStatus will activate and deactivate the same incremental distance from the start of the index.
PLS On Point
This parameter is an incremental distance from the start position of the index, at which the PLS.#.Status will become active. It is an unsigned value in user units. The On Point must always be less than the Off Point.
PLS Off Point
This parameter is an incremental distance from the start position of the index, at which the PLS.#.Status will deactivate. It is an unsigned value in user units. The Off Point must always be greater than the On Point. If the Off Point is larger than the Distance parameter in an Incremental type of index, the PLS Status will never deactivate until the index is run again.
Example 1:
Index 0 is an Incremental index with a distance of 5 Revs. The PLS On Point is set to 1 Rev, and the PLS Off Point is set to 4 Revs. A home is completed, and Position Feedback is equal to 0.0 Revs.
If Index 0 is run, the Index.0.PLSStatus will activate when the feedback position reaches 1 Rev and remain active until feedback position reaches 4 Revs, and deactivate. At the end of Index 0, position feedback is equal to 5 Revs. If we initiate Index 0 again, Index.0.PLSStatus will activate 1 Rev into the index, or at 6 Revs. It will remain active until position feedback reaches 9 Revs, and deactivate. This index could be run over and over again, and Index.0.PLSStatus will activate 1 Rev from the starting position and deactivate 4 Revs from the starting position every time.
Example 2:
Index 1 is an Incremental index with a distance of -10 revs. The PLS On Point is set to 4 Revs, and the PLS Off Point is set to 6 Revs. A home is completed, and Position Feedback is equal to 0.0 Revs.
If Index 1 is run, the Index.1.PLSStatus will activate when the position feedback reaches -4 Revs (or 4 Revs from the start of the index). Index.1.PLSStatus will then deactivate when position feedback reaches -6 Revs (or 6 Revs from the start of the index). If Index 1 is run again, Index.1.PLSStatus will activate and deactivate at -14 Revs and -16 Revs respectively.
Index PLS's can be used on any type of an index.
If an index is so short (possible in the case of an absolute index) that it reaches the On Point, or incremental distance, into the index, but never reaches the Off Point, the Index.#.PLSStatus will remain active until the index is
run again.
Similarly, if the index is so short that it never reaches the On Point, the Index.#.PLSStatus will never activate.
Registration Parameters
The following parameters are only used if Registration is selected as the Index Type.
'Analog' or 'Sensor' Radio Buttons
Select one of these radio buttons to determine what signal will be used as your registration trigger.
If 'Sensor' is selected, a source must be assigned to the Index.#.SensorTrigger Typically a proximity sensor is wired to a hardware input, and therefore a module or drive input source is assigned to the Index.#.SensorTrigger, but any source can be used.
If 'Analog' is selected, one of the analog signals must be selected in the analog list box. Available selections are Analog In, Torque Command, or Torque Feedback. Then a comparison operator must be selected from the operator list box. Available selections are > (greater than) and < (less than). Last, an analog value must be entered for comparison.
Registration to Analog Input Value
If Analog In is selected, the value of the drive Analog Input is used as the registration signal.
When the value of the analog input reaches a value that satisfies the comparison operator, the sensor trigger will activate. Units for the registration value will match the units configured on the Analog Inputs screen when Analog In selected.
Registration Offset
The incremental distance the motor will travel after a valid registration sensor or analog limit value has been detected. This is a signed parameter; so if an index is travelling in the negative direction, the offset needs to be negative and continue in the same direction. If the registration offset is zero or less than the decel distance shown on the calculations tab, the motor will decelerate at the programmed rate and then back up to the specified offset distance from the trigger position.
Enable Registration Window
This check box enables (if checked) the Registration Sensor Valid Window. When active, only registration marks that occur inside the registration window are seen as valid.
Window Start
This parameter defines the start of the Registration Sensor Valid Window relative to start position of this index. This is an unsigned value and is relative only to starting position of this index. Index direction does not affect this parameter. The Registration Window Start position (or distance) should be less than the Registration Window End position.
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If a registration sensor is seen outside of this window (not between the WindowStart and WindowEnd positions) then it will be ignored.
Window End
This parameter defines the end of the Registration Sensor Valid Window relative to start position of this index. This is an unsigned value and is relative only to starting position of this index. Index direction does not affect this parameter. The Registration Window End position (or distance) should be greater than the Registration Window Start position. If a registration sensor is seen outside of this window (not between the WindowStart and WindowEnd positions) then it will be ignored.
Example:
Index 0 is defined as a Registration type of index. The user wants the index to run at velocity for 10 Revs, or until the Torque Feedback reaches 50% continuous torque and then continue for another 0.5 Revs.
In the Limit Distance parameter, enter 10.0.
On the registration tab, select the Analog radio button.
In the analog list box, select Torque Command
In the comparison operator list box, select ">"
In the analog value parameter, enter 50 (Units are established on the User Units view)
In the Registration Offset parameter, enter 1.5
This index would accelerate up to its' target velocity, and run at speed until one of the following:
reaches the target velocity, or begins to decelerate, the Index.#.Accelerating source will deactivate.
Index.#.AtVel - This source activates when the target index velocity is reached. If Feedrate override is changed or FeedHold is activated AtVelocity shall remain active. Index.#.AtVel will deactivate at the start of any deceleration or acceleration. During a synchronized index, this source could be active even without any motor motion if the master axis stops.
Index.#.Command Complete - The Index.#.CommandComplete source will activate when the specific index completes its deceleration ramp. It will remain active until the specific index is initiated again. If the drive stop destination is used during an Index, then the Index.#.CommandComplete will not activate.
Index.#.Command In Progress - The Index.#.CommandInProgress source is active throughout an entire index profile. The source activates at the beginning of the index acceleration ramp, and deactivates at the end of the index deceleration ramp. During a synchronized index, this source could be active even without any motor motion if the master axis stops.
Index.#.Decelerating - This source is active while an index is decelerating from its' target velocity. Once the index reaches zero velocity, or its' next target velocity, the Index.#.Decelerating source will deactivate.
Index.#.LimitDistHit - Activated when the registration sensor is not found before the Limit Distance is traveled. If the Registration Window is enabled the sensor must be activated inside the window to be recognized.
The Limit Distance is approaching, and the index decels down to zero velocity, completing the move at the Limit Distance. At this point, the Index.#.LimitDistHit source would activate.
Or,
The Torque Command reaches or exceeds 50% continuous, and the index continues at speed before decelerating to zero velocity at the registration point plus the Registration Offset distance.
If the Registration Offset distance is in the opposite direction from the move, or is so short that the motor cannot stop in the specified distance at the programmed deceleration rate, the motor will decelerate with the programmed ramp, and then back-up to the specified position (registration point + the Registration Offset).
Index Sources and Destinations
Sources
Index.AnyCommandComplete - Active when any index motion command is completed. If a stop is activated before the index has completed, this destination will not activate. Deactivated when any new index command is initiated.
Index.#.Accelerating - This source is active while an index is accelerating to its' target velocity. Once the index
Index.#.PLSStatus - Controlled by the PLSOn and PLSOff Points which are relative to the distance commanded since the start of the index. Activated when index distance command is in between the PLSOn point and PLSOff points.
Index.ProfileLimited - For timed indexes, if the values for Max. Velocity, Max. Acceleration, and Max. Deceleration are such that the distance cannot be covered in the specified time, the Index.ProfileLimited flag will activate when the index is initiated, indicating that the index cannot be performed as desired. The Index.ProfileLimited flag will remain active until cleared using the Index.ResetProfileLimited assignment or program instruction. In this situation, the index will still operate, but the time will be extended. In other words, the profile will be performed using the maximums values and still cover the specified distance, but not in the specified time.
Destinations
Index.ResetProfileLimited - If a timed index was not able to complete in the specified time, the Index.ProfileLimited source will activate. Index.ResetProfileLimited is used to clear the ProfileLimited flag and acknowledge that the index did not complete in the specified time. This can be activated through an assignment, or through a user program. This function is edge-sensitive, so holding it
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active will not prevent ProfileLimited from activating.
Index.#.Initiate - The Index.#.Initiate destination is used to initiate the specific index. The Index is initiated on the rising edge of this function. An Index cannot be initiated if there is an Home, Jog, or Program in progress, or if the Stop destination or if a travel limit is active. It can be activated from an assignment or from a program.
