Control Techniques FM-3 Manuals

Manuals and User Guides for Control Techniques FM-3. We have 2 Control Techniques FM-3 manuals available for free PDF download: Reference Manual

Control Techniques FM-3 Reference Manual (293 pages)

Emerson Programming Module Reference Manual

Brand: Control Techniques | Category: Network Hardware | Size: 4.02 MB

Reference Manual
1
Customer Support
5
Document Conventions
6
General Warning
8
Qualified Person
8
Safety Instructions
8
Safety Considerations
9
Safety of Machinery
9
Safety Precautions
9
Setup, Commissioning and Maintenance
9
Grounding (Earthing, Equipotential Bonding)
10
Products Connected by Plug and Socket
10
Fuses
10
AC Supply Isolation Device
10
Table of Contents
11
Introduction

15
- EN Drive with FM-3 Function Module
  15
- FM-3 Programming Module Features
  16
Operational Overview

17
- Software Interface
  17
- Powertools Pro Setup Software
  17
- Keypad Interface
  18
  - Hierarchy View
    18
  - FM-3 Display Screen and Keypad
    19
  - Parameter Screens
    20
- How Motion Works
  21
- How Jogging Works
  21
- How Home Works
  22
  - Jog Tab
    22
  - Home Sequence
    23
  - Basic Home Function, Example
    23
  - Establishing a Home Reference Position
    23
  - Sensor
    24
  - Marker
    24
  - Sensor Home Reference Position
    24
  - Marker Home Reference Position
    24
  - Accuracy and Repeatability
    25
  - Sensor and Marker
    25
  - Sensor and Marker Home Reference Position Example 2
    26
  - Home Offset
    26
  - Calculated Home Offset, Peak Velocity Not Reached
    27
  - Calculated Home Offset, Peak Velocity Reached
    27
  - Specified Home Offset, Greater than Calculated Offset
    28
  - Specified Home Offset, Backup Required
    28
  - End of Home Position
    28
  - Home Examples
    29
  - Home Limit Distance
    29
  - Example 1: Linear Application
    29
  - Home to Sensor and Marker, Example
    29
  - Home Velocity Profile
    30
  - Home Move Sequence
    30
  - Example 2: Rotary Application
    31
  - Home Sensor and Marker then Offset, Example
    31
- How Indexes Work
  32
  - Index Motion Sequence
    32
  - Indexes View
    33
  - Absolute Vs. Incremental
    34
  - Absolute Indexes
    34
  - Incremental Indexes
    35
- Registration Index
  36
  - Rotary Plus and Rotary Minus Indexes
    36
  - Indexes with Rotary Rollover Enabled
    36
- How Communications Work
  37
  - Uploading
    37
  - Downloading
    37
  - NVM Options for Uploading and Downloading
    38
  - Updating to RAM
    39
  - Update to RAM Flow Chart
    40
  - Options/Preferences/Ptools Operation
    40
  - Upload Non-Volatile Memory (NVM) Section
    42
  - Secure Downloading
    42
- Brake Operation
  43
  - Brake Release
    44
  - Brake Activate
    44
  - Brake Disengaged
    44
Setting up Parameters

