Instruction/ maintenance manual of the product P/N 400361-00 Emerson
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User Guide P/N 40 0361-0 0 Revision: A1 Date: July 3, 2 003 © Cont rol Tech niques Drives , Inc. 2003 SM-EZM otion Module.
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Information furn ished by Control Techniques Drives Inc. (Control Techniques) is believed to be accurate and reliable. However, no responsib ility is assumed by C ontrol Tech niques for its use .
ii © Control Techniques Drives, Inc. 2003 All rights reserved. Part Number: Revisi on: A1 Date: July 2003 Printed in United States of America Information in this docum ent is subject to change withou.
iii Customer Support Control Techniques 12005 Tech nology Dr ive Eden Prairie, Minnes ota 55344-3620 U.S.A. Telephon e: (952) 995 -8000 or (8 00) 397-3 786 It is Contro l Techniques’ goal to ensure y our greatest poss ible satisfaction with the operation of our products.
iv Customer Servic e (Sales ) (952) 995- 8000 or (8 00) 39 7-3786 Email: customer.service@ emersonct.com Authorized Control Tech niques distributors may place orders directly with o ur Customer Service department. Contact the Customer Service department at th is number for the d istributor nearest you .
v Safety Instructions General Wa rning Failure to follow safe installation guidelines can cause death or serious injur y. The voltages used in the pro duct can cause severe electric shock and/ or burn s and could be lethal. Extreme care is necessary at all times when working with or adjacen t to the product.
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SM-EZMOTIO N Module M anual www .emersonct.co m vii Safe ty Considerations Safety Information The SM-E ZMOTIO N modul e and its associ ated driv e are intend ed as c omponents for pr ofession al inco rporati on in to complete equip ment or system s. If i nstalled inco rrectl y the drive m ay presen t a safety hazard.
viii www.emersonct.com SM-E Z Motion Module Refe rence are isolate d from human con tact by at leas t one laye r of insulati on rated fo r use at the appl ied AC su pply volta ge.
ix Customer Suppo rt . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . iii Document Convention s . . . . . . . . . . . . . . . .
x SM-EZM otio n Module T echnical Manual 5.2 Jog. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .23 5.3 Home. . . . .
xi 7.6 Create Us er Programs. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .6 3 7.6.1 Prog ram View . . . . . . . . . . . . . . . . . . . . . . .
xii SM-EZM otio n Module T echnical Manual 1 1 Parameter Descr iptions 85 12 Drive Pa rameters Used by SM-EZMotion Module 1 1 1 12.1 Desc ription. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Introducti on www .emers onct.com 1 1 Introduction 1.1 Introduct ion Modern v ariabl e speed drive s uch as the Un idrive SP offer a mult itude of built-i n featu res su ch as ramp contr ol, s peed control , PID Lo ops, and e ven sim ple posi tion c ontrol.
2 www .emerson ct.com SM-EZM o tion M odule User Gu ide • P r o g r a m m i n g PowerTool s Pro will ru n on Windows 98, NT , 2000, and XP oper ating systems.
Installatio n www .emersonc t.com 3 2 Installation This sec tion o f the ma nual will cover basic i nstallat ion informat ion. 2.1 Mechanical Installatio n Please refer to the Instal lation Sheet that comes with the SM-EZMo tion mo dule fo r detail s on ins talling t he modu le into the Un idri ve SP.
4 www .emerson ct.com SM-EZM o tion M odule User Gu ide Figure 3: Motor Feedback to Unidri ve SP Connection Diagram I/O Co nnector 1 I/O Co nnector 2 I/O Co nnector 4 L1 L2 L3 U V W 1 2 3 4 5 6 7 8 9 .
Installation www . emerson ct.com 5 2.6 Simple Servo Motor Phasing Test When con necting a non- standard servo motor to th e Unidrive S P, it is necess ary to know the wir ing configur ation of t he motor . At t imes, all of the necess ary wiring d ocumentat ion for c onnectin g the mo tor is n ot readily a vailabl e from th e moto r manufac turer.
6 www .emerson ct.com SM-EZM o tion M odule User Gu ide.
PowerT ools Pro Config uration S oftware www .emersonct.c om 7 3 Powe rTools Pro Configuration Software 3.1 Introduct ion PowerT ools Pr o is the software used to confi gure hardwar e type, setup parameter s, I/O func tionality , motion profiles, user pr ograms, and net works fo r the SM-EZMo tion mo dule.
8 www .emerson ct.com SM-EZM o tion M odule User Gu ide • On the menu bar, c lick a menu n ame to dis play a lis t of options . On th e menu , either click an optio n or use the DOWN ARROW to mo ve down the lis t, and then press ENTE R. • Press AL T and press the unde rlined letter in the menu nam e.
PowerT ools Pro Configur ation Softwa re www .eme rsonct .com 9 Figu re 9: Edit Menu 3.3.1.2.1 Undo Selecti ng Undo will undo the la st ch ange ma de to a u ser program. Up to the last ten ch anges made can be undo ne. 3.3.1.2.2 Cut Selecti ng Cut wi ll remo ve the highlig hted text fr om a u ser program.
10 www .emersonct.c om SM-EZM otion Module User Gu ide Figure 10: Device Menu 3.3.1.3.1 Change Address Selecti ng Chan ge Addre ss from the Device m enu al lows the user to change the Mod bus node address of a drive / module sy stem. T he user mu st be onlin e with the device fo r Change Add ress to be avail able.