Index.#.Sensor Trigger - If registration to Sensor is selected, when this destination activates, motor position is captured and is used as the registration point for registration type indexes.
Adding and Deleting Indexes
Adding or removing indexes from the user configuration can be done in three ways. Indexes may only be added or deleted while offline.
Adding an Index
Toolbar Icon Method
The Add Index icon (shown below) will add a new index to the user configuration. Indexes are added in sequential order. Clicking on the icon will add an index and the Index view will be displayed allowing the user to enter the index parameters.
PowerTools Pro Menu Bar Method
From the PowerTools Pro menu bar, select Edit > New > Index. An index will be added in sequential order and the Index view will be displayed allowing the user to enter the index parameters.
Right Click Method
Navigate to the Indexes View. Position the mouse pointer in the right side of the view and right-click the mouse. A selection menu will appear allowing the user to add a New Index or Delete an Index. Click on New Index and an index will be added in sequential order and the Index view will be displayed allowing the user to enter the index parameters.
Deleting an Index
deleted, and then right-click on the mouse. A selection menu will appear allowing the user to add a New Index or Delete an Index. Click on Delete Index and the selected index will be deleted from the configuration.
7.5.4 Gearing View
Figure 100: Gearing View
The following parameters are used to configure Gearing motion:
Ratio
Acceleration Enable
Acceleration
Deceleration Enable
Deceleration
7.6 Create User Programs
Toolbar Icon Method
The Delete Index icon (shown below) will delete an index from the user configuration. The highest numbered index will automatically be deleted unless a different index is selected on the Indexes heading screen. To delete a specific index, click on the Motion > Indexes branch in the hierarchy. From this view, select the specific Index to be deleted, and then click on the Delete Index icon.
PowerTools Menu Bar Method
Navigate to the Indexes View, and select the Index to be deleted. From the PowerTools
Pro menu bar, select Edit > Delete > Index. The selected Index will be deleted from the configuration.
Right Click Method
Navigate to the Indexes View. Select the Index to be
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7.6.1 Program View
The Program View allows the user to create application specific code to perform all of the necessary motion and I/ O related function of a machine/system. Figure 101 shows an example of the Program View.
Figure 101: Program View
For details on the Program View or how to create a program, see Section 7 - How User Programs Work in this manual.
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8 How User
Prog
Programs Work
8.1 Program Window Components
There are 5 major components to the Program View or programming window. These components are the Program Parameters, Program Toolbar, Instruction List, Red Dot
Instruction List
Error Bar, and the Code Window. Figure 102 points out the components listed above.
ram Parameters
Program Toolbar
Code Window
Red Dot Error Bar
Figure 102: Program View Components
Each of these main components must be used to successfully create a user program. Each of the components are described in detail below.
8.2 Program Parameters
Figure 103: Program Parameters
8.2.1 Program Name
The user can enter a descriptive name up to 12 characters for the specific user program.
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8.2.2 Program Number
Each program has an associated Program Number. The number helps to keep the programs organized.
8.2.3 Task Number
The Task Number parameter determines which task the program runs on. Default Task Number is 0. Users can select Task Numbers from 0 to 3. Programs assigned to different tasks can run simultaneously due to the multitasking capabilities of the SM-EZ Motion module. Programs assigned to the same task cannot run at the same time.
For more information on Multitasking, refer to “Program Multi-tasking” on page 74.
8.2.4 Run Anytime Enable
The SM-EZ Motion programming environment has been designed to automatically stop all user programs when a fault occurs (regardless of what type of fault), or when the drive is disabled. Some applications require the ability to run a program as soon as a fault occurs, or continue running a program even through a fault is active. In order to do this, the program must be classified as "Run Anytime". To configure the program to be able to run during a fault or while the drive is disabled, the "Run Anytime" checkbox must be enabled in the Program view. Figure 103 shows an example of the "Run Anytime" checkbox after it has been enabled.
When a fault occurs, the drive will still be disabled, and no motion will be possible. For this reason, it may be necessary to reset the fault in the "Run Anytime" program prior to initiating motion again. If a motion instruction is processed while the drive is disabled, the program will stall on that particular line of the program, but the program will not be stopped.
Certain conditions will still cause a program designated as "Run Anytime" to stop. These conditions are listed below:
8.3.1 Undo
This icon will undo the last change made to the program. PowerTools Pro will save up to ten of the last changes performed in the program.
8.3.2 Redo
This icon will redo the last change that was undone. PowerTools Pro will save up to ten of the last changes that have been undone in the program.
8.3.3 Find
This icon allows the user to search for a given string inside the program. Modifying several parameters in the Find dialog box (i.e. Search Up, Search Down, Match Case, etc.) can customize the search.
• Stop Function is activated
• "Run Anytime" program has a Program Fault
Multiple programs may be configured as "Run Anytime" programs. "Run Anytime" programs can be called from a user program just the same as any other program. If a "Run Anytime" program calls another program which is not configured to as "Run Anytime" while the drive is faulted or disabled, the task will be stopped.
Resetting Errors in "Run Anytime" Programs
To reset an error from a "Run Anytime" program, use the Error.Reset = ON command in the user program. The Error.Reset command does not clear all types of errors. Some errors require power to be cycled in order to clear the error. For more information on the method used to clear individual errors, see “Diagnostics” on page 117.
After using the Error.Reset command in a user program, use a Wait For Time 0.100 ’seconds command to give the drive time to clear the error and re-enable the drive before initiating motion. If this is not done, the motion will be initiated before the drive is enabled, and the instruction will be ignored.
8.3 Program Toolbar
8.3.4 Find Next
This icon will find the next instance of the string last searched for. This allows you to quickly find all the matches to your search with out re-entering the selected word.
8.3.5 Bookmark
This icon will insert a bookmark on the line of code on which the cursor is placed. Bookmarks allow the user to mark certain sections of the program for easy access to at a later time. The next BookMark and Previous BookMark icons can be used to jump from one bookmark to the next very quickly. If this icon is clicked when a bookmark already exists on the line of code, the bookmark will be removed.
8.3.6 Goto Next Bookmark
This icon will position the cursor on the next available bookmark ahead of the cursor in the program.
8.3.7 Goto Previous Bookmark
Figure 104: Program Toolbar
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This icon will position the cursor on the previous bookmark behind the cursor in the program.
8.3.8 Clear All Bookmarks
This icon will delete all of the bookmarks in the program. To
delete only a single bookmark, place the cursor on the line for which you wish to delete the bookmark, and click on the Book Mark icon.
8.3.9 Red Dot Help
If a user program contains an error, the realtime program parser will detect it, and place a red dot next to the line of code with the error. For help on what the particular error is, click on the Red-Dot Help icon, and then click on the line of code with the red-dot next to it. PowerTools Pro will attempt to give a detailed description of the error.
8.3.10 Drag In Operands
clicked.
The arrow will not continue to follow program flow. If the program is not currently running, then the arrow will point to the top of the program, or to the last line of the program that was processed before it was stopped. (Only available while online)
8.3.15 Stop
This icon is the same as the Stop destination found in the assignments screen. Clicking on this icon will stop all programs and motion. If in motion, the motor will decelerate to a stop using the StopDeceleration ramp value. (Only available while online)
This icon will bring up the Drag In Operands pop-up window. From this window, the user can drag formula Operands (i.e. +, -, /, *) into the program formula.
8.3.11 Drag In Variables
This icon will bring up the Drag In Variables pop-up window. From this window, the user can find any variable they wish to use in a program, and simply drag it into the program code.
This list will easily allow you to find any of the available pre-defined variables in the SM-EZ Motion module. The available parameters shown in the window depends on the selected Program User Level.
8.3.12 Lock Program
Toggling this icon will lock and unlock the program for editing. When locked, the user is not able to modify the program code. After downloading, the program automatically locks to prevent the user from inadvertently changing program statements. To unlock the program, simply click the icon.
8.3.16 Disable/Enable Error Check
This icon can be used to temporarily disable the program parser. The parser is what detects errors in a user program. When user programs are very large, the parser can take an appreciable amount of time to check the entire program for errors. To avoid this, the user can disable the program parser, enter all of the changes, and then re-enable the parser to check for errors. (Only available while online)
8.3.13 Run Program
Clicking on this icon will automatically initiate the program that is currently being viewed. The drive must first be enabled in order to run a program. (Only available while online)
8.3.14 Program Where Am I?
Clicking on this icon will show the line of the program that is currently being executed. A blue arrow will point to the line in the program that was executing when the icon was
How User Programs Work www.emersonct.com 67
8.4 Program Instruction List
logical tests.
