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Control Techniques FM-1 Reference Manual

Control Techniques FM-1 Reference Manual

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FM-1 Speed Module
Reference Manual
P/N 400506-01
Revision: A4
Date: October 1, 2001
© Control Techniques Drives, Inc. 1999, 2001

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Summary of Contents for Control Techniques FM-1

  • Page 1 FM-1 Speed Module Reference Manual P/N 400506-01 Revision: A4 Date: October 1, 2001 © Control Techniques Drives, Inc. 1999, 2001...
  • Page 3 However, no responsibility is assumed by Control Techniques for its use. Control Techniques reserves the right to change the design or operation of the equipment described herein and any associated motion products without notice. Control Techniques also assumes no responsibility for any errors that may appear in this document.
  • Page 4 Control Techniques. The following are trademarks of Control Techniques and may not be reproduced in any fashion without written approval of Control Techniques: EMERSON Motion Control, EMERSON Motion Control PowerTools, AXIMA, “Motion Made Easy.”...

  • Page 5: Customer Support

    Control Techniques support information 24 hours a day, seven days a week. Our wide range of services include: (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...

  • Page 6: Training Services

    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.
  • Page 7 In addition, you will find the following typographic conventions throughout this manual. This Represents Characters that you must type exactly as they appear. For example, if you are directed to type bold a:setup, you should type all the bold characters exactly as they are printed. Placeholders for information you must provide.

  • Page 8: Reference Materials

    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.

  • Page 9: Ce Declaration Of Conformity

    FM-1 Speed Module Reference Manual Underwriters Laboratories Recognition The E Series drives are marked with the “UL Recognized” label after passing a rigorous set of design and testing criteria developed by UL (UL508C). This label indicates that the UL certifies this product to be safe when installed according to the installation guidelines and used within the product specifications.
  • Page 10 FM-1 Speed Module Reference Manual Declaration of Conformity Control Techniques Drives, Inc. Manufacturer’s Name: 12005 Technology Drive Eden Prairie, MN 55344 Manufacturer’s Address: Declares That The Following Products: E Series Digital Servo Drive Products Description: EN-204, EN-208, EN-214 Model Number:...

  • Page 11: Safety Considerations

    FM-1 Speed Module Reference Manual Safety Considerations Safety Precautions This product is intended for professional incorporation into a complete system. If you install the product incorrectly, it may present a safety hazard. The product and system may use high voltages and currents, carries a high level of stored electrical energy, or is used to control mechanical equipment which can cause injury.
  • Page 12 FM-1 Speed Module Reference Manual 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.

  • Page 13: Table Of Contents

    Installing the FM-1 ........
  • Page 14 Attaching and Detaching the FM-1 ........
  • Page 15 Glossary Index xiii...
  • Page 16 FM-1 Speed Module Reference Manual...

  • Page 17: Introduction

    Introduction Overview The FM-1 is a compact and rugged module that attaches to the front of the E Series drive. It provides eight digital input lines and four digital output lines in addition to the four input and three output lines available on the E Series drive. The FM-1 is setup using PowerTools-FM software.

  • Page 18: Features

    The FM-1 permits two different operating modes to be set up. It normally runs according to the Operating Mode but can be switched to the Alternate Operating Mode by activating an input function. This provides the user with the flexibility to use a drive with the FM-1 in applications that previously required a complex controller.
  • Page 19 Introduction • Scalable Encoder Output • Travel Limit functions Locking Latch Speed Module 100-Pin Connector Inputs Inputs Outputs Outputs MODEL FM-1 Aligning Tabs PART 960503-01 EB/09 10-30 VDC 10-30 VDC 9820B025 Front Back Figure 2: FM-1 Speed Module Features...
  • Page 20 FM-1 Speed Module Reference Manual...

  • Page 21: Quick Start

    FM-1. If you are certain that the setup data in the FM-1 matches the drive and motor to which the FM-1 is attached, press and hold the E Series drive’s Reset button for 10 seconds (until the fault is cleared).

  • Page 22: Electrical Wiring

    A single power supply can be used to power the I/O on both the E Series drive and the FM- 1, however, it must be wired to both the drive and the FM-1 because I/O power is not passed through the connector on the back of the FM-1. Alternatively, separate power supplies can be...
  • Page 23 Quick Start Figure 4: Input/Output Wiring Diagram...

  • Page 24: Installing The Powertools-Fm Software

    • Loads PowerTools-FM into the EMERSON\PTOOLSFM directory. • Loads FM-1 and E Series drive setup files into the EMERSON\APPS directory. Note You may be required to restart Windows 95. Refer to the readme.txt file located on the installation floppy for more information.