PowerT ools Pro Con figurati on Software www .emerson ct.com 1 1 Figur e 12: Modbus Setu p Window On the Modbus Setup win dow, the user can configure the maximum node a ddress they wish to poll fo r when uploadin g dev ices or f lash upg radin g devic es.
12 www .emersonct.c om SM-EZM otion Module User Gu ide 3.3.1.5.1 Watch Window Selecti ng Watch Window will la unch a diagnos tics tool that allows th e user t o view the curren t valu e of mu ltiple SM-EZMo tion pa ramet ers while o nline with the module.
Po we rT o ol s Pr o Con f igu r at io n Sof t wa re w ww.eme rs o nc t. co m 1 3 Navigation Tr ee to rem ove it from the display . If the Hierarchy is not v isibl e, selec t Show Navi gation Tree t o make it a ppear aga in. 3.3.1.7 Window Figure 19 shows the Wind ow Menu as se lected fr om the PowerT ools Pr o Menu Bar.
14 www .emersonct.c om SM-EZM otion Module User Gu ide 3.3.2 . 5 Upload Same as Device > Upload fr om the Menu Bar . Select ing Upload will scan the Modbu s network for av ailable nod es, and then up load th e speci fied no de addres s configur ations.
Po we rT o ol s Pr o Con f igu r at io n Sof t wa re w ww.eme rs o nc t. co m 1 5 3.3.2.1 5 Clear Errors Same as Device > Reset Er rors fr om the M enu Bar. Selecti ng Reset E rrors wi ll clea r any acti ve errors. I f the faul t cond iti on sti ll ex ists, the er ror ma y reac tiva te immed iately a fter clea ring it.
16 www .emersonct.c om SM-EZM otion Module User Gu ide “-“sym bol next t o the gr ouping. Do ing s o will hi de all of t he branche s within that group . Natural p rogressi on throug h the hier archy, s tarting a t the top, and wor king tow ards the bottom w ill step the user through the entire co nfigurati on.
Communic ations www .emerso nct.com 17 4 Communications 4.1 Commun ications Protoco l PowerT ools Pr o commun icate s with the SM-E ZMotion module us ing 3 2-bit Mod bus RTU p rotocol. 4.2 Connectin g the PC to the SM-EZMotion Module The SM-EZ Motion comm unica tes with the PC through the Unidrive S P's commu nicat ions por t.
18 www .emer sonct.com SM-EZMo tion Mo dule User Guide Figure 24: Memory Storage i n the SM-EZMo tion Module 4.4.1 Uploading Uploading is th e process of readi ng the con figur ation stored i n the SM- EZMoti on modu le and lo ading that data into a fil e on the PC.
Communic ations www .emerso nct.com 19 valu es into th e user configu ratio n (Firs t Arrow H followed by Arrow A, but d ata from H is not st ored in P owerTools Pro file) .
20 www .emer sonct.com SM-EZMo tion Mo dule User Guide Figure 28: PowerTools Pro Oper ation Preferences Windo w Following is a d escripti on of ea ch of the pr eferenc e settings: 4.
Communic ations www .emerso nct.com 21 4.4.5.3.2 Always bypass NVM upload When up loading a co nfigurati on, Powe rTools Pro uploa ds from a Non -User NVM lo cation, s o the d ata upload ed onl y matches exactly what wa s last do wnloaded. By sele cting this radio bu tton, the p arameter va lues in the Save to NVM list wil l NOT b e uplo aded.
22 www .emer sonct.com SM-EZMo tion Mo dule User Guide.
How Motion Works www .emersonc t.com 23 5 How Motion Works 5.1 Introduct ion The SM-E ZMotion module offers f our differe nt motio n object types . These four type s are Jo g, Home, I ndex, a nd Gear. All motio n objects run on wh at is called a Prof ile.
24 www .emersonct.c om SM-EZM otion Module User Gu ide Figure 34: Ho me to Marker Profile (Specified Offset) 5.3.2 Ho me to Sensor The Home to Sensor p rofile a cts much l ike the Hom e to Marker pr ofile, b ut instea d of us ing th e Encode r Marker as a reference, an ex ternal sensor mounted to the machi ne is used as the referenc e.
How Motion Works www .emersonc t.com 25 Figu re 37: H ome to Sens or t hen Ma rker Prof ile (Calculated Offset) Figu re 38: H ome to Sens or t hen Ma rker Prof ile Specified Offset) 5.
26 www .emersonct.c om SM-EZM otion Module User Gu ide position . After completi ng an Ab solute Index, the motor will always b e in the s ame po sition r egardle ss of the start ing position of the m otor. The d irectio n that t he motor m oves during a n Absolu te Index i s dep endant upon its p osition when the i ndex is initiat ed.
How Motion Works www .emersonc t.com 27 Figure 47: Registration to Sensor Profile (Offset < 0) 5.4.4 Rotary Plus Index A Rotary Plus Index is used when R otary Ro llover is a ctive. The Rotary Plus Inde x is si milar to an Absol ute Inde x, but it is for ced to go in the positiv e direc tion to get to it s programme d posi tion.
28 www .emersonct.c om SM-EZM otion Module User Gu ide Figure 50: Timed Index Profile In some ca ses, a n index time is c alculat ed base d on othe r paramete rs in a user prog ram. To avo id poss ible machin e damage, the user c an spe cify ma ximum v alues for accel , velo city, and decel .