Example:
If EZInput.1=ON Then
EZOutput.1=ON EZOutput.2=OFF
Endif
Example:
If (EZInput.1=ON AND EZInput.2=OFF) Then
EZOutput.1=ON EZOutput.2=OFF
Endif
Example:
If (SPInput.4=OFF) Then
Jog.0.PlusInitiate 'Vel=20in/s Wait For SPInput.4=OFF Jog.Stop
Endif
Example:
If (NOT SPInput.5=ON) Then
Jog.0.MinusInitiate 'Vel=20in/s Wait For SPInput.5=OFF Jog.Stop
Endif
Figure 105: Program Instruction List
8.4.1 Program Flow Instructions
8.4.1.1 If/Then/EndIf
This is a program flow control instruction used to selectively run a section of code only if a logical test condition is true. If the test evaluates to true the code between the If/Then and Endif lines is executed. If the test evaluates to false the code is not executed and the program skips to the next line of code after the Endif.
Logical tests (AND, OR, NOT) can be used in the If/Then/ Endif instruction. Parenthesis "()" can be used to group the
8.4.1.2 Else
This program flow instruction is used in conjunction with the If/Then/Endif instruction. If the If/Then test condition evaluates to true the code after the If/Then and before the Else is executed. If the test evaluates to false the code between the Else and the Endif is executed.
Example:
If EZInput.1=ON Then
EZOutput.1=ON EZOutput.2=OFF
Else
EZOutput.1=OFF EZOutput.2=ON
Endif
Example:
If (SPInput.5=ON) Then
Jog.0.Vel = 1.0 'in/s
Else
Jog.0.Vel = 0.1 'in/s
Endif
8.4.1.3 For Count/Next
This instruction is used to execute a section of code a specific number of times.
The user must enter the two numbers that control the repeat count. This instruction can either count up or count down. If the first number provided by the user is larger than the second number, then the instruction will count down. If the first number provided by the user is smaller than the second number, then the instruction will count up. The
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valid range for the numbers provided is 0 to 2147483647.
Example:
For Count = 1 to 5
Index.1.Initiate Dwell For Time 1.000 'seconds
Next
Example:
For Count = 1 To 10
Wait For ModuleInput.1 = ON Index.0.Initiate Wait For Index.AnyCommandComplete EZOutput.1=ON Wait For Time 1.000 'seconds EZOutput.1=OFF
Next
8.4.1.4 Do While/Loop
This program instruction is used for repeating a sequence of code as long as an expression is true. To loop forever use "TRUE" as the test expression as shown in the third example below. The test expression is tested before the loop is entered. If the test expression is evaluated as False (0) the code in the loop will be skipped over.
Logical tests (AND, OR, NOT) can be used in the Do While/ Loop instruction. Parenthesis "()" can be used to group the logical tests.
Example:
Do While EZInput.1=ON
Index.1.Initiate Dwell For Time 1.000 'seconds
Loop
Example:
Do While (Slot2.Input.4=ON AND
Slot2.Input.4=OFF) Index.1.Initiate Dwell For Time 1.000 'seconds
Loop
Example:
Do While (TRUE)
Index.1.Initiate Dwell For Time 1.000 'seconds
Loop
8.4.1.5 Wait For
This program flow instruction is used to halt program execution until an expression becomes true. Once the expression becomes true the program continues on with the next line of code.
Logical tests (AND, OR, NOT) can be used in the Wait For instruction. Output events (EZ=ON, AtVel, etc.) as well as comparisons (PosnFeedback > 1234, VelFeedback < 100, etc.) can be used in a Wait For instruction.
Example:
Wait For (EZInput.1=ON AND
EZInput.2=OFF)
Index.0.Initiate
Example:
Wait For Index.AnyCommandComplete If (EZInput.2=ON) Then
Jog.0.PlusInitiate 'Vel=20in/s Wait For EZInput.2=OFF Jog.Stop
Endif
If (SPInput.6=ON) Then
Jog.0.MinusInitiate 'Vel=20in/s Wait For SPInput.6=OFF Jog.Stop
Endif
Example:
Wait For (MasterAxis.PosnFeedback >
1000.00)
EZOutput.1 = ON
Example:
Wait For (VelFeedback > 50.00) EZOutput.2 = ON
8.4.1.6 Wait For Time
This program instruction is used to halt program execution for a specified period of time. This instruction is not a motion instruction and can be used while a motion instruction is executing.
Units: Seconds, Resolution: 0.001 seconds
A comment is automatically inserted after the "Wait For Time" instruction which notes that the time is in units of seconds. The comment starts with the apostrophe ' character.
The accuracy of the Wait For Time instruction is dependant on the Trajectory Update Rate found on the Setup view. The actual accuracy for this instruction is +/- 1 Trajectory Update. Therefore, if the Trajectory Update Rate is set to 2msec, then the worst-case accuracy is 2msec.
Example:
Wait For Time 5.000 'seconds Do While (TRUE)
Index.1.Initiate Wait For AtVel EZOutput.1=ON Wait For Time 1.000 'seconds EZOutput.1=OFF Wait For Index.AnyCommandComplete
Loop
8.4.1.7 Call Program
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This program flow instruction is used to call another program. When the called program finishes the controller
picks up where it left off in the program that called it. This is often used when a section of code is used in multiple places in a program. By moving the code to another program and then calling that program, the total number of program lines can be reduced. This can also make the program easier to understand. Care should be taken not to "nest" more than four program calls due to processor stack overflow. Therefore, no more than four different programs should be called without returning to the original program.
In the diagram below, => Represents a Call Program instruction
Example:
Call Program.10
Example:
Call Program.7
8.4.1.8 End
This program flow instruction is used to halt the execution of the program. It can be used in multiple places within the program. It is not required on the last line of every program. It is implied that after the controller executes the last line of code in a program the program will halt.
It is commonly used inside of If/Then/Endif constructs to end the program if a certain condition has been met.
Example:
If EZInput.1=OFF Then
End
Endif
Example:
If EZInput.1=ON Then
EZOutput.1=ON End
Endif
8.4.1.9 Formula
This program instruction can be used to enter a formula or assignment into a program. All SM-EZMotion parameters are available for use in a formula. They may be dragged and dropped into a formula, but the program User Level will determine how many appear for dragging and dropping (see “User Levels” on page 11). Formulas can also be created by simply typing them into the program. This instruction was created to inform the user that formulas can be used in a program.
Examples:
Index.1.Vel = 20.0 Index.0.Dist = Index.2.Dist + 0.1 EZOutput.1 = ON Index.0.Accel =
(Index.0.Accel*1000)+5.00
location within a program. The destination label is allowed to be above or below the GoTo instruction within the same program. It is not possible to GoTo a label outside of the program containing the GoTo instruction, nor is it possible to use a GoTo/Label: to exit out of a For Count/Next loop. In either of these conditions, a Red Dot error will be generated.
The Label to which program flow transfers is a string of up to 50 characters in length and can be made up of any alphanumeric character. The label name must not start with a number, and must end with a colon character ":". When using the Label: instruction, a ":" will be automatically inserted for the user.
Labels are not case sensitive.
Example:
Start: Index.1.Initiate Wait For Index.AnyCommandComplete If (EZInput.2 = ON) Then
GoTo Start: EndIf EZOutput.1 = ON End
See GoTo instruction for additional examples.
8.4.1.11 GoTo
The GoTo instruction is used in conjunction with the Label: instruction to cause program flow to transfer to a specified location within a program. The destination label is allowed to be above or below the GoTo instruction within the same program. It is not possible to GoTo a label outside of the program containing the GoTo instruction, nor is it possible to use a GoTo/Label: to exit out of a For Count/Next loop. In either of these conditions, a Red Dot error will be generated.
The Label to which program flow transfers is a character string up to 50 characters in length and can be made up of any alphanumeric character. The label name must not start with a number, and must end with a colon character ":".
Labels are not case sensitive.