  • Page 25: Setting Up The Fm-1

    Quick Start Click on the Programs selection. The Programs menu appears. Click on the “EMERSON Control Techniques” folder icon. Click on the “PowerTools-FM” folder icon. Click on the PowerTools-FM program icon. Exiting the Software Choose File from the menubar, then click Exit. If you are using the keyboard, press the shortcut key combination Alt+F, X.
  • Page 26 FM-1 Speed Module Reference Manual Figure 5: New Dialog Box When the New dialog box appears, select the FM-1 Drive Setup selection and press the OK button. A new Configuration Window will be displayed. Figure 6: Setup Tab All FM-1 setup parameters are accessible in the twelve tabs of the off-line configuration window.
  • Page 27 Setup Tab Entering Identification Parameters: Enter an identifying name in the “Name” box for the FM-1 you are setting up. You can use up to 24 alpha-numeric characters. Enter the “Target Drive Address(es)” to which you wish to download the setup information.
  • Page 28 51. Alternate Operating Mode The FM-1 permits two different operating modes to be set up. The Main Operating mode and the Alternate Operating mode. The Alternate Operating mode is invoked by activating the input function “Alternate Operating Mode”. The changeover to the Alternate Operating mode occurs in less than 400 microseconds.
  • Page 29 Quick Start Figure 9: Alternate Operating Mode Setup Dialog Box You must be very aware of the command inputs that are active during a mode change. It is possible that the drive can respond very quickly and seem out of control if procedures appropriate to that changeover are not followed.
  • Page 30 FM-1 Speed Module Reference Manual Figure 11: Velocity Tab Enter a “Full Scale Velocity” value (normally left at default value). Enter a “Stop Deceleration” value. Enter a “Travel Limit Deceleration” value. Enter a “Analog Accel/Decel Limit” value (normally left at default value).
  • Page 31 Quick Start Figure 12: Analog Tab 11. Enter a “Digital Filter Bandwidth” value (normally left at default value). 12. Enter an “Analog Full Scale” value (normally left at default value). 13. Enter an “Analog Zero Offset” value (normally left at default value). Velocity Presets Submode Setup Figure 13: Velocity Mode Selected...
  • Page 32 FM-1 Speed Module Reference Manual Figure 14: Velocity Tab Enter a “Stop Deceleration” value. Enter a “Travel Limit Deceleration” value. Enter a value (in RPM) for each of the “Velocity Presets” you wish to use. Enter an “Accel/Decel” value (in ms/kRPM) for each of the “Velocity Presets”.
  • Page 33 Quick Start Assign the Velocity Preset Line #1, #2 and #3 to the desired Input Lines by clicking on the function and dragging it over to the desired input line. If all the Velocity Preset Lines are assigned to sequential Input Lines is most convienent . If you wish to make any of the Velocity Preset Line # input functions always active do not assign them to input lines but, click the “Always Active”...
  • Page 34 FM-1 Speed Module Reference Manual Torque Mode Setup This procedure assumes that you have connected the proper analog command wiring as described in the "Hardware Installation" section. Figure 17: Torque Mode Selected Select the "Torque Mode” radio button from the Operating Mode group in the Setup tab.
  • Page 35 Quick Start Figure 19: Torque Tab Set the "Full Scale Torque" to correspond with "Analog Full Scale" setting on the Analog tab. Torque/Analog setup complete. Go to Inputs tab. Figure 20: Inputs Tab...
  • Page 36 FM-1 Speed Module Reference Manual Select an "Input Line" radio button that corresponds to the input line you wish to assign this function to (see “Assigning Input Functions” for additional information) or if you require the Torque Limit to be always active then do not assign it to an input line, but instead make the Input Function "Always Active"...
  • Page 37 Quick Start Figure 22: Inputs Tab Select an "Input Line" radio button that corresponds to the input line you wish to assign this function to (see “Assigning Input Functions” for additional information) or you require the Torque Limit to be always active then do not assign it to an input line, but instead make the Input Function "Always Active"...
  • Page 38 “Input Functions” available, the “Active State” and the “Always Active” state. The Input Lines window, on the right side, displays the twelve “Input Lines” (four on the drive and eight on the FM-1), the “Debounce” value and “Functions assigned ...”.
  • Page 39 Quick Start Figure 24: Inputs Tab Assigning an Input Function to an Input Line: Click on the desired input function in the “Input Functions” window and drag it to the input line in the “Input Lines” window you wish to assign it to, then release the mouse button.
  • Page 40 “Output Functions” window, on the left side, displays the output functions available. The "Output Lines" window, on the right side, displays the seven “Output Lines” (three on the drive and four on the FM-1), the “Active State” and the “Function Assigned ...”. Figure 25:...
  • Page 41 See "Tuning" section for more information. Step 7: Communications Setup Now that the basic FM-1 setup parmeters are entered, it is time to establish communications with the FM-1 hardware and download the configuration data. Before proceeding, be sure to connect the serial communication cable between your PC and the E Series drive onto which the FM-1 is mounted.
  • Page 42 1, 3, 4, 5, 6, 7 and 9 you could enter the addresses like this: 1,3-7,9. Note To download to more than one FM-1, all drive models and motor models must be the same and any attached FM modules must all be of the same model and firmware revision.
  • Page 43 Please allow time when connecting and disconnecting devices to the network. Click the OK button to begin the upload. Step 10: Operation Verification After downloading a configuration file to the FM-1 you may want to verify the operation of the sytem using the checklist below. I/O powered...
  • Page 44 FM-1 Speed Module Reference Manual Step 12: Printing the Configuration File To generate a printed copy of all the data in the FM-1 configuration, select Print from the File pull-down menu. If you print while online, the print-out will include several pages of useful online diagnostic information.

  • Page 45: Operational Overview

    Operational Overview User Interface The FM-1 is set up using PowerTools-FM software. PowerTools-FM is an easy-to-use Windows-based setup and diagnostics tool. It provides you with the ability to create, edit and maintain your drive’s setup. You can download or upload your setup data to or from an FM- 1.

  • Page 46: Functional Overview

    Pulse, Velocity and Torque. The Operating Mode selection defines the basic operation of the E Series drive. With the FM-1 installed, the base drive functions normally, with some additional features, including eight more inputs and four more outputs. The additional major features include;...
  • Page 47 Operational Overview The two hardware input circuits are included in the drive and are accessible through the drive command connector. The differential input circuit is RS 422 compatible making it inherently noise immune while being able to accept pulse rates of up to 2 Mhz per channel. The single ended inputs use high noise immunity circuitry and have internal pull-up resistors to the drive’s 5 volt logic supply so external pull-ups and biasing circuitry are not required.
  • Page 48 FM-1 Speed Module Reference Manual Signal common connected to Drive Logic 0V (Sync Encoder Common 0V) Command Pulse-Direction Pulse Quadrature ECI-44 terminal Pulse - Pulse signal Connector pin # signal signal Pulse / Pulse CW / Direction Pulse CCW / Pulse / : Commands motion on the falling edge (active edge).
  • Page 49 Operational Overview Figure 31: Pulse/Quadrature Signals, + Pulse Input Figure 32: Pulse/Quadrature Signals, – Pulse Input Pulse/Pulse Submode In Pulse/Pulse mode pulses received on the A channel are interpreted as positive changes to the Pulse Position Input. Pulses received on the B channel are interpreted as negative changes to the Pulse Position Input.
  • Page 50 FM-1 Speed Module Reference Manual Figure 33: Pulse/Pulse Signals Pulse Mode Parameters Pulse Position Input parameter shows the total pulse count received by the drive since the last power up. The Pulse Position Input, Position Command, Position Feedback Encoder, Encoder Feedback and Position Feedback are initialized to zero on power-up.

  • Page 51: Encoder Output Scaling

    Operational Overview (see Fault section). If the Following Error Limit Enable is disabled, the Following Error Limit is not used. Velocity Mode Following Error In Velocity mode, the maximum Following Error possible varies based on the gain and torque limit settings. When the Actual Torque Command reaches the maximum possible level, the following error will stop increasing and any additional position error will be dropped.