How Motion Works www .emersonc t.com 29 profile ar e as foll ows: Followe r Dis tance Uni ts / V eloci ty Time scal e. And un its of ac celera tion for a real time mo ve are Foll D istan ce Unit s / Velo cit y Times cale / Accel T imescal e. A few e xamples of t hese u nits a re as li sted bel ow.
30 www .emersonct.c om SM-EZM otion Module User Gu ide Figure 52 : Two Indexes 200 Ve l o c i t y Tim e Index 0 Profile 0 -100 Ve l o c i t y Ti m e Index 1 Profile 1 200 Ve l o c i t y Tim e Index 0 .
How I/O Works www .emersonct .com 31 6 How I/O Works 6.1 I/O Scan When use d to activ ate S M-EZMotio n functio ns, the Unidrive S P and SM -EZMo tion mo dule I/O a re scanned every trajectory u pdate. If the Uni drive SP I /O is used to trigger fun ctions i n the bas e drive itself (i.
32 www .emer sonct.com SM-EZMo tion Mo dule User Guide.
Configur ing an Appl ication www .emersonct.c om 33 7 Configuring an Application 7.1 Introduct ion All appl ication s using SM-E ZMotion modul es are configur ed usin g Power Tools Pro co nfigurati on so ftware. For spec ific que stions o n PowerT ools P ro opera tion, please refe r to S ection 3 of this manual.
34 www .emersonct.c om SM-EZM otion Module User Gu ide 7.2.2.2 SM-EZMotion Module View If SM-EZM otion is sele cted in the Slot # Module c ombo box, the r emainder of the view sh ould be bl ank. The hierarch y autom atica lly updates to show th at an SM-EZM otio n module is popula ted in th at specif ic sl ot, see Figure 55 .
Configur ing an Appl ication www .emersonct.c om 35 7.2. 2.6 SM-Dev iceNet Module V iew If Device Net is selecte d in th e Slot # Module c ombo box, the remai nder of t he view should have con figurati on paramete rs to def ine the pr operties of the DeviceNet device and netw ork.
36 www .emersonct.c om SM-EZM otion Module User Gu ide side of t he vie w. The v alues display ed ar e only t he val ues at the time the "G et Menu V alues" button wa s selec ted.
Configur ing an Appl ication www .emersonct.c om 37 7.3.1 Setup View The Setu p view al lows the u ser to s etup var ious paramete rs related to how t he overa ll system operates . Figure 65 shows an examp le of the S etup view . Figu re 65: Se tup Vie w Name This is a 12-cha racter alpha/ numeric user-co nfigured name for this axi s.
38 www .emersonct.c om SM-EZM otion Module User Gu ide Distance Units Nam e This is a 10- characte r nam e for th e dis tance user u nits you want to u se in yo ur ap plicatio n Decimal Places The num.
Configur ing an Appl ication www .emersonct.c om 39 synchron ized m otion thr oughou t the softwar e. Usi ng a high number of d ecimal pl aces will i mprove p osition res olution, but will a lso lim it the max imum position . You can selec t from zero to s ix decim al places of pr ogrammi ng resoluti on.
40 www .emersonct.c om SM-EZM otion Module User Gu ide 7.3.4 Position View The Po sition V iew a llows th e use r to co nfigure paramete rs related to posi tion con trol of th e SM- EZ Moti on module.
Configur ing an Appl ication www .emersonct.c om 41 software. If an absolute ind ex is used with a non-zero rotary rollover point, the SM-EZ Motion will ca lcula te the sho rtest path to its dest inatio n and m ove i n the requ ired directi on.
42 www .emersonct.c om SM-EZM otion Module User Gu ide Feedhold Decel/Accel When the Fee dhold desti nation is activ ated, the mo tor will decelerate to a s top in the t ime sp ecified by the Feedhol dDecelTim e paramet er. Wh en feedh old is clea red, the mot or will acc elerate back to speed in the sam e specifi ed perio d of tim e.
Configur ing an Appl ication www .emersonct.c om 43 setting the ban dwidth too high can result in ringing (audi ble ringing ) in the v elocit y loop. The units for Veloci ty Loop Bandwidth are Hz. Position Loo p Response The Posi tion Loop Res ponse dir ectly i mpacts the s tiffnes s of the po sition lo op.
44 www .emersonct.c om SM-EZM otion Module User Gu ide Power Up The Powe r Up box contai ns infor matio n related to the lifetime of the Un idrive SP and S M-EZM otion modu le.
Configur ing an Appl ication www .emersonct.c om 45 Codes, please ref er to th e Unid rive SP Us ers G uide or Unidrive S P Advan ced Users Guide. No te that t his trip code is no t the same as the Trip Co de or Error Code with in a solutions modul e.
46 www .emersonct.c om SM-EZM otion Module User Gu ide range be gins a t an absol ute posi tion of zero and ends at the R otar yRoll overPo sn. For examp le, in a rotary applica tion a P LS co uld be se tup with an OnPosn of 90 d egrees a nd an OffP osn o f 100 degrees .
Configur ing an Appl ication www .emersonct.c om 47 Capture Sources and Destin ations Figure 77 shows a b lock di agram of the Captu re objec t Figure 77 : Captu re Object Sources CaptureTr iggered - The Captur eTrigger ed sign al is read-only and i ndicates that th e Capture c omponent was activate d, and t hat data has been captured .
48 www .emersonct.c om SM-EZM otion Module User Gu ide time th ey activat e even when a cap ture o bject is not configur ed. If any of thes e Sources are ass igned to a destinati on, the ca pture d data may be use d by the destination function. The Des tinatio ns that can use the auto matical ly captu red data are as follow s: • Index.