Example:
Do While (TRUE)
If (EZInput.1 = ON) Then
GoTo RunIndex1: 'Go to RunIndex1 label Else
8.4.1.10 Label:
The Label: instruction is used in conjunction with the GoTo instruction to cause program flow to transfer to a specified
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GoTo RunIndex2: 'Go to RunIndex2 label
EndIf
RunIndex1: Index.1.Initiate GoTo EndLoop:
RunIndex2: Index.2.Initiate
EndLoop: Wait For Index.AnyCommandComplete Loop
See the Label: instruction for additional examples.
8.4.2 Motion Instructions
8.4.2.1 Dwell For Time
This motion instruction is used to pause program execution for a very precise amount of time.
It operates as a motion instruction - similar to an index, home or jog. Like all other motion instructions it will not start until the preceding motion instruction has completed. A "Wait for Index.AnyCommandComplete" is not required. Likewise, any subsequent motion commands will wait and start after the dwell has completed. The total time required to complete a sequence of indexes and "Dwell For Time" instructions is extremely repeatable.
The "Dwell For Time" instruction is in units of seconds with a resolution of milliseconds (0.000 seconds).
If you want to pause the program while an index is executing you should use a "Wait for Time" instruction described below.
A comment is automatically inserted after the "Dwell For Time" instruction that notes that the dwell time is in units of seconds. The comment starts with the ' character.
Example:
Do While (TRUE)
Index.0.Initiate'Incremetal,Dist=25. 000in,Vel=25in/s Dwell For Time 1.000 'Seconds
Loop
Example:
Do While (TRUE)
Index.0.Initiate Dwell For Time 1.000 'Seconds Index.1.Initiate Dwell For Time 0.500 'Seconds
Loop
8.4.2.2 Dwell For MasterDist
This motion instruction is used to pause program execution for a precise change in distance on the master encoder signal. This is typically used in synchronized motion
applications. This dwell does not begin until all other motion has completed. When the dwell begins, program flow will wait until the specified master distance has passed. The units for the dwell value are specified in the Master Units View.
Example:
Do While (TRUE)
Index.0.Initiate Dwell For MasterDist 12.00 'MstrInch
Loop
8.4.2.3 Index.Initiate
This program instruction is used to initiate a single index. The index is preset to include an acceleration up to speed, a run at speed and a deceleration to a stop.
A comment is automatically inserted after the index instruction which shows key data about the particular index. The comment starts with the apostrophe 'character.
A "Wait For Index.AnyCommandComplete" instruction is also automatically inserted after each index. This insures that the index has completed before the program continues on to the next line of code. It is also possible make the program wait until the index is complete and the following error is less than a specified amount. This is accomplished by changing the "Wait For Index.AnyCommandComplete" to "Wait For InPosn". The In Position Window is configured in the Position view.
Example:
Index.0.Initiate Wait For Index.AnyCommandComplete
Example:
Index.37.Initiate Wait For InPosn
8.4.2.4 Index.CompoundInitiate
This program instruction is used to initiate an index which has no deceleration ramp. The index accelerates or decelerates towards the next index velocity using the next index acceleration ramp. The index will finish at velocity. The program then moves on to the next index. It smoothly transitions into the second index without stopping. The second index then ramps to its pre-configured velocity. Multiple indexes can be "compounded" to create a complex velocity profile. The last index in a complex profile must have a deceleration ramp.
This is accomplished using a standard Index.Initiate rather than a Index.CompoundInitiate.
The final index will honor the deceleration ramp. If the last index is not long enough to perform a decel ramp at the programmed rate, the motor will backup at the end of the last index.
Each index can be used in multiple places as both a standard index with a deceleration ramp, and a compound index without a deceleration ramp. The program instruction
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(Index.0.Initiate or Index.0.CompoundInitiate), not the index itself, determines whether or not the index will execute a deceleration ramp. For example, Index.0 can be used multiple times in multiple programs. It can be initiated at different times using the Index.0.Initiate instruction and the Index.0.CompoundInitiate instruction.
A comment is automatically inserted after the index instruction that shows key data about the particular index. The comment starts with the apostrophe ' character.
Examples:
Index.0.CompoundInitiate Index.1.CompoundInitiate Index.2.Initiate Wait For Index.AnyCommandComplete Index.0.CompoundInitiate SPIO.1.OUT=ON Index.1.CompoundInitiate SPIO.2.OUT=ON Index.2.Initiate SPIO.3.OUT=ON Wait For Index.AnyCommandComplete SPIO.1.OUT=OFF SPIO.2.OUT=OFF SPIO.3.OUT=OFF
8.4.2.5 Home.Initiate
This program instruction is used to initiate the home.
A comment is automatically inserted after the Home.Initiate instruction that shows key data about the particular home. The comment starts with the apostrophe ' character. A "Wait For Home.AnyCommandComplete" instruction is not required because the home is actually a program which already has a "Wait For" instruction.
Examples:
Home.0.Initiate'Sensor,Offset=2.000in,Vel=-10.0in/s
8.4.2.6 Jog.Stop
This program instruction is used to halt jogging using the deceleration ramp setup for the currently operating jog.
Examples:
Wait For EZInput.2=ON Jog.0.MinusInitiate Wait For EZInput.2=OFF Jog.Stop Do While(TRUE)
If (EZInput.2=ON) Then Jog.0.PlusInitiate Wait For EZInput.2=OFF Jog.Stop
EndIf
Jog.Stop
EndIf Loop
8.4.2.7 Jog.PlusInitiate
This program instruction is used to initiate jogging in the positive direction. The Jog.Stop instruction is used to stop jogging motion.
A comment is automatically inserted after the Jog.PlusInitiate instruction which shows key data about the particular jog. The comment starts with the apostrophe ' character.
Examples:
Jog.0.PlusInitiate 'Vel=27.2in/s
Jog.1.PlusInitiate 'Sync,Vel=1.000in/in
8.4.2.8 Jog.MinusInitiate
This program instruction is used to initiate jogging in the negative direction. The Jog.Stop instruction is used to stop jogging motion.
A comment is automatically inserted after the Jog.MinusInitiate instruction which shows key data about the particular jog. The comment starts with the apostrophe ' character.
Examples:
Jog.0.MinusInitiate 'Vel=27.2in/s
Jog.1.MinusInitiate 'Sync,Vel=1.000in/
in
8.4.2.9 Program.Initiate
This instruction allows the user to start another program from within a program. This is different from a Call Program instruction because the program this instruction is in does not stop when the other program starts. Therefore the program that is initiated must be on a different task. See “Program Multi-tasking” on page 74.
Example:
Program.2.Initiate
8.4.2.10 Gear.Stop
Gear Stop will stop gearing motion that has been initiated from a program.
Example:
Gear.Initiate Wait for EZInput.2=ON Gear.Stop
8.4.2.11 Gear.Initiate
If (EZInput.3=ON) Then Jog.0.MinusInitiate Wait For EZInput.3=OFF
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Gear Initiate will initiate gearing from a program. Gearing will remain active until the Gear.Stop command is used.
Example:
Gear.Initiate Wait for EZInput.2=ON Gear.Stop
This instruction should not be used within a loop in the user program. If the Gear.Initiate instruction is processed while gearing is active, the program wll hang on this instruction.
8.4.2.12 Profile.ProfileStop
Profile.ProfileStop is used to stop motion on a single profile, without stopping the other profiles.The user must specify the profile they with to stop (i.e.0 or 1).
Example:
If (SPInput.4-ON) Then
Profile.1.ProfileStop
EndIf
8.4.3 Motion Modifier Instructions
8.4.3.1 Using Capture
The Using Capture instruction can be inserted after any Jog Initiate, Index Initiate, Dwell for Time, and Dwell for Master Dist instructions. By inserting the Using Capture instruction, it specifies that data captured by the position capture object is to be used as the starting point for the motion initiate. If the motion time base is realtime, then the captured time is used as the starting point for the motion profile. If the motion time base is synchronized, then the captured master position is used as the starting point for the profile.
Example:
Wait For (Capture.0.CaptureTriggered) Index.0.Initiate Using Capture.0
8.4.3.2 Using Last
When the Using Last instruction is inserted after a motion initiate instruction, the time (or master position in synch motion) of the last command complete is used as the starting point of the motion profile. Whenever a motion profile is complete, the time/position is automatically captured behind the scenes. The Using Last instruction simply references this "automatically" captured time or position.
The SM-EZMotion module performs motion based on a concept called the timeline. The timeline allows for accurate and repeatable motion with respect to a single point in time. The timeline guarantees that all motion profiles occur at the right time with respect to each other.