  • Page 52: Velocity Mode

    FM-1 Speed Module Reference Manual Velocity Mode Three sub modes are associated with velocity mode: Analog Velocity, Preset Velocity and Summation Velocity. Analog Velocity Submode The drive receives the analog voltage as the Analog Input. The Analog Input is scaled to the Velocity Command Analog by the Full Scale Velocity, Analog Input Full Scale, and Analog Input Zero Offset parameters.
  • Page 53 Operational Overview Ramp follows command because command does not exceeed Ramp Ramps limited to Ramp Limit value. Limit value. Release Stop Input Figure 35: Accel/decel Ramp Limits Preset Velocity Submode Preset Velocity mode provides up to eight digital Velocity Presets and associated Accel/Decel Presets.

  • Page 54: Summation Mode

    FM-1 Speed Module Reference Manual If the Velocity Command Preset is equal to the Target Velocity, all ramping is complete, the Velocity Command Preset is constant and the At Velocity output function is active. The Velocity Command is always equal to the Velocity Command Preset in Velocity Preset mode.
  • Page 55 Operational Overview The formula is: Pulse Velocity + Analog Velocity = Velocity Command This feature is useful in applications where the drive must be geared to a master axis but must also have the ability to adjust its phase to that master by slightly speeding up or slowing down while following the master.
  • Page 56 FM-1 Speed Module Reference Manual Example: The E series drive will drive a motor on a decoiler at a ratio to the master encoder signal to feed product into a loop. A dancer arm on a potentiometer is monitoring the size of the loop and trimming the speed of the decoiler motor to maintain a specific loop size.
  • Page 57 Pulse velocity + Preset Velocity = Velocity command Example: The FM-1 will drive a motor on an printing machine at a ratio to the master encoder. This motor drives a print head that must be in sync with the product to maintain registration and to...
  • Page 58 FM-1 Speed Module Reference Manual prevent smudging of the printed impression. During setup an operator will start the machine up and adjust the phase of the follower to the master by pushing an Advance or Retard button until the registration is correct. The Advance button selects Preset Velocity 1 which will be +50 RPM and the Retard Button selects Preset Velocity #2 which will be -50 RPM.

  • Page 59: Torque Mode

    Operational Overview Figure 39: Summation Mode Block Diagram Figure 40: Velocity vs. Time Diagram, Summation Mode Torque Mode The Torque operating mode has the option of two submodes, Analog and Preset. In this Operating Mode both the position and velocity loops are disabled and only the torque loop is enabled.
  • Page 60 FM-1 Speed Module Reference Manual Torque mode can be entered by specifying the Operating Mode as Torque, or by activating the input function with Torque mode specified as the Alternate Operating mode. Torque Analog Submode In Torque Analog mode the drive receives an Analog Input. The Analog Input is scaled to the Analog Torque Command by the Full Scale Torque, Analog Input Full Scale, and Analog Input Zero Offset parameters.

  • Page 61: Drive Operation Modifiers

    Operational Overview Alternate Operating Mode The FM-1 permits two different operating modes to be setup. The Main Operating Mode and the Alternate Operating mode. The Alternate Operating mode is invoked by activating the input function “Alternate Operating Mode”. The changeover to the Alternate Operating mode occurs in less than 400 microseconds.
  • Page 62 FM-1 Speed Module Reference Manual When the Stop input function is deactivated, the previous operating mode is restored within 400 microseconds and the drive and motor will respond immediately with no ramping unless ramping is part of the selected mode.
  • Page 63 Operational Overview Vertical Loads in Torque mode In applications with horizontal or counterbalanced vertical loads, the load will held in position when motion is stopped due to a + or - Travel limit. The position will be held until the controller commands motion in the opposite direction of the activated Travel Limit.
  • Page 64 FM-1 Speed Module Reference Manual output function is active whenever the Torque Command Actual is different from the Torque Command. Torque Limit Function The Torque Limit Enable input function allows an external controller to limit the Actual Torque Command to a lower value. The Torque Limit parameter is active only when the Torque Limit Enable input function is active.
  • Page 65 Operational Overview Example 2: If the Motor Type is a MG-316, the maximum motor speed of the MG-316 is 4000 RPM. If the Line Voltage parameter is set to 115 VAC, the velocity limit is disabled so the Velocity Limiting Active output will never come on. Overspeed Velocity Parameter Motor speed is continuously monitored against the Overspeed Velocity parameter whether the drive is enabled or not and when the motor speed exceeds the limit, an Overspeed fault...

  • Page 66: Current Foldback

    FM-1 Speed Module Reference Manual Figure 41: Clockwise Motor Rotation Positive direction is defined as the command which causes the internal position counter to count UP. They are: • A positive analog velocity or torque command i.e. a higher voltage on the (+) differential input than on the (-) input.
  • Page 67 Operational Overview The time constant for RMS Foldback is 10 seconds. This means that if the load is 150 percent of continuous, it will take about 10 seconds to reach the foldback trip point. Figure 42: RMS Foldback Trip Point (this graph is accurate to ±5 percent) Stall Foldback Stall Foldback prevents overheating of the Power Stage.

  • Page 68: Shunt Operation

    FM-1 Speed Module Reference Manual Shunt Operation All drive models have internal shunt control. The EN-208 has a 50 ohm, 50 watt internal resistor and the EN-214 has a 33 ohm, 50 watt internal shunt resistor to dissipate regenerative energy generated when braking a motor. The EN-204 relies on the bus capacitors to absorb normal levels of regeneration energy.
  • Page 69 Operational Overview Drive Ambient Temperature The Drive Ambient Temperature parameter is located on the PowerTools "Advanced" tab in the Detailed Setup View. This tab is not normally visible and is only rarely necessary. Use Options / Preferences to enable it. The Drive Ambient Temperature is a parameter which will let the drive know the air temperature around the drive heat sink while the system is under normal operating conditions.

  • Page 70: Brake Operation And Wiring

    FM-1 Speed Module Reference Manual 140% 120% 100% 20 C 30 C 40 C 50 C 100% 150% Heatsink RMS Figure 44: EN-214 Shunt Power RMS vs. Heatsink RMS External Shunt Operation The DC bus is accessible for applications requiring an external shunt regulator. Control Techniques offers an external shunt regulator (model #RSR-2) which can provide additional regenerative power dissipation.