Configur ing an Appl ication www .emersonct.c om 49 Figu re 80: Q ueue Blo ck Diag ram Sources Queue E xit - This s ource act ivates when t he Comp arator Select p arameter is gre ater to or e qual to the su m of the data enter ed int o the queue, and the queue offset.
50 www .emersonct.c om SM-EZM otion Module User Gu ide Adding and Delet ing Variables The defa ult num ber of va riables is ten. To add mo re user variab les, cl ick on the up arrow n ext to the "N umber o f User Variabl es" sp inner box o n the User Variab les v iew.
Configur ing an Appl ication www .emersonct.c om 51 than ha ving to ac cess them indiv idually . In th e SM-EZMo tion mo dule it i s poss ible to ac cess 32 Us er Bits in a sin gle pa rameter.
52 www .emersonct.c om SM-EZM otion Module User Gu ide that parti cula r bit will b e passed throu gh when written. Each add itiona l group of 32 Us er Bits tha t are a dded, a new Mask parameter will app ear for that g roup. M ask 0 will control the mask for Us er Bits 0 through 3 1.
Configur ing an Appl ication www .emersonct.c om 53 which So urce has been assigne d to it. Destinati ons can als o be dragge d from ri ght to left, ov er to Source s. Assign Button Method Click o n both th e Source and D estinat ion that a re to b e assigne d to each other.
54 www .emersonct.c om SM-EZM otion Module User Gu ide 7.4.2 SP I/O Setup View Figure 88: Drive I/O Setup View 7.4.3 EZ Moti on I/O Setu p View Figure 89 : Module I/O Setup Vi ew 7.4.4 Selector View The Selec tor View al lows the user to configur e the Sel ector object.
Configur ing an Appl ication www .emersonct.c om 55 dir ect r esul t of th e numb er of Selec t lin es. T he fo rmul a is as follow s: # of Se lection outputs = 2n (wh ere n is the num ber of Select i nputs ) The max imum numb er of Select l ines is eight .
56 www .emersonct.c om SM-EZM otion Module User Gu ide Jog Name This is a desc riptiv e chara cter stri ng whic h can be assigne d to the specifi c jog. Giving a name to a jog can make the m otion setup eas ier to fo llow. Time Base This li st box allo ws the use r to selec t the time bas e for the individ ual jog.
Configur ing an Appl ication www .emersonct.c om 57 Figu re 94: J og A ctiva te Figure 95 : Jog Select U sage If the Jog directi on is r eversed, th e Jog.# .Decel v alue will be used to de celerat e the moto r to zero spe ed and the n the Jog.#. Accel wil l be used to accel erate to the new (op posite sign) velocit y.
58 www .emersonct.c om SM-EZM otion Module User Gu ide home refe rence. Acceleration Averag e Accelerati on rate used dur ing the home. Unit s are specifi ed on t he User Un its View . Deceleration This is the average Dece leratio n rate used at the end of the Home mo ve in us er units .
Configur ing an Appl ication www .emersonct.c om 59 Destinations Home.#.I nitiate - The Ho me.#.Init iate desti nation is used to initiate the hom e funct ion.
60 www .emersonct.c om SM-EZM otion Module User Gu ide the SM-E Z Motio n module wi ll au tomatical ly calcu late th e necessar y velocity , accel , and decel in order to achie ve the program med dist ance in th e speci fied ti me. Note A user pro gram cannot comp ound into a Timed Index, or compound o ut of a Timed Index.
Configur ing an Appl ication www .emersonct.c om 61 PLS h as On an d Off poin ts ju st like a globa l PLS, bu t the On and Off po ints are spe cified as an in crem ental distanc e from the s tart of th e index, instea d of absol ute pos itions. Each index ha s its own On an d Off poin ts, an d the Index.
62 www .emersonct.c om SM-EZM otion Module User Gu ide If a regis tration sen sor is seen outs ide of t his windo w (not between the Window Start and W indo wEnd posi tions) th en it will b e ignore d. Window E nd This param eter defines the end of the Registr ation Sens or Valid W indow rel ative t o start pos itio n of this in dex.
Configur ing an Appl ication www .emersonct.c om 63 active w ill not pre vent Pro fileLimi ted from a ctivati ng. Index. #.Initiate - The I ndex.# .Initiate d estin ation is used to initiate the s pecific index. T he Index is in itiated on the rising edge of this function.
64 www .emersonct.c om SM-EZM otion Module User Gu ide Figure 101: Progra m View For detail s on t he Program View or how to c reate a program , see Secti on 7 - How User Program s Work in this manual.
How User Pro grams Work www .emersonct.c om 65 8 How Use r Programs Work 8.1 Program Wind ow Comp onents There ar e 5 major compo nents to th e Progr am View o r programmi ng wind ow. Thes e componen ts are th e Program Paramet ers, Progr am Too lbar, Ins tructio n List, Red Dot Error Bar , and th e Code Wind ow.
66 www .emersonct.c om SM-EZM otion Module User Gu ide 8.2.4 Run Anytime Enable The SM-E Z Motion progra mming environ ment has b een designed to automati cally stop a ll user prog rams whe n a fault occu rs (regardl ess of what typ e of fault), or when the drive is disab led.
How User Pro grams Work www .emersonct.c om 67 delete onl y a sing le boo kmark, place the cu rsor on the line for which y ou wish to d elete th e bookmark , and cli ck on the Book Mar k icon .