If Index0 takes 3 seconds to complete, and Index1 takes 5 seconds to complete, by initiating Index0 and then Index 1 in a program, the user would expect these profiles to take a total of 8 seconds to complete. It is possible though, that because of processor timing, Index.1 does not start at exactly the same time Index0 is complete. Therefore, the two profiles could take slightly more than 8 seconds to
complete. Although the amount of time lost is extremely small (less than 5 milliseconds), over a long period of time, this lost time can accumulate.
Keeping the timeline intact is most important in applications using synchronized motion. This is because in synchronized motion, time is replaced by master encoder motion. If time is lost in a synchronized motion application, then master distance is lost, and the follower position is off with respect to the master.
Example:
Index.0.Initiate Dwell For Time 1.000 Using Last Index.1.Initiate Using Last
8.4.3.3 On Profile
The On Profile instruction can be inserted after any motion type Initiate, Dwell for Time, or Dwell for Master Dist instructions. By inserting the On Profile modifier, it specifies which Profile the instruction will run on (See Multiple Profiles section for more information). Select from Profile 0 or Profile 1. Both Profiles sum to give a single commanded position and commanded velocity. If no On Profile modifier is used, the motion/dwell will operate on Profile 0. All motion that is initiated from the assignments screen operates on Profile 0.
The On Profile modifier is also used with the Jog.Stop and Gear.Stop. When stopping jog or gear motion that is operating on Profile 1, the On Profile.1 modifier must also be used on the stop instruction.
Example:
Index.0.Initiate Index.1.Initiate On Profile.1 Gear.Initiate On Profile.1 Wait For EZInput.3 = ON Gear.Stop On Profile.1
Example:
Jog.0.PlusInitiate On Profile.1 Index.0.Initiate Wait For Index.AnyCommandComplete Wait For EZInput.2 = ON Jog.Stop On Profile.1
8.5 Red Dot Error Bar
The Red Dot Error Bar is used to display if an error exists on a particular line of code in the user program. PowerTools Pro uses a program parser that reads the user program, and translates it directly into the language that the SM-EZMotion processor understands. If the parser detects a mistake (i.e syntax error) in an instruction, a Red Dot will appear next to that line of code in the Red Dot Error Bar.
To find out what the error is, PowerTools Pro has a utility called Red Dot Help. To use Red Dot Help, click on the Red Dot Help icon on the Program Toolbar. This will place
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PowerTools Pro into "Red Dot Help Mode". While in this mode, the mouse pointer should have a red and yellow question mark next to it. After going into Red Dot Help Mode, simply click on the line of the program that has a red dot next to it. Some description of the error should appear that helps indicate what the error is, or how to fix it. When finished checking Red Dot Errors, once again click the Red Dot Help icon on the Program Toolbar to exit Red Dot Help Mode.
A user program that has a red dot on an empty line often indicates that the second part of a two-part instruction is missing (i.e Do While with a missing Loop, If with a missing EndIf, etc.).
If a variable or parameter name is spelled incorrectly, the Red Dot Help message will indicate ""XXXX" Error ­Couldn't find Variable named from Text" (where XXXX is the parameter name typed by the user). If this message is displayed, make sure that the parameter names on the specific line are spelled correctly.
parameters for fault detection.
The SM-EZMotion processor has the ability to execute multiple tasks. Because only one task can be processed at a time, a process called time slicing must be used. Time Slicing is simply splitting the total processing time between multiple tasks. The SM-EZMotion processor generates an interrupt that causes any task to stop, and the control loop to update. The timing of the interrupt is dependent on the Trajectory Update Rate parameter configured by the user on the Setup view (default update rate is 1 msec). Within the control loop update, the SM-EZMotion updates the motion trajectory, captured data, SM-EZMotion digital inputs and outputs, and other control parameters. Between each control loop update, the SM-EZMotion processes messages (i.e. Modbus, Errors, etc.) and then runs as much of the user program as possible until the next interrupt begins. Each update, a different task is processed. Therefore, the time it takes a given user program to complete depends how many tasks are being processed.
8.6 Program Code Window
The Program Code Window is where the program instructions are inserted to create the user program.
Program instructions can be inserted into the Program Code Window using either of two methods. The two methods available are to drag & drop or to type the instructions into the window.
Drag & Drop Method
The most popular method for inserting program instructions is to drag the instruction from the instruction list and drop it into the program window. To drag& drop an instruction, position the mouse pointer over the instruction to be inserted. Press and hold the left mouse button. While holding the left button, place the mouse pointer on the line of the program that the instruction is to be inserted on. Release the left button to insert the instruction.
Typing Method
Once users become more familiar with the syntax of the SM-EZMotion programming language, they often prefer to type instructions in. To do this, simply click the left mouse button on the line of the program where instruction is to be inserted. Then simply type the instruction on that line, being sure to use proper syntax.
The user can enter program code using both methods interchangeably.
8.7 Program Multi-tasking
Many applications require the operation of a background task that operates outside of the main program loop, but must be consistently processed. For instance, a background task that performs calculations for values sent to an operator interface or a background task that monitors
The task assignment is performed on the Program view. Figure 106 shows the Program view with the Task Number parameter. Use the up and down arrows next to the Task Number to change the task number. To create a new Task, simply click on the up arrow until PowerTools Pro asks if you wish to create a new Task.
Figure 106: Program View
The SM-EZMotion module allows up to four different tasks in a single application.
If the user wishes to operate two programs simultaneously, the two programs must be assigned to two different tasks. Multiple programs can be assigned to the same task if desired, but that means that the two programs can not be run at the same time. If a given program calls another program, then calling and the called programs must be on the same task. All programs default to task zero and therefore will not run simultaneously unless specified to do so.
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profile is finished.
Index.0.Initiate Index.1.Initiate EZOutput.2 = ON
Control Loop
Update Rate Update Rate Update Ra te Upda te Rate
= Control Loop Update
= Modbus mes sages
= Control Loop Update
Control Loop
Task 0
Modbus
Task 1
Modbus
Control Loop
Modbus
Task 2
Control Loop
Modbus
Task 3
Figure 107: Time Slicing Diagram
In Figure 107, the Update Rate represents the Trajectory Update Rate that the user selects on the Setup view. The first routine to be processed in the update is the control loop update. Next, all messages will be handled. If no message has been sent from a Modbus master, and no faults are active, then this step is skipped. After all messages are processed, then execution switches to the user programs. The user programs are assigned to tasks, and the tasks are handled in ascending order starting with task 0. If a task has been assigned, but not initiated, then that task can be skipped. When the next interrupt occurs, the task is stopped, and the process is repeated using the next available task. Once each task has been processed (depends on how many have been assigned by the user), the whole process starts over at the first task.
This process description is accurate as long as no program is blocked.
A Dwell instruction is also a motion instruction and can block the program in the same way.
Index.0.Initiate Dwell For Time 0.550 'sec EZOutput.2 = ON
The Dwell cannot start until other motion on the same profile is complete, and therefore the program (or task) is blocked until Index0 is finished.
The Wait For instruction will block the program until the Wait For condition is satisfied. The Wait For condition does not have to be TRUE at the exact time the task is processed. If the Wait For condition is satisfied at any time (even when that task is not being processed) the task will be scheduled to run the next time through the loop. Figure 108 shows the same time-slicing diagram as above, but Task 0 is blocked in this example. Notice how Task 0 is skipped when the processor recognizes the task is blocked and processor execution switches to Task 1.
Task 1
Task 0
Modbus
Control Loop
Control Loop
Task 2
Modbus
Control Loop
Task 3
Modbus
Program Blocking
A user program (or task) can be blocked from operation for a period of time. When a program or task is blocked, execution is simply passed on to the next task. The following program instructions will cause a program to be blocked:
Index.#.Initiate Home.#.Initiate Jog.#.PlusInitiate Jog.#.MinusInitiate Dwell For Time Dwell For Master Dist Wait For Time Wait For (XXXX)
The motion instructions block processing only if they attempt to initiate motion on a profile that is already performing a motion profile. For instance, if a program initiates Index0 and the next program instruction initiates Index1. The program will be blocked until Index0 is complete because Index1 cannot start until motion on that
Update Rate Update Rate Update Rate
= Control Loop Update
= Modbus messages
= Control Loop Update
Figure 108: Time Slicing Diagram (Task 0 blocked)
The time taken to process the blocked task and pass on to the next available task is between 50 and 100 microseconds.