  • Page 71: Analog Input

    “b”. The drive outputs are limited to 150 mA capacity, therefore, a suppressed relay is required to control motor coil. Control Techniques offers a relay, model # BRM-1 (see “Brake Wiring” for connection diagram).

  • Page 72: Analog Input Calibration

    FM-1 Speed Module Reference Manual Analog Input Calibration Analog Input Zero Offset is used to null any input voltage that may be present in the application (default is zero volts). The amount of offset can be read with PowerTools software or an FM-P using the following procedure: Provide the zero velocity command to the analog input on the command connector.

  • Page 73: Analog Outputs

    Operational Overview Figure 46: Analog Command, Single-ended Wiring Diagram Analog Outputs The drive has two 10 bit Analog Outputs which may be used for diagnostics, monitoring or control purposes. These outputs are referred to as Channel 1 and Channel 2. They can be accessed from the command connector on the E Series drive or from the diagnostics output pins located on the front of the drive.

  • Page 74: Digital Inputs And Outputs

    FM-1 Speed Module Reference Manual • Channel 2 = Torque Command Output Source Offset Scale Velocity Feedback 600 RPM/volt Torque Command 30% /volt Each channel includes a programmable Analog Output Offset and an Analog Output Scale. This feature allows you to “zoom in” to a desired range effectively increasing the resolution.
  • Page 75 Operational Overview controllers such as a PLC or multi-axis controllers, may be used to affect or monitor the drive operation. E Series drives are equipped with five optically isolated input lines (one dedicated to a Drive Enable function) and three optically isolated output lines. All inputs and outputs compatible with sourcing signals (active = + voltage) and are designed to operate from a +10 to 30 VDC.
  • Page 76 FM-1 Speed Module Reference Manual Output Line Active State The default active state of an output line is Active On. This means that the output line will supply a voltage when the result of the Or’ed output function(s) assigned to that output line is activated by the drive.
  • Page 77 Operational Overview Selected Velocity and Accel Velocity Preset Line #3 Velocity Preset Line #2 Velocity Preset Line #1 / Decel preset # (0) = Inactive input function (1) = Active input function Torque Limit Enable This input function, when active, causes the Torque Command to be limited to the value of the Torque Limit parameter.
  • Page 78 FM-1 Speed Module Reference Manual Brake Control This input function, when active, will engage the brake unless overridden by the Brake Release input function. This input function lets you externally engage the brake, while allowing the drive to also control the brake during fault and disabled conditions.
  • Page 79 Operational Overview In CCW Motion This output function is active whenever the motor is turning at a velocity greater than the In Motion Velocity parameter in the CCW direction. Default value of In Motion Velocity is 10 RPM. Hysteresis is used to avoid a high frequency toggling of this output function. This function is deactivated when the CCW motor velocity is less than 1/2 of the In Motion Velocity parameter.
  • Page 80 FM-1 Speed Module Reference Manual...

  • Page 81: Setting Up Parameters

    FM-1 Speed Module Reference Manual Setting Up Parameters Setup Tab This default tab is displayed each time you open the PowerTools software. This tab allows you to set most of the parameters needed to configure your drive, with the exception of the digital Input and Output I/O functions.

  • Page 82: Configuration Group

    FM-1 Speed Module Reference Manual To download to more than one drive simultaneously, separate the drive addresses with commas, spaces or hyphens. Individual drive addresses need to be separated by commas or spaces. Sequentially numbered groups of addresses can be specified with a hyphen between the first and last address of the group (i.e., 1-4 = 1, 2, 3, 4).
  • Page 83 Setting Up Parameters Positive Direction Group CW Motor Rotation Radio Button This defines that the motor will rotate clockwise when given a positive velocity, torque or position command. CW/CCW is defined when facing the motor output shaft. CCW Motor Rotation Radio Button This defines that the motor will rotate counterclockwise when given a positive velocity, torque or position command.
  • Page 84 FM-1 Speed Module Reference Manual Analog Submode Radio Button Selects the Velocity Analog operating mode. Presets Submode Radio Button Selects the Velocity Presets operating mode. Torque Mode Radio Button Selects the Torque operating mode with the option of two submodes, Analog and Preset. The two options show up as radio buttons in the Setup Tab after the Torque mode is selected.

  • Page 85: Inputs Tab

    Setting Up Parameters Vel/Analog + Vel/Presets Submode Radio Button Selects the Vel/Analog + Vel/Presets operating mode Alternate Operating Mode Group Alternate Operating Mode Button This button launches the Alternate Operating Mode dialog box for the Alternate Operating Mode function. This will then allow you to set up a second operating mode, which can be selected with the input function “Alternate Operating Mode".
  • Page 86 FM-1 Speed Module Reference Manual Figure 53: Inputs Tab All the setups here are effective for all modes used and for both the (default) Default Operating Mode and the Alternate Operating Mode. Input Functions Window This window allows you to select the input function you wish to assign to an input line. After selecting a function you can also set the Active State and Always Active flag by clicking the Always Active and Active Off check boxes.

  • Page 87: Outputs Tab

    Setting Up Parameters Always Active Check Box This check box is used to make an input function “Always Active”. When you make an Input Function always active, it’s active whether assigned to an input line or not. If you make an input function “Always Active”...
  • Page 88 FM-1 Speed Module Reference Manual Figure 54: Outputs Tab All the setups here are effective for all modes used and for both the (default) Default Operating Mode and the Alternate Operating Mode. Note For wiring information, refer to the Hardware Installation section of the E Series Drives Installation Manual (P/N 400500-01), or the E Series Drives Reference Manual (P/N 400501-01).

  • Page 89: Pulse Setup Tab

    Setting Up Parameters selecting the desired output line in this window, then clicking the Active Off check box below this window. Active Off Check Box The default active state of an output line is Active On. This means that the output line will output a voltage (exact voltage is determined by your I/O power supply) when the result of the logical OR’ed output functions assigned to that line is active.
  • Page 90 FM-1 Speed Module Reference Manual Pulse Interpretation Group Quadrature Radio Button Selects the Pulse Quadrature type of pulse input interpretation. This is effective whether you are using the differential or single ended inputs. In this mode all rising and falling edges input on channels A and B are counted effectively multiplying the lines per channel by 4.