68 www .emersonct.c om SM-EZM otion Module User Gu ide 8.4 Program Instruction List Figur e 105: Program Inst ruction L ist 8.4.1 Program Flow Instructions 8.4.1.1 If/Then/EndIf This is a progra m flow con trol instruc tion use d to sele ctively run a s ection of code o nly i f a log ical tes t conditio n is true.
How User Pro grams Work www .emersonct.c om 69 valid r ange fo r the num bers prov ided i s 0 to 214 7483647 . 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.
70 www .emersonct.c om SM-EZM otion Module User Gu ide picks up where i t left o ff in the pr ogram t hat calle d it. This is often u sed wh en a se ction of code i s use d in mult iple places in a prog ram. By moving t he code to another program an d then call ing th at program , the to tal num ber of program lines c an be reduced .
How User Pro grams Work www .emersonct.c om 71 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 La bel: i nstruct ion for ad ditio nal examp les.
72 www .emersonct.c om SM-EZM otion Module User Gu ide (Index.0 .Initia te or Inde x.0.Com poundIniti ate), not the index it self, determ ines whet her or n ot the i ndex will execute a decelerati on ramp. F or examp le, Index.0 can be used multi ple times in mul tiple prog rams.
How User Pro grams Work www .emersonct.c om 73 Example: Gear.Initiate Wait for EZInput.2=ON Gear.Stop This ins tructio n shou ld not be used within a loop in the us er program. If th e Gear.Ini tiate ins truction is proc essed whi le gearing is acti ve, the pr ogram wl l hang on this i nstruc tion.
74 www .emersonct.c om SM-EZM otion Module User Gu ide PowerTool s Pr o into "Re d Dot Hel p Mode ". Whil e in thi s mode, t he mouse p ointer s hould hav e a red a nd yel low question mark ne xt to it. After goin g into Red D ot Help Mode, sim ply clic k on th e line of th e prog ram that ha s a red dot next to it.
How User Pro grams Work www .emersonct.c om 75 Figur e 107: Time Sl icing Dia gram In Figure 107, the Update R ate repres ents the T rajector y Update R ate that the user selects on the Setup vi ew. The first rout ine to b e proce ssed in the upda te is the control loop upda te.
76 www .emersonct.c om SM-EZM otion Module User Gu ide (tasks ) are bloc ked. Figure 109: Multita sking Flow Cha rt t = 0 Contr ol Loop Update Messa ge(s) W aiti ng? End Of Updat e? Ta s k Blocked? Pr.
S tarting and S topping M otion www .emerson ct.com 77 9 Starting and Stopping Motion 9.1 Starting Moti on All of the mo tion typ es des cribed in “ How Mot ion Work s” on page 23 can be i nitiat ed using multiple methods . The two differen t method s are from assi gnment s, and fro m user programs .
78 www .emer sonct.com SM-EZMo tion Mo dule User Guide an edge-s ensitiv e assig nment mean ing that the home will start on the risi ng edg e of the Source signa l. If the Home.#. Initiate Des tinat ion is he ld ac tive, the H ome wil l not initi ate agai n until t he nex t rising ed ge.
S tart ing and S topping Motion www .emersonc t.com 7 9 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 Figure 11 1: Compound In dex Example 1 Example 2 : Index.
80 www .emer sonct.com SM-EZMo tion Mo dule User Guide It is imp ortant to u ndersta nd that w hen co mpounding indexes togethe r, the ac celera tion an d dece leration will override the ind ex dist ance. Fi gure 112 above shows the scenar io where the fina l inde x in the c ompoun d strin g has a short dis tance and a slow acc elerati on ramp.
S tart ing and S topping Motion www .emersonc t.com 8 1 On Prof ile.1 mod ifier mu st be a dded to the Jog.S top comma nd. If this in structi on is us ed while ge ar mot ion is no t active, it will be i gnored, a nd the pro gram wil l move to the next instruc tion.
82 www .emer sonct.com SM-EZMo tion Mo dule User Guide.
S tarting and S topping P rograms www .emersonct.c om 83 10 Starting and Stopping Programs 10.1 Starting Programs The use r can in itiate progra ms usin g multipl e differe nt methods. T he fo llowing sec tion d escribes how progra ms can be in itiate d from As signme nts, from Prog rams, an d from Pow erTool s Pro wh ile onli ne with the syst em.
84 www .emersonct.c om SM- EZ Motion Modul e User Guide again. 10.2.3.2 Stop All - Pr ogram Toolbar Motion and Progr ams can also be s topped fr om the Progra m Toolb ar usin g the St op All icon. T his ic on is li ke an edge s ensitiv e function that wi ll not pr event moti on or program s from b eing ini tiated a gain.
Paramet er Descripti ons www .emerso nct.com 85 11 Parameter Descriptions This sec tion l ists all p rogramm able a nd feed back paramete rs avai lable. T he param eters ar e li sted alphabeti cally b y variable name ( shown in i talics be low the on screen n ame) a nd give a de scrip tion.
86 www .emer sonct.com SM-EZMo tion Mo dule User Guide the corr espondi ng bit location of BitRegi ster.#.V alue (b y setting th e bit locati on to 1) o r to clear the curren t data in BitRegis ter.
Parame ter Descripti ons www .emersonc t.com 87 units, at the time whe n Captur eTrigge red activa ted. Captured M aster Po sition Homed Captured.#.CapturedMasterPosHomed On the ris ing edge o f the Cap ture Activ ate event , the master a xis posit ion is captur ed (in c ounts).