Figure 109 is a flowchart that reflects the time-slicing process. It shows the complete loop based on whether Modbus messages need processing and if programs
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(tasks) are blocked.
t = 0
Control Loop
Update
Yes
Switch to
Next Task
Yes
Message(s)
Waiting?
No
Process
Ta sk
End Of
Update?
No
Ta sk
Blocked?
Yes
Switch to Next Task
Figure 109: Multitasking Flow Chart
No
Process
Message(s)
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9 Starting and
J
Stopping Motion
9.1 Starting Motion
All of the motion types described in “How Motion Works” on page 23 can be initiated using multiple methods. The two different methods are from assignments, and from user programs. The following section details how each of the different motions are initiated from both assignments and from user programs.
9.1.1 From Assignments
In order to initiate motion from an assignment, a Source must be assigned to one of the Destinations listed below on the Assignments view in PowerTools Pro. Some Destinations are level sensitive while others are edge sensitive. Each of the Destinations associated with starting
motion are listed below.
9.1.1.1 Jog.PlusActivate
Jog.PlusActivate will, when active, cause the motor to run at a specified Jog Velocity in the positive direction. Jog.PlusActivate is a level sensitive assignment meaning that as long as the Destination is active, the Jog will be active. The status of the Jog.Select destination determines which jog profile is used when Jog.PlusActivate activates. If Jog.Select is off (or inactive) then the Jog 0 profile will be used. If Jog.Select is active, then the Jog 1 profile is used.
To stop the jogging motion, simply deactivate the Jog.PlusActivate Destination. The motor will then decelerate using the selected Jog Deceleration ramp.
If Jog.Select activates or deactivates while Jogging is active, the motor will change to the new Jog Velocity using the new Jog Acceleration ramp. Jog Deceleration is only used when Jogging motion is stopped. Figure 110 shows an example of changing Jog.Select while Jog is active.
Jog.1.Velocity
Jog.1.Accel Jog.1.Decel
Jog.0.Velocity
Jog.0.Accel
Jog.Select
og.PlusActivate
Figure 110: Jog Select Example
9.1.1.2 Jog.MinusActivate
Jog.MinusActivate will, when active, cause the motor to run at a specified Jog Velocity in the negative direction. Jog.MinusActivate is a level sensitive assignment meaning that as long as the Destination is active, the Jog will be active. The status of the Jog.Select destination determines which jog profile is used when Jog.MinusActivate activates. If Jog.Select is off (or inactive) then the Jog 0 profile will be used. If Jog.Select is active, then the Jog 1 profile is used.
To stop the jogging motion, simply deactivate the Jog.MinusActivate Destination. The motor will then decelerate using the selected Jog Deceleration ramp.
If Jog.Select activates or deactivates while Jogging is
Jog.0.Decel
active, the motor will change to the new Jog Velocity using the new Jog Acceleration ramp. Jog Deceleration is only used when Jogging motion is stopped. Figure 110 above shows an example of changing Jog.Select while Jog is active.
9.1.1.3 Jog.Select
Jog.Select is used solely to determine which Jog Profile is selected when the Jog.PlusActivate or Jog.MinusActivate are activated. To select Jog 0, Jog.Select should be inactive. To select Jog 1, Jog.Select should be active.
9.1.1.4 Home.#.Initiate
The Home.#.Initiate Destination is used to start the home sequence as defined on the Home view. Home.#.Initiate is
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an edge-sensitive assignment meaning that the home will start on the rising edge of the Source signal. If the Home.#.Initiate Destination is held active, the Home will not initiate again until the next rising edge.
9.1.1.5 Index.#.Initiate
The Index.#.Initiate Destination is used to start the specified index instance. When the Source assigned to the Index.#.Initiate Destination activates, the index will accelerate to the specified index velocity. If the Index.#.Initiate Destination is held active, the Index will not initiate again until the next rising edge.
9.1.1.6 Gear.Activate
Gear.Activate will, when active, cause the motor to run at the specified Gear Ratio. The direction that the motor turns is dependent upon the direction the master axis is traveling, and the specified ratio. Gear.Activate is a level sensitive assignment meaning that as long as the Destination is active, the Gear will be active.
To stop the gearing motion, simply deactivate the Gear.Activate Destination. The motor will ramp to zero velocity if deceleration is enabled, or it will attempt to stop the motor without acceleration within one update if deceleration is not enabled.
9.1.2 From Programs
The various motion types function the same whether they are initiated from an assignment, or from a user program. In certain cases however, the syntax used to initiate the motions from a program are slightly different than from an assignment. Following is a list of instructions used to initiate motion types from a user program.
9.1.2.1 Jog.#.PlusInitiate
Jog.#.PlusInitiate is used in a program to initiate jogging motion in the positive direction. The user must specify which jog is to be used in the instance location (# should be replaced with 0 or 1 for Jog 0 or Jog 1 respectively). Since Jog is level sensitive, the jog will remain active until a Jog.Stop instruction is used in the same program.
9.1.2.3 Home.#.Initiate
Home.#.Initiate is used in a program to initiate the Home sequence. The user must specify which Home is to be initiated in the instance location (# should be replaced with 0 for Home 0) even though there is only one instance available. Since Home is edge sensitive, the Home will initiate only once until the next Home.#.Initiate instruction.
The program will wait on the Home.#.Initiate instruction until the home is complete before moving on to the next line of the program.
9.1.2.4 Index.#.Initiate
Index.#.Initiate is used in a program to initiate an index profile. The user must specify which Index is to be initiated in the instance location (# should be replaced with the index number). If Index.#.Initiate is held active, the index will initiate only once until the next rising edge of the Destination signal.
The program will wait on the Index.#.Initiate instruction momentarily until the index starts before moving on to the next line of the program.
9.1.2.5 Index.#.CompoundInitiate
The Index.#.CompoundInitiate instruction is unique to user programs. There is no way to compound indexes using assignments. Compounding indexes is a way to link two or more indexes together so that the motor does not come to a stop in between the given indexes. Instead of stopping between indexes, the initial index will complete its distance at its programmed velocity. Once the initial index distance is complete, the motor will ramp to the secondary indexes' programmed velocity using the secondary indexes' acceleration ramp. Regardless of whether the secondary index velocity is less than or greater than the primary index velocity, the ramp from the primary velocity to the secondary velocity is the secondary indexes' acceleration. In the program, the user can compound together as many indexes as desired. The last index in the group of compounded indexes should use a standard Index.#.Initiate to signify that it should stop at the end of the index.
If the program ends while jogging motion is active, the jog will automatically be stopped.
9.1.2.2 Jog.#.MinusInitiate
Jog.#.MinusInitiate is used in a program to initiate jogging motion in the negative direction. The user must specify which jog is to be used in the instance location (# should be replaced with 0 or 1 for Jog 0 or Jog 1 respectively). Since Jog is level sensitive, the jog will remain active until a Jog.Stop instruction is used in the same program.
If the program ends while jogging motion is active, the jog will automatically be stopped.
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Figures 111 and 112 show examples of Compound Indexing.
Example 1:
Index.0.CompoundInitiate 'Dist=10, Vel=100, Accel=100, Decel=100 Index.1.CompoundInitiate 'Dist=20, Vel=500, Accel=5000, Decel=5000 Index.2.Initiate 'Dist=30, Vel=1000, Accel=10000, Decel=10000
1000 RPM
500 RPM
100 RPM
20 Revs
10 Revs
30 Revs
Figure 111: Compound Index Example 1
Example 2:
Index.2.CmpoundInitiate 'Dist=30, Vel=1000, Accel=10000, Decel=10000 Index.1.CompoundInitiate 'Dist=20, Vel=500, Accel=5000, Decel=5000 Index.0.Initiate 'Dist=10, Vel=100, Accel=100, Decel=100
1000 RPM
500 RPM
30 Revs
100 RPM
Figure 112: Compound Index Example 2
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20 Revs
10 Revs
It is important to understand that when compounding indexes together, the acceleration and deceleration will override the index distance. Figure 112 above shows the scenario where the final index in the compound string has a short distance and a slow acceleration ramp. Index 0 will start from a velocity of 500 RPM (Index.1.Vel) and accelerate down to its programmed velocity of 100 RPM at a rate of 100 Revs/Min./Sec. The distance required to accelerate from 500 to 100 RPM is greater than the index distance of 10 Revs. The programmed ramp is always maintained, and therefore the final index will travel greater than 10 Revs, and then travel backwards and finally come to a stop 10 Revs from the point that the index started.