  • Page 91: Position Tab

    Setting Up Parameters Limits Group Following Error Check Box Check this box to enable or disable the Following Error Limit. Following Error The 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 (F) and the drive will be disabled.
  • Page 92 FM-1 Speed Module Reference Manual Figure 56: Position Tab All the setups here are effective for all modes used and for both the (Main) Default Operating Mode and the Alternate Operating Mode. Limits Group Following Error Limit The Following Error is the difference between the Position Command and the Position Feedback.

  • Page 93: Velocity Tab

    Setting Up Parameters Position Command This commanded position is generated by the total combination of Velocity and Pulse modes. The drive forces this value to each Position Feedback when the drive is disabled or in Torque mode. This is set to zero when the Absolute Position Valid output function is activated. Following Error The Following Error is the difference between the Position Command and the Position Feedback.
  • Page 94 FM-1 Speed Module Reference Manual All the setups here are effective for all modes used and for both the (Main) Default Operating Mode and the Alternate Operating Mode. Analog Input Scaling Group Full Scale Velocity The value entered here is used in conjunction with Analog input Full Scale to set up the Velocity command scaling.
  • Page 95 Setting Up Parameters Max Motor Speed This displays the maximum rated motor speed for the selected motor as defined by the motor specification file. For the User Defined Motors, this is defined in the MOTOR.DDF file. Actual Group Preset Command This Velocity Command is generated by the Velocity Presets.

  • Page 96: Torque Tab

    FM-1 Speed Module Reference Manual Velocity Presets Table These digital preset velocities can be selected with the digital inputs in a binary pattern. Zero speed is equivalent to stopping and holding position. Each preset has a ramp associated with it which is also selected simultaneously with the Preset velocity. The selected ramp is used whether the drive must accelerate or decelerate to acheive the selected velocity.
  • Page 97 Setting Up Parameters Analog Input Scaling Group Full Scale Torque The value entered here is used in conjunction with Analog input Full Scale to set up the Torque command scaling. The combination of these two parameters will determine the output torque per volt input command.

  • Page 98: Tuning Tab

    FM-1 Speed Module Reference Manual Torque Presets Table These digital preset torque values can be selected with the digital inputs in a binary pattern. Zero torque is roughly equivalent to disabling the drive. The selected Torque preset is used immediately with no “ramping” to the torque level.
  • Page 99 Setting Up Parameters Friction This parameter is characterized in terms of the rate of friction increase per 100 motor RPM. If estimated, always use a conservative (less than or equal to actual) estimate. If the friction is completely unknown, a value of zero should be used. A typical value used here is less than one percent.

  • Page 100: Analog Tab

    FM-1 Speed Module Reference Manual Friction parameter is less than the actual friction, velocity error will be reduced but not eliminated. Low Pass Filter Group Low Pass Filter Enable Checkbox This enables a low pass filter applied to the output of the velocity command before the torque compensator.
  • Page 101 Setting Up Parameters Analog Inputs The Analog Input can be used as a velocity or torque command. The drive accepts a ±10 VDC differential analog command on pins 14 and 15 of the command connector and has 14 bits of resolution.
  • Page 102 FM-1 Speed Module Reference Manual Example: +10 VDC = Maximum motor + velocity or maximum + torque -10 VDC = Maximum motor - velocity or maximum - torque Analog Outputs Group Source, Channel 1 Select the signal that you wish to use as the source for Diagnostic Analog Output #1. There are five options: Velocity Feedback, Velocity Command, Torque Feedback and Torque Command Following Error.

  • Page 103: I/O Status Tab

    Setting Up Parameters Scale, Channel 2 Each analog diagnostic output channel includes a programmable Analog Output Offset and an Analog Output Scale. These features allow you to “zoom in” to a desired range effectively increasing the resolution. The units for both of these parameters are dependent upon the Analog Output Source selection.
  • Page 104 FM-1 Speed Module Reference Manual If the function or line is currently active, the “LED” to the left of the function or line name will be green. All the setups here are effective for all modes used and for both the (Main) Default Operating Mode and the Alternate Operating Mode.
  • Page 105 Setting Up Parameters Expand/Collapse Button This button expands or collapses the hierarchy of the Inputs window. An expanded view shows the relationship between functions and lines. A collapsed view shows only lines or functions. If the function or line is currently active, the “LED” to the left of the function or line name will be green.
  • Page 106 FM-1 Speed Module Reference Manual Sort By Function/Line Button This button toggles the output functions window between “Sort By Function” and “Sort By Line”. The functions and lines are arranged in a hierarchy fashion. If the window is sorted by lines, the lines are displayed above any functions that are assigned to it.

  • Page 107: Status Tab

    Setting Up Parameters Status Tab This tab displays the drive status in real time and is only available when you are on-line with a drive. The information in this tab is divided into five categories: Position, Velocity, Torque, Drive Status and Fault Log. Figure 62: Status Tab All the setups here are effective for all modes used and for both the (Main) Default Operating...
  • Page 108 FM-1 Speed Module Reference Manual Following Error The 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. The following error will be zero when the drive is disabled or when in Torque mode.

  • Page 109: Firmware Revision

    Setting Up Parameters Actual Torque Command This displays the Torque Command after all limiting. This command is used by the current loop to generate motor torque. Drive Status Group Foldback RMS This parameter accurately models the RMS loading of the drive and motor. When it reaches 100 percent, current foldback will be activated.
  • Page 110 FM-1 Speed Module Reference Manual Serial Number This displays the serial number of the drive with which you are currently online. FM Serial Number This displays the serial number of the FM with which you are currently online. Drive Run Time Group...

  • Page 111: History Tab

    Setting Up Parameters History Tab This tab displays a complete fault history of your drive including a Fault Log window and a Fault Count window. Figure 64: History Tab The Fault Log window displays the last ten faults that have occurred, #10 being the most recent fault.

  • Page 112: Advanced Tab

    FM-1 Speed Module Reference Manual Fault Counts Window This window lists of all the faults possible and how many times they have occurred. The information in this window is read only and cannot be edited. Advanced Tab Firmware Version B4 and later drives This tab is reserved for very infrequently used parameters that sometimes need to be adjusted to solve tricky application problems.

  • Page 113: Tuning Procedures

    FM-1 Speed Module Reference Manual Tuning Procedures Overview The E Series drive uses closed loop controllers to control the position and velocity Travel Limit of the attached motor. These position and velocity controllers and the associated tuning parameters are in effect when the drive is in velocity or pulse mode and have no effect when the drive is in torque mode.