45
- Setup View
  45
  - Identification Group
    45
  - Configuration Group
    46
  - Target Drive Address
    46
  - Drive Type List Box
    46
  - Motor Type List Box
    46
  - Positive Direction Group
    47
  - Encoder Scaling Check Box
    47
  - Encoder Scaling
    47
  - CW Motor Rotation Radio Button
    47
- Status Online Tab (Online Only)
  48
  - Switching Frequency Group
    48
  - Motor Position Group
    49
  - Motor Velocity Group
    49
  - Control Loop Group
    49
  - Velocity Feedback
    49
  - Master Feedback Group
    50
  - Control Loop Limit
    50
  - Margin Average
    50
  - Master Position
    50
- Information Tab (Online Only)
  51
  - Firmware Part Number
    51
  - Foldback RMS
    51
  - Shunt Power RMS
    51
- User Units View
  52
  - Distance Group
    52
  - Units Name
    52
  - Decimal Places
    53
  - Scaling
    53
  - Characteristic Distance
    53
  - Characteristic Length
    53
  - Velocity Group
    54
  - Enable Separate Distance Units Check Box
    54
  - Scaled Distance Name
    54
  - Velocity Distance Units Scale Factor
    54
  - Time Scale List Box
    55
  - Acceleration Group
    55
  - Torque Group
    55
- Master Units View
  56
  - Encoder Setup Group
    57
  - Master Position Setup Group
    57
  - Define Home Position
    57
  - Output Source
    57
  - Master Position Filter
    59
  - Enable Check Box
    59
- Position View
  60
  - Enable Feedforward Check Box
    60
  - Settings Group
    60
  - In Position
    61
  - In Position Window
    61
  - In Position Time
    61
  - Enable Following Error Check Box
    61
  - Software Travel Limits
    62
  - Software Travel Limit +
    62
  - Software Travel Limit -
    62
  - Rotary Rollover Check Box
    62
- Velocity View
  64
  - Feedrate Override
    64
  - Feedrate Decel/Accel
    65
  - Velocity Command
    65
- Ramps View
  66
  - Acceleration Type
    66
  - Ramps Group
    67
  - Stop Deceleration
    67
  - Feedhold Decel/Accel
    67
  - Travel Limit Decel
    67
- Torque View
  68
  - Torque Level
    68
  - Limits Group
    69
  - Peak Torque
    69
  - Online Status Tab
    69
- Tuning View
  70
  - Load Group
    70
  - Inertia Ratio
    70
  - Low Pass Filter Group
    71
  - Low Pass Filter Enable Checkbox
    71
  - Low Pass Frequency
    71
  - Tuning Group
    71
  - Time Constant
    72
- Faults View
  73
  - Active Faults Group
    73
  - Active Faults Window
    73
  - Power up Group
    74
  - Power up Count
    74
  - Power up Time
    74
  - Total Power up
    74
- PLS View
  75
  - Number of PLS Points
    76
  - Source
    76
  - On Point
    76
  - Off Point
    76
  - Rotary Enable
    77
  - Rollover Point
    77
- Setup NVM View
  78
- User Variables View
  79
  - Name
    79
  - Decimal
    79
  - Adding and Deleting Variables
    80
  - Using Variables in a Program
    80
  - Online Tab (Not Shown)
    80
- User Bits View
  81
- I/O Setup Group
  86
- Assignments View
  86
  - Creating an Assignment
    87
  - Deleting an Assignment
    88
  - Drag and Drop Method
    88
  - Assign Button Method
    88
  - Delete Button Method
    88
  - Assignment Polarity
    89
  - Tying a Source to a Destination
    89
  - User Level
    90
  - Only Show Assigned
    90
  - Assignments that Automatically Use Position Capture
    90
  - Polarity Button Method
    90
- Selector View
  91
  - Motor Encoder Marker
    91
  - Master Encoder Marker
    91
  - Index/Jog Command Complete
    91
- Input Lines View
  95
- Debounce
  95
- Output Lines View
  96
- Input Line Diagram
  96
- Analog Inputs View
  97
  - Bandwidth
    98
  - Maximum Value
    98
  - Maximum Voltage
    98
  - Minimum Value
    98
- Motion Group
  99
- Jog View
  100
  - Jog Number
    100
  - Jog Name
    100
  - Time Base
    100
  - Jog Sources and Destinations
    101
  - Jog Velocity
    101
  - Jog Acceleration
    101
  - Jog Deceleration
    101
  - Destinations
    102
  - Jog.plusactivate
    102
  - Jog.minusactivate
    102
  - Jog.select0
    102
  - Jog Activation
    103
  - Jog Select Details
    103
- Home View
  105
  - Home Number
    105
  - Home Reference
    105
  - Velocity
    106
  - Home Offset Group
    106
  - Limit Distance
    107
  - Home Reference Position
    107
  - Home Sources and Destinations
    108
  - Home.absoluteposnvalid
    108
  - Home.anycommandcomplete
    108
  - Home.#.Accelerating
    108
  - Home.#.Initiate
    109
  - Home.#.Sensortrigger
    109
- Index View
  110
  - Index Number
    110
  - Indextype
    111
  - Distance/Position
    111
  - Timed Indexes
    112
  - Time Checkbox Enabled
    113
  - Enable Index PLS
    114
  - Timed Index Profiles
    114
  - PLS on Point
    115
  - PLS off Point
    115
  - Registration Parameters
    116
  - ’Analog’ or ’Sensor’ Radio Buttons
    116
  - Registration to Analog Input Value
    116
  - Registration Offset
    116
  - Index Sources and Destinations
    117
  - Index.anycommandcomplete
    117
  - Index.#.Accelerating
    117
  - Index.#.Atvel
    118
  - Index.#.Command Complete
    118
  - Index.#.Command in Progress
    118
  - Index.#.Decelerating
    118
  - Index.resetprofilelimited
    119
  - Index.#.Initiate
    119
  - Index.#.Sensor Trigger
    119
  - Toolbar Icon Method
    119
  - Right Click Method
    120
  - Deleting an Index
    120
  - Adding an Index
    120
- Gearing View
  121
  - Gearing Acceleration Ramp Description
    122
  - Initiating Gearing Motion
    123
  - Stopping Gearing Motion
    123
- Stopping Motion
  124
  - Motion Stop from a Program
    124
  - Motionstop for an Assignment
    124
- Network Group
  125
- Modbus View
  125
- Modbus Address Assignment Box
  126
- Devicenet View
  127
- Profibus View
  127
- Ethernet View
  127
Programming

