Page 1 User/Programming Guide EZMotion SM-EZMotion Module Digitax ST EZMotion Part Number: 400361-00 Revision: A8 Date: March 26, 2009...
Page 3 EZMotion User/Programming Guide Information furnished by Control Techniques Americas LLC (Control Techniques) is believed to be accurate and reliable. However, no responsibility is assumed by Control Techniques for its use. Control Techniques reserves the right to change the design or operation of the equipment described herein and any associated motion products without notice.
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. Control Techniques is a Division of EMERSON Co.
Page 5 For the purpose of this manual and product, “Note” indicates essential information about the product or the respective part of the manual. Throughout this manual, the word “drive” refers to either the Unidrive SP or the Digitax ST. Throughout this manual, the word “EZMotion” refers to the SM-EZMotion module in either the Unidrive SP or the Digitax ST Base drive and the Digitax STEZMotion drive.
Page 6 SM-INTERBUS User Guide • SM-CANOpen User Guide • SM-Resolver User Guide • SM-Universal Encoder User Guide • SM-Ethernet User Guide • Digitax ST User Guide • Digitax ST Installation Guide • Digitax ST Technical Data Guide EZMotion User/Programming Guide www.controltechniques.com Revision: A8...
Page 7: Table Of Contents
SM-EZMotion Module for Unidrive SP ........
Page 8 Connecting the PC to the SM-EZMotion Module ........
Page 9 Closed-loop Vector Motors- SM-EZMotion/Unidrive SP Only ........
Page 10 Stopping Motion ................179 viii EZMotion User/Programming Guide www.controltechniques.com...
Page 11 Clearing SLX.dF trip after installing SM-EZMotion module ........
Page 12 EZMotion User/Programming Guide www.controltechniques.com Revision: A8...
Page 13: Safety Information
Safety Information The SM-EZMotion module and its associated drive are intended as components for professional incorporation into complete equipment or systems. If installed incorrectly the drive may present a safety hazard. The drive uses high voltages and currents, carries a high level of stored electrical energy and is used to control mechanical equipment that can cause injury.
Page 14 Isolation of control circuits The installer must ensure that the external control circuits are isolated from human contact by at least one layer of insulation rated for use at the applied AC supply voltage. EZMotion User/Programming Guide www.controltechniques.com Revision: A8...
Page 15: Introduction
SM-EZMotion Module for Unidrive SP The SM-EZMotion module for the Unidrive SP drive is an option module that can be fitted to any one of the three expansion slots in the Unidrive SP. Figure 1 shows the three slot positions.
Page 16: Development Software
With the Digitax ST EZMotion drive, EZMotion is internal installed in the drive and is not selectable in PowerTools Pro software. The SM-EZMotion module for the Digitax ST Base drive is an option module that can be fitted to any one of the two expansion slots in the Digitax ST Base, see Figure 2.
Page 17: Solution Module Compatibility Chart
Solution Module Compatibility Chart The table below shows what solution modules are compatible with the SM-EZMotion module as well as the firmware revision and the version of PowerTools software needed to program the combinations. Module Compatible with Configured by PowerTools Pro...
Page 18 EZMotion User/Programming Guide www.controltechniques.com Revision: A8...
Page 19: Installation
Slot Selection The SM-EZMotion module may be placed in any of the three available option slots on the Unidrive SP or the two available option slots on the Digitax ST. The user must indicate which slot the SM-EZMotion module is fitted in using PowerTools Pro configuration software.
Page 20: Digital I/O Specifications
The digital I/O can be used to control different functions in EZMotion. The digital I/O on the EZMotion are updated at the Trajectory Update Rate. The Trajectory Update Rate can be found on the Setup view in PowerTools Pro (see Setup View on page 74 for more information on the Trajectory Update Rate).
Page 21: Simple Servo Motor Phasing Test
Begin by entering the motor peak current, continuous current, number of poles, encoder lines per rev., etc. Then follow the steps below. Step 1: Verify wiring of encoder channels per the documentation. Define CW rotation of the motor shaft, from the flange side, with increasing counts. EZMotion User/Programming Guide Revision A8 www.controltechniques.com...