  • Page 114: Tuning Procedure

    FM-1 Speed Module Reference Manual Tuning Procedure Once the initial set up has been completed, you can run the system to determine if the level of tuning is adequate for the application. There are basically four levels of tuning for an E- Series drive.
  • Page 115 Tuning Procedures Torque Mode (with or without a closed loop position controller) If you are using the drive in Torque mode, no tuning is required unless you expect to use the drive’s Stop input or the Travel Limit switch inputs. If you are operating in Torque mode, and you are using the Stop or Travel Limit inputs, you must set up the drive as if it were running in Velocity mode without a position controller.

  • Page 116: Tuning Parameters

    FM-1 Speed Module Reference Manual Enter the parameters. Set Line Voltage to the applied voltage (default is 230 VAC). Enable the drive and run the system. Adjust Response to obtain the best performance. If in Pulse mode, adjust Position Error Integral Time Constant for best performance.
  • Page 117 Tuning Procedures IR = Inertia Ratio RLI = Reflected Load Inertia (lb-in-sec MRI = Motor Inertia (lb-in- sec If the exact inertia is unknown, a conservative approximate value should be used. If you enter an inertia value higher than the actual inertia, the resultant motor response will tend to be more oscillatory.
  • Page 118 FM-1 Speed Module Reference Manual their cycle frequency. The response level should be decreased as the load to motor inertia ratio increases or if High Performance Gains are enabled. High Performance Gains Enabling High Performance Gains fundamentally affects the closed loop operation of the E Series drive and greatly modifies the effect of the Response parameter (see Response above).
  • Page 119 Tuning Procedures Feedforwards should be disabled unless the absolute maximum performance is required from the system. Using them reduces the forgiveness of the servo loop and can create instability if the actual inertia and/or friction of the machine varies greatly during operation or if the Inertia or Friction parameters are not correct.

  • Page 120: Determining Tuning Parameter Values

    FM-1 Speed Module Reference Manual Line Voltage Line Voltage specifies the applied power and adjusts the internal gains to compensate for it. This parameter has two choices 115 VAC and 230 VAC. If the Line Voltage is set to 230 VAC when the actual applied voltage is 115 VAC, the motor will be slightly less responsive to commands and load disturbances.
  • Page 121 Tuning Procedures Consider the following before determining the Friction: • The most consistent readings can usually be obtained at motor speeds higher than 500 RPM but lower test speeds can be used if necessary. • If your application has travel limits, it may be helpful to use an external position controller to prevent the axis from exceeding the machine limits.
  • Page 122 FM-1 Speed Module Reference Manual Figure 66: Trapezoidal Velocity Waveform with Torque Waveform Determining Inertia Ratio Actual system Inertia Ratio is determined by accelerating and decelerating the load with a known ramp while measuring the torque required. Consider the following before determining the inertia: •...
  • Page 123 Tuning Procedures • An oscilloscope will be needed for systems with limited travel moves and rapidly changing signals of torque and velocity. Determining Inertia Procedure: Note The test profile will need to be run a number of times in order to get a good sample of data. Enable the drives and run the test profiles.
  • Page 124 FM-1 Speed Module Reference Manual If you are using an external position controller to generate motion you may need to connect the units. Many position controllers define acceleration in units per sec2. The formulas above use ms/ kRPM. Make sure you make this conversion when entering the information into the formula.

  • Page 125: Diagnostics And Troubleshooting

    Diagnostics and Troubleshooting Diagnostic Display The diagnostic display on the front of the E Series drive shows drive and FM-1 status and fault codes. When a fault condition occurs, the drive will display the fault code, overriding the status code. The decimal point is “On” when the drive is enabled and the stop input is not active.

  • Page 126: Fault Codes

    FM-1 Speed Module Reference Manual Display Indication Status Description Ready to Run Drive enabled, no Stop input. Fault Codes A number of diagnostic and fault detection circuits are incorporated to protect the drive. Some faults, like high DC bus and amplifier or motor over temperature, can be reset with the Reset/ Setup button on the front of the E Series drive or the Reset input function.
  • Page 127 Diagnostics and Troubleshooting Display Fault Action to Reset Bridge Disabled High DC bus fault Reset Button or Input Line Low DC bus fault Reset Button or Input Line Encoder State Cycle Power Encoder line fault Cycle Power Motor over temperature fault Reset Button or Input Line RMS shunt power fault Reset Button or Input Line...
  • Page 128 This fault indicates that the Firmware Checksum has failed. Use the Tools|Program Flash menu item from PowerTools to reprogram/upgrade the firmware stored in flash memory. If this problem persists, call Control Techniques. A common cause would be an interrupted F/ W Flash upgrade (cable disconnected in the middle of an upgrade process).
  • Page 129 Diagnostics and Troubleshooting High DC Bus Fault This fault will occur whenever the voltage on the DC bus exceeds 440 VDC. The most likely cause of this fault would be an open shunt fuse, a high AC line condition or an application that requires an external shunt (e.g., a large load with rapid deceleration).

  • Page 130: Diagnostic Analog Output Test Points

    All "On" This is a normal condition during power up of the drive. It will last for less than 1 second. If this display persists. Call Control Techniques for service advice. Diagnostic Analog Output Test Points The drive has two 10 bit Analog Outputs which may be used for diagnostics, monitoring or control purposes.
  • Page 131 Diagnostics and Troubleshooting • Torque Command • Torque Feedback • Following Error Default Analog Output Source: • Channel 1 = Velocity Feedback • Channel 2 = Torque Command Output Source Offset Scale Velocity Feedback 600 RPM/volt Torque Command 30% /volt The DGNE cable was designed to be use with either an oscilloscope or a meter.

  • Page 132: Drive Faults

    FM-1 Speed Module Reference Manual Black (GND) Yellow Blue 10 Ohm 10 Ohm DGNE Cable Command Connector (J5) DGNE Cable Figure 68: Diagnostic Cable (DGNE) Diagram Drive Faults The Active Drive Faults dialog box is automatically displayed whenever a fault occurs. There are two options in this dialog box: Reset Faults and Ignore Faults.