129
- Program View
  129
- Find
  130
- Program Toolbar Icons
  130
  - Redo Last Change
    130
  - Undo Last Change
    130
  - Delete All Book Marks
    131
  - Next Book Mark
    131
  - Previous Book Mark
    131
  - Red Dot Help
    131
  - Drag in Variables
    132
  - Lock Program
    132
  - Program Where am I?
    132
  - Run this Program
    132
  - Program Flow Instructions
    133
- Program Instruction Types
  133
- For Count/Next
  134
  - Do While/Loop
    135
  - Wait for
    135
  - Call Program
    136
  - Wait for Time
    136
  - End
    137
  - Formula
    137
  - Bit and
    138
  - Bit or
    138
  - Dwell for Time
    139
  - Goto
    139
- Motion Instructions
  139
  - Dwell for Master Dist
    140
  - Index.initiate
    140
  - Complex Velocity Profile
    141
  - Index.compoundinitiate
    141
  - Home.initiate
    142
  - Index Velocity Profile
    142
  - Index Velocity Profile with Drive Outputs
    142
  - Jog.minusinitiate
    143
  - Jog.plusinitiate
    143
  - Jog.stop
    143
G

144
- Motion Modifiers
  144
- Gear Stop
  144
  - Gear.initiate
    144
  - Using Last
    144
- Adding and Deleting Programs
  145
  - Add Program Button
    145
  - Powertools Menu Bar Method
    145
  - Adding a Program
    145
- Run Anytime Programs
  146
- Example Programs
  148
Parameter Descriptions

157
- Absolute Position Valid
  157
- Accelerating
  157
- Acceleration Decimal Places
  158
- Acceleration Time Scale
  158
- At Velocity
  158
- Bit Number Value
  158
- Bit Register Number Value Mask
  159
- Clear Following Error
  159
- Commanding Motion
  159
- Drive Input Debounce Time
  162
- Drive Input Force
  162
- Drive Input Force Enable
  162
- Drive Input Name
  162
- Drive Output Encoder Scaling
  163
- Drive Output Force Enable
  163
- Drive Output Name
  163
- Drive Output State
  163
- Drive OK
  164
- Faulted
  164
- Module Faults Bitmap
  164
- Active Fault
  165
- Enable Feedforwards
  165
- Fault Counts
  165
- Reset Faults
  165
- Feedhold Deceleration Time
  166
- Feedrate Deactivate
  166
- Foldback Active
  166
- Gear Accel Enable
  168
- Gear Accelerating
  168
- Gear at Velocity
  168
- Gear Command Complete
  168
- Any Command Complete
  169
- Gear Decel
  169
- Gear Decel Enable
  169
- Gear Recovery Distance
  169
- Calculated Offset
  170
- Command Complete
  170
- Command in Progress
  170
- If on Sensor
  172
- Sensor Trigger
  172
- Specified Offset
  172
- Compound Initiate
  175
- Distance
  175
- Enable PLS
  176
- Limit Distance Hit
  176
- Index Timed Index Enable
  178
- Initially Active
  178
- Initiate Minus
  181
- Initiate Plus
  181
- Baudrate
  182
- Debounced
  182
- Line Voltage (en ONLY)
  182
- Modbus ID
  182
- Module Input Name
  183
- Module Input Raw
  183
- Module Input Status
  183
- Module Output Force
  183
- PLS Rollover Position
  186
- PLS Source
  186
- PLS Status
  186
- Positive Direction
  186
- Position Error Integral Time Constant
  187
- Position Feedback
  187
- Position Feedback in Counts
  187
- Power Stage Enabled
  187
- Initiate
  188
- Poweruptimetotal
  188
- Rotary Rollover Enable
  188
- Selector Input Destinations
  189
- Shuntactive
  189
- Shuntpowerrms
  189
- Enable Software Travel Limits
  190
- Software Travel Limit Minus Activate
  190
- Software Travel Limit Plus Activate
  190
- Software Travel Limit Plus Active
  190
- Limited Torque Command
  191
- Start up
  191
- Stop
  191
- Torque Command
  191
- Torque Level Active
  192
- Torque Limit Active
  192
- Travel Limit Minus Activate
  193
- Travel Limit Minus Active
  193
- Travel Limit Plus Active
  193
- Percent Continuous
  194
- Variable Decimal
  194
- Attaching the FM-3 to an en Drive
  197
- Basic Installation Notes
  197
- Mechanical Installation
  197
- Detaching the FM-3 from the Drive Connections
  198
- Modbus Communications
  198
- Software Installation
  199
- If You Need Help with Installation
  200
- Starting and Exiting Powertools
  200
- Accessing Help
  201
  - Exiting the Software
    201
  - New Configuration Dialog Box
    201
  - Opening a New File
    201
Quick Start