88 www .emer sonct.com SM-EZMo tion Mo dule User Guide Accele rating, A t Veloc ity, and De celerat ing. Deceler ating follows t he acc elerati ng segme nt and th e At V eloci ty segme nt. When i ndexe s are c ompound ed to cr eate a complex motio n profil e, only the las t index may contain a decelerati ng segme nt.
Parame ter Descripti ons www .emersonc t.com 89 conside red activ e in the SM- EZMotion fi rmware. Onc e the input h as been ac tive for th e deboun ce time , a rising ed ge on the inp ut will oc cur in the SM -EZMotion modul e. This paramete r can be found o n the EZM otion I /O Setup view.
90 www .emer sonct.com SM-EZMo tion Mo dule User Guide FeedRate Override fea ture. Whe n Feed Rate Deacti vate is enable d, FeedRate Ove rride will be di sabl ed and all index or home m otion wil l operate at its pr ogramme d veloc ity.
Parame ter Descripti ons www .emersonc t.com 91 Gear.De cel func tions o nly w hen the fo llower is ram ping its speed dow n after the gea ring functi on has tur ned off.
92 www .emer sonct.com SM-EZMo tion Mo dule User Guide Home Initiate Home.#.Initiate When a ctivated , this des tination will initiate t he spe cified home. H ome will n ot initia te if an index, j og, program , or stop is curren tly ac tive. Home Limit Distance Home.
Parame ter Descripti ons www .emersonc t.com 93 Index Profile Limited Index.ProfileLimited For timed indexes , if the values for Max. Velocit y, Max. Accele ration an d Max. Dec elerati on are s uch that th e distanc e cannot b e cover ed in the s pecifie d time, the Index.
94 www .emer sonct.com SM-EZMo tion Mo dule User Guide Ind ex In itia te Index.#.Initiate The Inde x.#.Ini tiate d estinatio n is us ed to in itiate the specifi c inde x.
Parame ter Descripti ons www .emersonc t.com 95 registrat ion poi nt for regi stra tion type index es. Index Time Base Index.#.TimeBa se The time base selects either re altime , which al lows velo cities, acceler ation and decel eration to be ba sed on real time, or sync hronized, whi ch allows for an extern al synchr onizati on signa l.
96 www .emer sonct.com SM-EZMo tion Mo dule User Guide Jog.#. MinusActi vate o r Jog.#.P lusAct ivate in struct ions, and using the Jo g.Stop w ill caus e the motor to decel erate to a stop a t the Jog.# .Decel r ate for the jog th at is act ive. Jog Acceleration Jog.
Parame ter Descripti ons www .emersonc t.com 97 Master A xis Feed back Se lector MasterAx is.SpeedF eedbackS elector The Mas terAxis.Spe ed Fe edback S elector pa ramete r determin es whe re the fee dback de vice for the ma ster signal is con nected to.
98 www .emer sonct.com SM-EZMo tion Mo dule User Guide is not be tween the On and O ff positi ons, and inactiv e whenever the axis is between the two pos itio ns. However, the PLS.# .Status will not turn o n until i t reaches th e OnPosn the firs t time.
Parame ter Descripti ons www .emersonc t.com 99 SM-EZMotion Power Up Count PowerUpCount Power Up Count is the current value of ho w many times the SM-EZMo tion mo dule h as been po wered up. Each time power is cycled to the sy stem, thi s number incremen ts by one.
100 w ww . eme rs on c t. co m SM -E ZM otion Mod ule User Gu ide Program Any Complete Program.AnyComplet e This sou rce is act ivated when any program ends normal ly. If a pro gram end s due to a fault or the stop desti nation , this source does not act ivate.
Paramet er Descriptio ns www .emer sonct.com 101 the queue a nd re main inac tive unti l all da ta has bee n removed from the queue. Queue Ex it Queu e.# .Queu eExi t This even t activat es when the source p arame ter is eq ual to the Queue Exit Positio n.
102 w ww . eme rs on c t. co m SM -E ZM otion Mod ule User Gu ide Error Cod e for the s pecific e rror. This paramete r can be seen w hile o nline wit h Power Tools Pro EZ on the Errors view. For detail s on t he specific error c ode, refe r to the us er guide for the partic ular option mod ule.
Paramet er Descriptio ns www .emer sonct.com 103 the Un idrive SP slots. The X in “ SlotX” def ines t he slot nu mber that the SM-Univ ersal Encoder P lus option module ha s been fitted in. For exampl e, if th e Univ ersal Enco der Plu s modu le is i n slot 2, th e paramet er wou ld be name d: Slot2.
104 w ww . eme rs on c t. co m SM -E ZM otion Mod ule User Gu ide (pins 2 , 3, and 4 ) are co nfigured as Inpu ts or Ou tputs u sing PowerTool s Pro E Z softwa re. The Sl otX.IO.#.D irectio n paramete r is used t o configu re whe ther the I/ O point acts as a digital input or digital output.
Paramet er Descriptio ns www .emer sonct.com 105 add a lev el of pro tection from exceedi ng the machines travel li mits. The Softw areTra velL imitMinu sAct ive source (output fu nction) is active when the SoftwareT ravelLi mitMi nusPosn is reac hed or e xcee ded.