9.2.1.2 MotionStop
The MotionStop destination will stop all motion that is currently active. It will not stop any user programs. Stop Motion is level sensitive so that all motion will be prevented from starting while Stop Motion is active.
9.2.1.3 Feedhold
The Feedhold destination will pause all motion (other than gearing) by effectively bringing time to a halt. Feedhold is level sensitive meaning that Feedhold will be active as long as the Destination is held active. When Feedhold deactivates, the motion will continue.
9.1.2.6 Gear.Initiate
Gear.Initiate is used in a program to initiate Gearing motion. The user must specify the Gear Ratio that will determine the velocity and direction of the motion. Since Gear is level sensitive, the gear will remain active until a Gear.Stop instruction is used in the program.
If the program ends while gearing motion is active, the gear will automatically be stopped.
This instruction should not be used within a loop in the user program. If the Gear.Initiate instruction is processed while gearing is active, the program wll hang on this instruction.
9.1.3 From PowerTools Pro
Some views in PowerTools Pro have an Online tab that allow the user to initiate motions while online with the device. The specific views that have Online tabs to initiate motion are the Home View, Jog View, and Index View.
On the Home view Online tab, there is a Start button that will initiate the Home sequence from PowerTools Pro.
On the Jog view Online tab, there are two buttons that will initiate jog motion in the positive and negative directions. The button must be held active to maintain the jog motion. If the button is released, the jog will stop.
While Feedhold is active, any active motion profiles do not stop, even though the motor will decelerate to zero speed. Even though the motor is stopped, the motion profile remains active. All of the motion attributes will remain active (i.e. In Progress, At Velocity, Accelerating, Decelerating, etc.). For instance, if Feedhold activates while an index is in progress, the motor will stop, but the Index.#.CommandInProgress and Index.#.AtVel will be active just as though the motor is still moving.
The Feedhold ramp is configured in units of Seconds. The same time and distance will be covered during acceleration back to velocity as traveled during deceleration to zero velocity.
Programs continue to process while Feedhold is active. If a program encounters a motion instruction while Feedhold is active, the program will be stuck on that line of the program until Feedhold is deactivated.
9.2.1.4 Profile.#.Feedhold
The Profile.#.Feedhold destination acts the same as Feedhold listed above, however this destination will Feedhold only the motion on a single profile rather than all motion. The profile on which to feedhold motion is specified in the instance segment (# is replaced by 0 or 1 for Profile 0 or Profile 1 respectively).
On the Index view Online tab, there is a Start button that initiates the specific index that is being displayed in the Index view.
9.2 Stopping Motion
9.2.1 From Assignments
There are numerous different methods that can be used to stop or pause motion using Assignments in the EZMotion module. Listed below are the various assignment destinations.
9.2.1.1 Stop
The Stop destination will, when activated, stop any motion that is active, along with any user programs that are active. Stop is level sensitive, so that while it is active, all motion and programs are prevented from starting. Stop will override any other functions that are active.
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9.2.1.5 Profile.#.MotionStop
The Profile.#.MotionStop destination acts the same as MotionStop listed above, however this destination will stop only the motion on a single profile rather than all motion. The profile on which to stop motion is specified in the instance segment (# is replaced by 0 or 1 for Profile 0 or Profile 1 respectively).
9.2.2 From Programs
Following are the instruction used to stop the various motion types within a user program.
9.2.2.1 Jog.Stop
The Jog.Stop command is used to stop any jogging motion that is currently active. This command will stop either Jog 0 or Jog 1 without specifying which one to stop.
If jog is active on the alternate profile (Profile 1), then the
On Profile.1 modifier must be added to the Jog.Stop command.
If this instruction is used while gear motion is not active, it will be ignored, and the program will move to the next instruction.
9.2.2.2 Gear.Stop
The Gear.Stop command is used to stop gearing motion that is active.
If gear is active on the alternate profile (Profile 1), then the On Profile.1 modifier must be added to the Gear.Stop command.
If this instruction is used while gear motion is not active, it will be ignored, and the program will move to the next instruction.
9.2.2.3 Stop
The Stop command can be used in a program to stop all programs and motion that are active at that time. To use this command, Stop must be set equal to ON to activate it (i.e. Stop = ON). This presents a bit of a problem since the program that turns the stop on will also stop, and then there is no way to deactivate the stop. If Stop is activated from a program, it is necessary to create an Assignment to clear the Stop function.
9.2.3 From PowerTools Pro
Motion can be stopped while online with PowerTools Pro in a number of different ways. Following is a list of ways to stop motion while online with the device.
9.2.3.1 Stop All - Main Toolbar
The Stop All icon on the PowerTools Pro toolbar can be used to stop all motion and programs that are active. The Stop All can be toggled on and off from the toolbar. Click the icon once to toggle the Stop on. Motion will be prevented from running until the icon is clicked again.
9.2.3.2 Feedhold
The Feedhold icon on the PowerTools Pro toolbar can be used to Feedhold all motion that is currently active. The icon toggles on and off each time it is clicked. Click the icon once to activate Feedhold, and then click it a second time to deactivate feedhold.
9.2.3.3 Stop All - Program Toolbar
Motion and Programs can also be stopped from the Program Toolbar using the Stop All icon. This icon is like an edge sensitive function that will not prevent motion or programs from being initiated again.
Programs and motion will be prevented from initiating while Stop is active.
9.2.2.4 Feedhold
The Feedhold instruction functions identically in a program as it does from an assignment. To activate Feedhold from a program, it must be set equal to ON. Feedhold will remain active until it is deactivated from a program (Feedhold = OFF). See Feedhold from Assignments above for further details.
9.2.2.5 Profile.#.Feedhold
The Profile.#.Feedhold instruction functions identically in a program as it does from an assignment. To activate Profile.#.Feedhold from a program, it must be set equal to ON. Feedhold will remain active on the specified profile until it is deactivated from a program (Profile.#.Feedhold = OFF). See Profile.#.Feedhold from Assignments above for further details.
9.2.2.6 Profile.#.ProfileStop
The Profile.#.ProfileStop instruction in a program acts much the same as the Profile.#.MotionStop assignment. When the Profile.#.ProfileStop instruction is processed, any motion on the specified profile is stopped using the stop deceleration ramp. This instruction acts like an edge sensitive instruction, therefore after the active motion is stopped, any motion can again be started on the profile. Profile.#.ProfileStop does not prevent then next motion from starting.
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10 Starting and
Stopping Programs
online, click on the Run Program icon on the Program Toolbar. Doing so will initiate the program number that is currently displayed.
10.2 Stopping Programs
10.1 Starting Programs
The user can initiate programs using multiple different methods. The following section describes how programs can be initiated from Assignments, from Programs, and from PowerTools Pro while online with the system.
10.1.1 From Assignments
In order to initiate a user program from an assignment, a Source must be assigned to the Destination listed below on the Assignments view in PowerTools Pro.
10.1.1.1 Program.#.Initiate
A rising edge on the Program.#.Initiate destination will cause the specified program to start. The program number that is to be started is determined by the instance field of the destination (represented by # above). Program.#.Initiate is edge sensitive, so the program will only start once until the next rising edge of the destination.
If a program is already running on the same task as the program being initiated, the Program.#.Initiate signal will be ignored.
10.1.2 From Programs
10.2.1 From Assignments
There are numerous different methods that can be used to stop programs using Assignments in the SM-EZMotion module. Listed below are the various assignment destinations.
10.2.1.1 Stop
The Stop destination will, when activated, stop all motion and all programs that are active. Stop is level sensitive, so that while it is active, all motion and programs are prevented from starting. Stop will override any other functions that are active.
10.2.1.2 Program.#.Stop
The Program.#.Stop destination is used to stop a specific user program without stopping all of the programs. Program.#.Stop is edge sensitive, so the stopped program can be initiated again immediately after it has been stopped.
10.2.2 From Programs
Following are the instructions used to stop user programs from within a user program.
Following is a list of program instructions that can be used to start user programs.
10.1.2.1 Call Program
The Call Program.# instruction acts like a subroutine call by suspending the program that is active, and starting the program that is called. When the called program completes, program flow will return to the next line of the program that it was called from.