203
- Basic Setup Steps
  203
  - Opening a New Configuration Window
    203
  - Enter All Setup Data
    203
  - General Setup View
    204
  - Making Assignments
    209
  - Setting up Motion Parameters
    211
  - Jog Setup
    211
  - Index Setup
    213
  - Index Setup View (Absolute Type)
    214
  - Index Setup View (Incremental Type)
    215
  - Creating a Program
    216
- Example Application Start up
  219
Tuning Procedures

227
- PID Vs. State-Space
  227
  - Initial Settings
    228
  - No Tuning
    228
  - Basic Level
    228
  - Intermediate Level
    228
- Tuning Procedure
  228
  - Fully Optimized Level
    229
  - General Tuning Hints
    229
- Tuning Parameters
  230
  - Friction
    230
  - Feedforwards
    231
- Determining Tuning Parameter Values
  232
  - Initial Test Settings
    233
  - Determining Friction
    233
  - Procedure for Determining Friction
    233
  - Determining Inertia Ratio
    234
  - Trapezoidal Velocity Waveform with Torque Waveform
    234
  - Inertia Measurement Procedure
    235
  - Ramp Units Conversion
    236
Diagnostics and Troubleshooting

239
- Diagnostic Display
  239
- Fault Codes
  240
  - Fault Descriptions
    242
  - Flash Invalid
    242
  - Watchdog Timer
    242
  - Power up Test
    242
  - FM-3 Fault
    243
- Invalid Configuration
  243
  - Power Module
    243
  - High DC Bus
    243
  - Encoder State
    244
  - Encoder Hardware
    244
  - Motor Overtemp
    244
  - RMS Shunt Power
    244
  - FM-3 Specific Fault Descriptions
    245
  - FM-3 Display Is Used to Display Drive and FM-3 Faults
    245
  - Enc St
    245
  - Enc HW
    245
  - Isr Ovr
    246
  - Traj Flt
    246
  - Drv Syn
    246
  - Watchdg
    246
  - Mtr Tmp
    247
  - Dvovrtmp
    247
  - Inv Parm
    247
  - Inv NVM
    247
- Analog Outputs
  248
  - Default Analog Output Source
    248
  - Analog Output Offset Units
    248
  - No Prog
    248
- Diagnostic Analog Output Test Points
  250
- Diagnostic Cable (DGNE) Diagram
  251
- Drive Faults
  252
  - Resetting Faults
    252
  - Viewing Active Drive Faults
    252
  - Rebooting the Drive
    252
- Error Messages
  252
  - Non-Programming Error Messages
    253
  - Error: the Maximum Limit of Instances Is Reached
    253
- Programming Error Messages
  254
- Online Status Indicators
  259
  - Watch Window
    259
  - Select Drive Parameters Dialog Box
    260
  - Clear All
    260
  - Save Selections
    260
  - Restore Selections
    260
  - Global Where am I Button
    261
  - Motion Status
    261
Specifications