106 w ww . eme rs on c t. co m SM -E ZM otion Mod ule User Gu ide Bit 13 = Pa ra mete r 10. 14D ire ction Run nin g Bit 12 = Paramete r 10.1 3Direct ion Comm anded Bit 11 = Paramete r 10.12B raking Resistor A larm Bit 10 = Paramete r 10.11B raking IGBT Activ e Bit 9 = P arame ter 10.
Paramet er Descriptio ns www .emer sonct.com 107 SPIO Name SPIO.#.N ame Each digital I /O point o n the Un idrive SP c an be g iven a name. Th e name can be us ed in a us er prog ram to reference a speci fic I/O p oint. The name c an be up to 12 alphanume ric ch aracter s, but mu st begi n with a non-nume ric ch aracter.
108 w ww . eme rs on c t. co m SM -E ZM otion Mod ule User Gu ide Unidrive SP Pow er Up Time – Yrs.Days SPPower UpTimeY earsDa ys The Drive Po wer Up Time is the ti me elapsed s ince power has been cycled to the Un idrive SP. Th e format fo r this paramete r is Ye ars.
Paramet er Descriptio ns www .emer sonct.com 109 12kHz, an d 14kH z. SM-EZMotion T otal Power Up T ime TotalPowerUpTime Total Power Up Time is t he total el apsed tim e that th e SM-EZM otio n module h as bee n powered up (sin ce re set by the fac tory).
1 10 www .eme rsonct.co m SM-EZM otion Module User Guid e V elocity Loop Bandwid th VelocityLoopBandwidth The Velocity Loop Ban dwidth param eter is the theoretic al bandwidth of the vel ocity contr oller (how fast the sys tem can res pond to chan ge in ve loci ty comman d).
Dr iv e Pa ra m et er s U se d b y S M- EZ Mo t ion M odu l e www . eme rs o nc t. co m 1 1 1 12 Drive Parameters Used by SM-EZMotion Module 12.1 Description The Unid rive S P is co nfigured using a datab ase of paramete rs. The pa ramete rs are gr ouped ac cording to functiona lity.
1 12 www .eme rsonct.co m SM-EZM otion Module User Guid e Menu 1 Menu 2 Menu 3 Menu 4 Menu 5 Menu 6 Menu 7 Menu 8 Men u 9 Menu 10 M enu 11 Speed Ref. Ramps Fdbk Setup Cur rent Control Moto r Control Sequencer Analog I /O Digital I/O Logic / Mot. Pot Sta tus / Tri ps General Drv Setup 8.
Dr iv e Pa ra m et er s U se d b y S M- EZ Mo ti on Mo du l e www .e me rs on ct .c o m 1 1 3 Menu 12 Menu 13 Menu 14 Menu 15 Menu 16 Menu 17 Menu 18 Menu 19 Menu 20 Menu 21 Threshold / Var Slct r Posn Cont rol User PID Controller Option Modu le 1 Option Mo dule 2 Option Mo d ul e 3 User Vars 1 U ser Vars 2 User Var s 3 2nd Motor Setup 18.
1 14 www .eme rsonct.co m SM-EZM otion Module User Guid e Notes: 1.The SM -EZMot ion modul e reads this par ameter fo r display purp oses in PowerT ools Pr o Soft ware. Pr imary use is f or diagn ostics. 2. These p arameter s are se t to a sp ecific val ue every time the system is po wered up.
Dr iv e Pa ra m et er s U se d b y S M- EZ Mo ti on Mo du l e www .e me rs on ct .c o m 1 1 5 Example : x.13 – EZOutput.1.Statu s This par ameter s hows the s tatus of di gital O utput #1 on t he SM-EZMo tion mo dule. A v alue of 1 indicates that th e Output is active.
1 16 www .eme rsonct.co m SM-EZM otion Module User Guid e Example s: x.48 = 11 023 wou ld signi fy that us er prog rams are curren tly runn ing on Tas k 2 and Task 1, and that a Ind ex is running on Profi le 1 whil e a Jog is run ning on Profil e 0. x.
Diagnostic s www .emerso nct.com 1 17 13 Diagnostics There are ma ny differe nt tools ava ilable to the user to help diagnose prob lems or errors i n the Un idrive SP and SM-EZMo tion mo dule.
1 18 www .eme rsonct.co m SM-EZM otion Module User Guid e 104 Y F ollowing Error Amount of following error exceeded following error limit set in PowerT oo ls Pro softwar e. Increase Following Error Limit in PowerT ools Pro configuration. Increase V elocity Loop Bandwid th and/or Position Loop Bandwidth in PowerT ools Pro configuration.
Diagnostic s www .emerso nct.com 1 19 135 Y Program Error - Math Addition Overflow Math addition operation in user program has re sulted in an over flow of the resultant p arameter V erify that the su.
120 w ww . eme rs on c t. co m SM -E ZM otion Mod ule User Gu ide 13.2 Analog Outp uts The Unid rive SP h as two Ana log Outpu ts that ca n be configur ed to repr esent any base drive pa rameter (00.00 - 21.51). The defaul t configu ration fo r the tw o drive analog outputs ar e Speed Feedb ack (3.
Diagnosti cs www .emers onct.com 121 Figur e 114: Watch Window Example To setu p the Wat ch W indow, se lect To ols > W atch Window from the P owerTools Pro me nu bar. If not online with th e module, Wa tch Wi ndow will be a gr eyed- out choice on the menu.
122 w ww . eme rs on c t. co m SM -E ZM otion Mod ule User Gu ide Figur e 116: SM-EZMotion Error Po p-Up Win dow The Erro rs View al so conta ins a T rip Log th at lists the 10 most recen t drive trips. Trip 0 is li sted as th e most r ecent fault with a Trip Time in Years.