  • Page 133: Watch Window

    Diagnostics and Troubleshooting Watch Window This feature allows you to customize a window to monitor drive parameters which you select from a complete list of drive parameters. From this window you can watch the parameters you selected in real time. This feature is only available when you are online with the drive and stays "on top"...
  • Page 134 FM-1 Speed Module Reference Manual Figure 70: Select Drive Parameters Dialog Box Group This list box enables you to view the complete list of parameters or just a group of parameters you are interested in. The groups include: Analog Out...

  • Page 135: View Motor Parameters

    Diagnostics and Troubleshooting View Motor Parameters When online with the drive this feature allows you to display a pre-defined Watch Window to monitor three motor parameters. These parameters are normally used when testing the setup of a User Defined Motor for commutation accuracy. Figure 71: View Motor Parameters Window The View Motor parameters Window is accessed by selecting View Motor Parameters from...
  • Page 136 FM-1 Speed Module Reference Manual Problem/Message Cause Solution Enter a value within the range of that Invalid entry. The entry exceeds the precision field. The status bar displays allowed by this field. The finest resolution this Entered a value out of range.

  • Page 137: Installation

    FM-1 Speed Module Reference Manual Installation Typical Installation The figure below shows a typical installation using three E Series drives each equipped with an FM-1, a Motion Interface Panel and a PLC. AC Power and Ground Interface Panel Motion Made Easy...

  • Page 138: Overview Of Cables

    The FM-1 is compatible with all E Series drives with part number 9605xx-05 or higher. Two aligning tabs, a locking latch and a 100-pin connector are used to attach the FM-1 to any E Series drive. All electrical connections between the FM-1 and the E Series drive are accomplished with the single connector located on the rear of the FM-1.
  • Page 139 FM against the drive, aligning the 100-pin connector. Insert the aligning tabs into the slots on the drive. Figure 74: Attaching the FM-1 to an E Series Drive Do not attach or detach the FM-1 when power is applied to the drive.

  • Page 140: Basic Installation Notes

    Figure 75: Detaching the FM-1 from the Drive Connections Do not attach or detach the FM-1 when power is applied to the drive. Basic Installation Notes You are required to follow all safety precautions during start-up such as providing proper equipment grounding, correctly fused power and an effective Emergency Stop circuit which can immediately remove power in the case of a malfunction.

  • Page 141: Electrical Installation

    A single power supply can be used to power the I/O on both the E Series drive and the FM- 1, however, it must be wired to both the drive and the FM-1 because I/O power is not passed through the connector on the back of the FM-1. Alternatively, separate power supplies can be...
  • Page 142 FM-1 Speed Module Reference Manual Figure 76: Input/Output Wiring Diagram...
  • Page 143 Installation Command Connector Wiring All command and I/O signals are accessed using the 44-pin command connector located on the front of the E Series drive. + 15 V, 10 mA Pulse Input B Single Ended Pulse Input A Single Ended Figure 77: Command Connector (J5) and CMDO-XXX Cable Note...
  • Page 144 FM-1 Speed Module Reference Manual Function Pin Numbers Electrical Characteristics TTL, 330 ohm pull-ups to internal 5V Pulse Inputs Single Ended 20, 36 1.5V = low, 3.5V = high Encoder Supply +5 Volts (200 mA) fused internally Encoder Common 0.0 Volts, 10 ohms away from PE...
  • Page 145 Installation Figure 78: CMDO-XXX and CMDX-XXX Cable (18 pair cable) Note Some CMDO and CMDX cables may have White/Yellow and Yellow/White wires in place of the White/Orange and Orange/White shown in the figure above (pins 6 and 21). The CMDX and CMDO cables have the identical signal pin out and wire colors, but has a 44- pin connector on each end.
  • Page 146 FM-1 Speed Module Reference Manual WIRE COLOR SOLID/STRIPE BLU/PUR ENCODER OUTPUT A/ PUR/BLU ENCODER OUTPUT A ORG/PUR ENCODER OUTPUT B/ PUR/ORG ENCODER OUTPUT B BRN/PUR ENCODER OUTPUT Z/ PUR/BRN ENCODER OUTPUT Z RED/BLU ENCODER +5VDC SUPPLY BLU/RED ENCODER SUPPLY COMMON...
  • Page 147 Installation External Connector Interface (ECI-44, Optional) The ECI-44 allows access to all command and input and output signals. The ECI-44 should be mounted close to the drive and away from any high voltage wiring. The ECI-44 comes complete with the hardware necessary for mounting to most DIN rail mounting track. Figure 80: ECI-44 Mounting Dimensions, Inches (mm) Note...
  • Page 148 FM-1 Speed Module Reference Manual + 15 V, 10 mA Pulse Input A, Single Ended EN V+ Pulse Input B, Single Ended (Connector shell and strain relief points) Figure 81: ECI-44 Box Signal Connections...
  • Page 149 Installation Analog Command Wiring Figure 82: Analog Command, Differential Wiring Diagram Figure 83: Analog Command, Single Ended Wiring Diagram...
  • Page 150 FM-1 Speed Module Reference Manual Pulse Mode Wiring, Differential Inputs Figure 84: Pulse Mode, Differential Output to Differential Input Figure 85: Pulse Mode, Single Ended Output to Differential Input...
  • Page 151 Installation Pulse Mode Wiring, Single Ended Inputs PLC Sinking Outputs (typ) Common isolated from other sources Figure 86: Pulse Mode, Single Ended Output to Single Ended Input (twisted pair cable) PLC Sinking Outputs (typ) Common isolated from other sources Figure 87: Pulse Mode, Single Ended Output to Single Ended Input (non-twisted pair cable)
  • Page 152 FM-1 Speed Module Reference Manual Encoder Output Wiring Figure 88: Command Connector Encoder Wiring Diagram Figure 89: Direction Convention Diagram...

  • Page 153: Serial Communications

    Installation Serial Communications Serial communications with the E Series drive and the FM-1 is provided through the female DB-9 connector (J4) located on the front of the drive. The serial interface is either three wire non-isolated RS-232C or two wire non-isolated RS-485. RS-485 is also available through the 44 pin command connector (J5).
  • Page 154 The RS-485 option (pins 4 and 9) is provided for multi-drop configurations of up to 32 FM- 1 and drive systems. Control Techniques provides a special multi-drop serial cable which allows you to easily connect two or more E Series drives.

  • Page 155: Specifications

    FM-1 Speed Module Reference Manual Specifications Electrical Specifications Power consumption: 5 W from E Series drive power supply. Function Electrical Characteristics Inputs 10-30 Volts (“On”) 0-3 Volts (“Off”) optically isolated Outputs 10-30 Volts DC sourcing 150 mA, optically isolated...