263
- Dimensions and Clearances
  263
- Cable Diagrams
  265
  - SNCE-XXX Cable
    266
  - SNCDD-001.5 Cable
    266
  - SNCO-003 Cable
    267
  - SNCI-003 Cable
    267
  - CMDX-XXX Cable
    269
  - Cmdo-XXX Cable
    270
  - Cdro-XXX Cable
    271
  - TIA-XXX Cable
    272
  - DDS-XXX Cable
    272
  - Cmds-XXX Cable
    274
  - Cmms-XXX Cable
    274
  - Cfcs-XXX Cable
    275
  - Cfco-XXX Cable
    276
  - Cfos-XXX Cable
    277
Glossary

279
- Configuration
  280
- Crc
  280
- Destination
  280
- Dialog Box
  280
- Firmware
  281
- Flash
  281
- Flash File
  281
- Fm
  281
- Input Function
  282
- Input Line
  282
- Least Significant Bit
  282
- List Box
  282
- Option Button
  283
- Opto-Isolated
  283
- Output Function
  283
- Parameters
  283
- Powertools Pro
  284
- Radio Button
  284
- Rms
  284
- Rom
  284
Index

287
- Symbols
  287

Control Techniques FM-3 Reference Manual (262 pages)

Programming Module

Brand: Control Techniques | Category: Control Unit | Size: 8.66 MB

Customer Support
5
Safety Instructions
7
Reference Materials
7
Safety Considerations

9
- Safety Precautions
  9
- Table of Contents
  11
Introduction

15
Operational Overview

17
- Software Interface
  17
- Powertools Pro Setup Software
  17
- Keypad Interface
  18
- How Motion Works
  20
- How Jogging Works
  20
- How Home Works
  20
- How Indexes Work
  27
- How Communications Work
  31
- Secure Downloading
  39
- Brake Operation
  40
- How Data Capture Works
  41
Setting up Parameters

43
- Status View
  43
- Status Online Tab
  43
- Information Tab
  45
- Graph View
  46
- Setup View
  48
- Motor View
  51
- User Units View
  57
- Master Units View
  59
- Virtual Master View - FM-3E Only
  62
- Position View
  64
- Velocity View
  67
- Ramps View
  68
- Torque View
  72
- Distance Recovery View - FM-3E Only
  73
- Tuning View
  73
- Faults View
  75
- Setup NVM View
  79
- Devices / Vars Group
  80
- PLS View
  80
- Timers View - FM-3E Only
  82
- Variables View
  91
- Bits View
  93
- Packed Bits - FM-3E Only
  96
- I/O Setup Group
  103
- Assignments
  103
- Assignments View
  103
- Selector View
  106
- Input Lines View
  109
- Output Lines View
  110
- Analog Inputs View
  110
- Analog Outputs View
  112
- Jog View
  114
- Home View
  118
- Index View
  122
- Gearing View
  129
- Torque Mode View - FM-3E Only
  131
- Stopping Motion
  132
- Network Group
  133
- Modbus View
  134
- Devicenet View - FM-3DN Only
  136
- Profibus View - FM-3PB Only
  136
- Ethernet View - FM-3E Only
  136
Programming

137
- Programs
  137
- Program Toolbar Buttons
  137
- Program Instruction Types
  139
- Adding and Deleting Programs
  149
- Run Anytime Programs
  149
- Example Programs
  150
Parameter Descriptions

157
Installation

193
- Basic Installation Notes
  193
- Mechanical Installation
  193
- Electrical Installation
  194
- Software Installation
  196
- Starting and Exiting Powertools
  197
- Accessing Help
  197
Quick Start

199
- Basic Setup Steps
  199
- Example Application Start up
  210
Tuning Procedures

217
- PID Vs. State-Space
  217
- Tuning Procedure
  217
- Tuning Parameters
  219
- Determining Tuning Parameter Values
  220
Diagnostics and Troubleshooting

225
- Diagnostic Display
  225
- Drive Faults
  230
- Error Messages
  230
- Online Status Indicators
  232
- Diagnostic Analog Output Test Points
  235
Specifications

237
- Dimensions and Clearances
  237
- Cable Diagrams
  239

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Control Techniques FM-3 Manuals

Control Techniques FM-3 Reference Manual (293 pages)

Table of Contents

Introduction

Operational Overview

Setting up Parameters

Programming

G

Parameter Descriptions

Quick Start

Tuning Procedures

Diagnostics and Troubleshooting

Specifications

Glossary

Index