The program being called must be assigned to the same task as the program that is calling it.
10.1.2.2 Program.#.Initiate
The Program.#.Initiate instruction in a program allows the user to start another program that is assigned to a different task. If a program is already running on the task as the program being initiated, then the Program.#.Initiate instruction will be ignored.
If the program to be initiated is not assigned to a different task, then the instruction will have a Red Dot Error in the program editor.
10.1.3 From PowerTools Pro
Individual programs can be initiated from PowerTools Pro while online with the system. To initiate a program while
10.2.2.1 Stop
The Stop command is used to stop all motion and programs that are currently active. Stop is level sensitive, so it must be activated by being set equal to ON (Stop = ON). Since programs cannot be initiated while Stop is active, the user must create an assignment to deactivate the Stop function if it is activated from a user program.
10.2.2.2 Program.#.ProgramStop
The Program.#.ProgramStop command is used to stop a specific user program. If the intended program is not active, the instruction will be ignored.
Program.#.ProgramStop is edge sensitive, therefore the program that is stopped can immediately be initiated again.
10.2.3 From Power Tools Pro
Programs can be stopped while online with PowerTools Pro using the following methods.
10.2.3.1 Stop All - Main Toolbar
The Stop All icon on the PowerTools Pro toolbar can be used stop all motion and programs that are active. The Stop All can be toggled on and off from the toolbar. Click the icon once to toggle the Stop on. Motion and programs will be prevented from running until the icon is clicked
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again.
10.2.3.2 Stop All - Program Toolbar
Motion and Programs can also be stopped from the Program Toolbar using the Stop All icon. This icon is like an edge sensitive function that will not prevent motion or programs from being initiated again.
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11 Parameter
Descriptions
• Linear: Peak Accel = Average Accel
Acceleration Decimal Places
AccelUnits.Decimal
This section lists all programmable and feedback parameters available. The parameters are listed alphabetically by variable name (shown in italics below the on screen name) and give a description. Range is dynamic and depends on User Unit scaling. The units of the parameters are dynamic and depend on selected User Units.
Absolute Position Valid
AbsolutePosnValid
This source is activated when either the DefineHome destination is activated, or any home is successfully completed (sensor or marker found). This source is deactivated if the drive is rebooted, an encoder fault occurs, the drive is powered down, or a home is re-initiated.
Accelerating
Accelerating
This source is active when the SM-EZMotion module is executing an acceleration ramp. A normal index consists of 3 segments: Accelerating, At Velocity, and Decelerating. The Accelerating source will be set (active) during this acceleration segment regardless of whether the motor is speeding up or slowing down. Therefore, this source can sometimes be active when the motor is decelerating. This could be true when compounding indexes together.
Acceleration Type
AccelType
This parameter is used to select the accel/decel type for all motion (homes, jogs and indexes). The “S-Curve” ramps offer the smoothest motion, but lead to higher peak accel/ decel rates. “Linear” ramps have the lowest peak accel/ decel rates but they are the least smooth ramp type. “5/8 S-Curve” ramps and “1/4 S-Curve” ramps use smoothing at the beginning and end of the ramp but have constant (linear) accel rates in the middle of their profiles. The “5/8 S-Curve” is less smooth than the “S-Curve” but smoother than the “1/4 S-Curve”. S-Curve accelerations are very useful on machines where product slip is a problem. They are also useful when smooth machine operation is critical. Linear ramps are useful in applications where low peak torque is critical. Below is a comparison of the 4 ramp types:
• S-Curve: Peak Accel = 2 x Average Accel
• 5/8 S-Curve: Peak Accel = 1.4545 x Average Accel
• 1/4 S-Curve: Peak Accel = 1.142857 x Average Accel
This parameter is the decimal point location for all real-time accel./decel. ramps.
Acceleration Time Scale
AccelUnits.TimeScale
This parameter is the time units for accel./decel. ramps. Possible selections are milliseconds or seconds.
At Velocity
AtVel
This source is active when the SM-EZMotion module is executing a constant velocity motion segment. One example would be during an index. The source would activate after the motor has finished accelerating up to speed and before the motor begins to decelerate to a stop. A normal index consists of 3 segments: Accelerating, At Velocity, and Decelerating. This source is active during the At Velocity segment, and is activated based on the commanded velocity, not the feedback velocity. During synchronized motion, AtVel can be active without actual motor movement.
Bit Number Value
Bit.B#
This read/write bit may be used in a program as an intermediary variable bit controlled by the user. Bit.B# is one of 32 bits that make up the BitRegister parameter. Assigned to communication networks such as DeviceNet, Profibus and Modbus, Bit.B# may be used to transfer events that have occurred in a PLC to the SM-EZMotion program.
Note
When the value of Bit.B# is changed, the value of BitRegister.#.Value is changed as well.
Bit Register Number Value
BitRegister.#.Value
This parameter is made up of the combination of the 32 Bit.B#. The BitRegister.#.Value. The BitRegister.#.Value register may be accessed bitwise by using Bit.B#, or double word-wise by using BitRegister.#.Value.
Bit Register Number Value Mask
BitRegister.#.ValueMask
This parameter is the Mask for the BitRegister.#.Value. Each bit location is set to either transfer the current data in
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the corresponding bit location of BitRegister.#.Value (by setting the bit location to 1) or to clear the current data in BitRegister.#.Value (by setting the bit location to 0).
Capture Reset
CaptureReset
Unidrive SP Braking Resistor Overload Accumulator
BrakeOverloadAccumulator
This parameter gives an indication of braking resistor temperature based on a simple thermal model. The formula for the thermal model is a function of parameters
10.30 and 10.31 (set in the initialization file). A value of zero indicates that the resistor is close to ambient, and a value of 100% is the maximum temperature (trip level). An OVLd warning is given if this parameter is above 75% and the braking IGBT is active. This parameter can be found on the Online tabs of the Status and Current views.
Unidrive SP Braking Resistor Alarm
BrakeResistorAlarm
This parameter is set when the braking IGBT is active and the braking overload accumulator is greater than 75%. This parameter when activated is automatically kept active for
0.5 seconds so that it can be displayed on the keypad display. This parameter can be found on the Online tabs of the Status and Current views.
Unidrive SP Bus Voltage
BusVoltage
The CaptureReset is used to reset or re-arm the capture component after it has been activated. If the capture has been activated, the CaptureTriggered destination will be active. The capture component cannot capture data again until it has been reset. The capture component will automatically reset itself if the CaptureEnable signal is removed.
Capture Triggered
CaptureTriggered
The CaptureTriggered signal is read-only and indicates that the Capture component was activated and that data has been captured. CaptureTriggered will activate on the leading edge of CaptureActivate if the Capture component is enabled and reset. Capture Triggered will remain active until CaptureReset is activated.
Name
Capture.Name
You can assign a descriptive name to each capture, making the setup easier to follow. The length of the text string is limited by the column width with a maximum of 12 characters. Simply double click on the Name field of any capture’s line to assign a name to it.
This read-only parameter displays the instantaneous voltage value of the DC bus in the Unidrive SP. This parameter is found on the Online tab on the Status view and is read directly from parameter 5.05 in the Unidrive SP database.
Capture Enable
CaptureEnable
The CaptureEnable is used to enable or “arm” the capture component. If the CaptureEnable is not active, then the CaptureActivate has no effect, and the CaptureTriggered remains inactive. Once the CaptureEnable is activated, the Capture component is ready and waiting for a CaptureActivate signal to capture data. CaptureEnable is a read-only destination on the Assignments view, and is accessible through a user program.
Capture Activate
CaptureActivate
If the Capture component is enabled and has been reset (CaptureTriggered is inactive), then the rising edge of CaptureActivate will capture the four data parameters and cause CaptureTriggered to be activated. If the Capture component is not enabled, or has not been reset, the CaptureActivate will be ignored.
Number
Capture.Number
This parameter defines the size of the Capture list.
Captured Time
Capture.#.CapturedTime
The time, in microseconds, from a free-running 32-bit binary counter at which CaptureTriggered activated.
Captured Position Command
Capture.#.CapturedPositionCommand
The command position, in user units, at the time when CaptureTriggered activated.
Captured Position Feedback
Capture.#.CapturedPositionFeedback
The feedback position, in user units, at the time when CaptureTriggered activated.
Captured Master Position
Capture.#.CapturedMasterPostion
The master axis feedback position, in master axis distance
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