Diagnosti cs www .emers onct.com 123 Figu re 119 : St atus O nlin e Tab Many of th e view s in Po werToo ls Pr o have Onli ne tab that contain p arameter s rela ted to th at View whe n onli ne with the driv e.
124 w ww . eme rs on c t. co m SM -E ZM otion Mod ule User Gu ide.
Creating a Custom Motor File www .emerso nct.com 125 14 Creating a Custom Motor File PowerT ools Pr o EZ s oftware ob tains the name s and paramete rs of al l motors in the Motor T ype list box fro m various M otor Data D efinit ion Files ( .DDF file ex tension) .
126 w ww . eme rs on c t. co m SM -E ZM otion Mod ule User Gu ide Motor Defi nition Section The moto r defini tions section contai ns the na mes an d paramete rs of on e or mor e user defined motor s. The or der of the p arameters in the motor defi nition mu st mat ch the example in Figu re 120.
Creating a Custom Motor File www .emerso nct.com 127 maxOperatingSpeed Specifi es the max imum ope ratin g speed of the moto r. It is used by the driv e to limit the Vel ocit y Command. Th e valid range for th is pa rameter is 0.0 to 40,000.0 RPM. thermalTimeC onstant Specifi es the T hermal T ime Cons tant of the motor.
128 w ww . eme rs on c t. co m SM -E ZM otion Mod ule User Gu ide.
Glossary www .emers onct.com 129 15 Glossary µs Microsec ond, wh ich is 0.00000 1 second s. A Amps. Amplifier Serv o Drive . ARMS Amps Roo t Mean S quared (R MS). Axis The full system to cont rol in a single motor sha ft. A single SM-EZMo tion mo dule wi th Unidri ve SP Dri ve can denote an axis.
130 w ww . eme rs on c t. co m SM -E ZM otion Mod ule User Gu ide Global Where Am I PowerTool s feat ure that i ndica tes whic h line of w hich user prog ram is e xecutin g. Home Routine The home provid es mot ion in app lica tions in which the axis mu st prec isely a lign w ith so me part of a mac hine.
Glossary www . emerson ct.com 131 Views. PC Person al Compute r. PE Protect ive Ea rth. PID Propor tional- Integral- Deriva tive. An acrony m that describe s the com pensat ion stru cture th at can be used in many clos ed-lo op systems . PLC Progra mmable Lo gic Co ntrolle r.
132 w ww . eme rs on c t. co m SM -E ZM otion Mod ule User Gu ide.
Index www .eme rsonct.com 133 A Abso lute In dex, 25 AbsolutePositio nValid, 85 Accelerating, 85 AccelType, 85 AccelUnits.Decimal, 85 AccelUnits.TimeScale, 85 Assign ments View, 52 AtVel, 85 B Bit.
134 ww w .em e rs on ct. c om S M -EZ Moti on Mo dule Us er G uide Gear.Activate, 90 Gear.AtVel, 90 Gear.Com mandComplet e, 90 Gear.Command InProgrees, 90 Gear.Decel, 90 Gear.DecelEnable, 91 Gear.Decelerating, 91 Gear.RecoveryDist , 91 Gearing, 28 Gearing View, 63 H Hardware.
Index www .eme rsonct.com 135 M Master Po sition Filt er Samp les, 39 Master Units Setup View, 38 MasterAxis .MasterEncRevCo unt, 96 MasterAxis.MasterEncR evPosition, 96 MasterAxis.
136 ww w .em e rs on ct. c om S M -EZ Moti on Mo dule Us er G uide SlotX .En coder Simul ati onNu merat or, 102 SlotX.Enco derSimulation Source, 102 SlotX.Enco derSupplyV oltage, 10 3 SlotX.Enco derType, 103 SlotX.In put.#.In , 103 SlotX.In put.#.Name, 103 SlotX.
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Since 1979 , the “Motion Mad e Easy” products, designed and manufactured in Minnesota U.S.A., are renowned in the motion control industry for their ease of use, reli ability and hi gh performa nce. For mor e informati on about Co ntrol Tec hni ques “Motion Made Easy” products and services, call (800) 397-3786 or contact our website at www.
An important point after buying a device Emerson P/N 400361-00 (or even before the purchase) is to read its user manual. We should do this for several simple reasons:
If you have not bought Emerson P/N 400361-00 yet, this is a good time to familiarize yourself with the basic data on the product. First of all view first pages of the manual, you can find above. You should find there the most important technical data Emerson P/N 400361-00 - thus you can check whether the hardware meets your expectations. When delving into next pages of the user manual, Emerson P/N 400361-00 you will learn all the available features of the product, as well as information on its operation. The information that you get Emerson P/N 400361-00 will certainly help you make a decision on the purchase.
If you already are a holder of Emerson P/N 400361-00, but have not read the manual yet, you should do it for the reasons described above. You will learn then if you properly used the available features, and whether you have not made any mistakes, which can shorten the lifetime Emerson P/N 400361-00.
However, one of the most important roles played by the user manual is to help in solving problems with Emerson P/N 400361-00. Almost always you will find there Troubleshooting, which are the most frequently occurring failures and malfunctions of the device Emerson P/N 400361-00 along with tips on how to solve them. Even if you fail to solve the problem, the manual will show you a further procedure – contact to the customer service center or the nearest service center