  • Page 156: Dimensions And Clearances

    FM-1 Speed Module Reference Manual Dimensions and Clearances 1.25 (63.5) (31.75) 7.187 Speed Module (182.5) Inputs Outputs 10-30 VDC Figure 92: FM-1 Dimensions...
  • Page 157 Specifications Figure 93: FM-1 and E Series Drive Dimensions and Clearances...

  • Page 158: Cables

    FM-1 Speed Module Reference Manual Cables CDRO-XXX WIRE COLOR SOLID/STRIPE BLU/PUR ENCODER OUTPUT A/ PUR/BLU ENCODER OUTPUT A ORG/PUR ENCODER OUTPUT B/ PUR/ORG ENCODER OUTPUT B BRN/PUR ENCODER OUTPUT Z/ PUR/BRN ENCODER OUTPUT Z RED/BLU ENCODER +5VDC SUPPLY BLU/RED ENCODER SUPPLY COMMON...
  • Page 159 Specifications CMDO-XXX COLOR CODE FUNCTION RED/BROWN STRIPE INPUT I/O 1 BROWN/RED STRIPE INPUT I/O 2 INPUT I/O 3 BLACK/BLUE STRIPE BLUE/BLACK STRIPE INPUT I/O 4 WHITE/ORANGE STRIPE RS-485+ RS-485- ORANGE/WHITE STRIPE PURPLE/BLUE STRIPE* MOTOR ENCODER OUTPUT A BLUE/PURPLE STRIPE* MOTOR ENCODER OUTPUT A/ RED/BLUE STRIPE EXT ENCODER 200mA max +5V BLUE/RED STRIPE...

  • Page 160: Vendor Contacts

    FM-1 Speed Module Reference Manual Vendor Contacts AC line filters Schaffner (800) 367-5566 or (201) 379-7778 Corcom (847) 680-7400 Fax: (847) 680-8169 Cable shield grommets Cooper Industries, Inc. Crouse-Hinds Division (315) 477-5531...
  • Page 161 FM-1 Speed Module Reference Manual Glossary ARMS Amps (RMS). American Wire Gauge. Baud Rate The number of binary bits transmitted per second on a serial communications link such as RS- 232. (1 character is usually 10 bits.) Conformite Europeenne Mark.
  • Page 162 FM-1 Speed Module Reference Manual Electromagnetic Compatibility. EMI - Electro-Magnetic Interference EMI is noise which, when coupled into sensitive electronic circuits, may cause problems. Firmware The term firmware refers to software (i.e., computer programs) that are stored in some fixed form, such as read-only memory (ROM).
  • Page 163 Glossary Light Emitting Diode. List Box In a dialog box, a list box is an area in which the user can choose among a list of items, such as files, directories, printers or the like. Mega-byte. Most Significant Bit The bit in a binary number that is the most important or that has the most weight. NEMA National Electrical Manufacturers Association.
  • Page 164 FM-1 Speed Module Reference Manual Programmable Logic Controller. Also known as a programmable controller, these devices are used for machine control and sequencing. PowerTools-Base and -FM Windows® -based software to interface with the E Series drive and Function Modules. Radio Button Also known as the Option Button.
  • Page 165 Glossary Volts, Direct Current. Windows, Microsoft ® Microsoft Windows is an extension of the MS-DOS operating system that provides a graphical user interface, extended memory and multi-tasking. The screen is divided into windows and the user uses a mouse to start programs and make menu choices. There are many releases of this operating environment: Windows 3.1, Windows for Workgroups 3.11, Windows 95, Windows 98 and Windows NT.
  • Page 166 FM-1 Speed Module Reference Manual...
  • Page 167 ARMS, 145 Diagnostic Display, 109 Assigning Inputs, 22 dialog box, 145 Assigning Outputs, 24 Differential Radio Button, 74 Attaching and Detaching the FM-1, 122 Digital Inputs and Outputs, 58 AWG, 145 Digital Torque Preset Mode, 2 Dimensions and Clearances, 140...
  • Page 168 FM-1 Speed Module Reference Manual Direction Radio Button, 74 Disabled Radio Button, 67 Disconnecting Communications, 28 Fault Codes, 110 DLL, 145 Fault Counts Window, 96 downloading, 145 Fault Descriptions, 112 Downloading the Configuration File, 25 Fault Log Window, 95 Drive Ambient Temperature, 53...
  • Page 169 Installation Notes, 124 Opening an Online Configuration Window, 26 Installation Procedure, 8 Operating Mode Group, 67 Installation Requirements, 8 Operation Verification, 27 Installing the FM-1, 5 option button, 147 Invalid Configuration, 112 opto-isolated, 147 output function, 147 Output Functions, 62...
  • Page 170 FM-1 Speed Module Reference Manual Overspeed Velocity, 78 Pulse Source Selection, 30 Pulse/Direction Submode, 32 Pulse/Pulse Submode, 33 Pulse/Quadrature Submode, 32 parameters, 147 Peak Torque Available, 81 PID, 147 PID vs. State-Space, 97 Quadrature Radio Button, 74 PLC, 148 Position Command, 77, 91...
  • Page 171 Index Shunt Active Output, 52 Torque Mode, 43 Shunt Control Algorithm, 52 Torque Mode Radio Button, 68 Shunt Operation, 52 Torque Preset Submode, 44 Shunt Power RMS, 93 Torque Presets Table, 82 Shunt RMS Fault, 52 Torque Tab, 80 Single Ended Radio Button, 74 Torque/Analog Submode Radio Button, 68 Sort By Function/Line Button, 88, 90 Torque/Presets Submode Radio Button, 68...
  • Page 172 FM-1 Speed Module Reference Manual Velocity Presets, 1 Velocity Presets Table, 80 Velocity Tab, 77 Vendor Contacts, 144 View Active Faults Button, 94 View Motor Parameters, 119 Watch Window, 117 Windows, 149...
  • Page 174 Since 1979, the “Motion Made Easy” products, designed and manufactured in Minnesota U.S.A., are renowned in the motion control industry for their ease of use, reliability and high performance. For more information about Control Techniques “Motion Made Easy” products and services, call (800) 893-2321 or contact our website at www.emersonct.com.

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