Page 22 Navigate the keypad to display parameter #0.40 and set the parameter to 1 If an tunE3 or other tunEx trip results, rewiring is needed Swap the U and V commutation signals at the drive end. Repeat steps A through C to verify. EZMotion User/Programming Guide www.controltechniques.com Revision: A8...
Page 23: Powertools Pro Software
PowerTools Pro, insert the SM-EZMotion CD into the CD-ROM drive of your PC. The SM-EZMotion CD will auto-launch on your PC (if not, use Windows Explorer to find the Launch.exe file on the CD drive, double click). From the SM-EZMotion CD Main Menu, click on the PowerTools Pro Software button.
Page 24: How Powertools Pro Is Organized
ALT and press F to open the File menu. Then press N for New, see Figure 10. 4.4.1 File The File menu on the menu bar contains many different options for file handling (i.e., saving files, importing files, etc.). Figure 10 below shows the File menu expanded. EZMotion User/Programming Guide www.controltechniques.com Revision: A8...
Page 25 Import allows the user to import an existing FM-3 file into an FM-4 configuration, or an FM-4 file into an EP-P configuration, or an existing FM-3/4 or EP-P file into an SM-EZMotion/Digitax ST configuration. To import the file, open a new file and select the configuration type that you wish to convert to.
Page 26: Edit
Adding an index will take you directly to the new index view. Home Only one home is available in the initial release of EZMotion. Program Selecting Edit > New > Program will add a new user program to the configuration. Programs are added in sequential order. The new program will be the next highest available program number.
Page 27: Device
PowerTools Pro to go online without needing to perform a full upload or download. In order for reconnect to work, the active file in PowerTools Pro must be exactly the same as the file that resides in EZMotion’s EZMotion User/Programming Guide Revision A8 www.controltechniques.com...
Page 28: Options
Stop Selecting Stop from the Device menu will stop all motion and programs that are currently active in EZMotion. Until the Stop is cleared (by selecting Stop from the Device menu again), motion and programs will be prevented from being initiated.
Page 29 For more information on these tab, refer to Communications Tab on page 25 in this manual. Motor DDF The Motor DDF tab controls which .ddf file PowerTools will use when working with the configuration file. EZMotion User/Programming Guide Revision A8 www.controltechniques.com...
Page 30: Tools
Watch Window Selecting Watch Window will launch a diagnostics tool that allows the user to view the current value of multiple EZMotion parameters while online with the drive. For more information on the Watch Window, refer to Diagnostics on page 237 in this user guide.
Page 31: View
Flash Upgrade Selecting Flash Upgrade will launch the utility that lets the user upgrade the firmware in EZMotion. New firmware becomes available from Control Techniques to add new features or to upgrade prior releases. When the user selects Flash Upgrade, PowerTools Pro will search for all devices available on the network. Once PowerTools detects devices, a window similar to that shown in Figure 19 will appear.
Page 32: Window
Figure 22: Help Menu Help Topics By selecting Help Topics, the help file will be launched allowing the user to lookup and read information related to the SM-EZMotion module and PowerTools Pro software. Using Help Selecting Using Help will launch a window that lets the user select different topics available as part of the help file. This utility makes it easier to navigate the different sections of the help file.
Page 33: Print
Selecting Upload NVM (Non-Volatile Memory) will read the current value from each of the parameters in EZMotion’s NVM memory and display it in the PowerTools Pro configuration. The file can then be saved to retain the current values stored in NVM.
Page 34: Add Program
4.5.21 Stop Using the Stop button on the toolbar will stop all motion and programs that are currently active in EZMotion. The Stop button will toggle on and off meaning that once it is clicked to stop motion and programs, it will remain active until it is clicked again.
Page 35: View
The Hierarchy tree starts at the top with Hardware, then moves on to Setup parameters, I/O Setup, Motion, and then finishes with Programs. When the user gets to the bottom of the hierarchy tree, the configuration should be ready to be downloaded to EZMotion. View Figure 8 on page 12 shows an example of a view in PowerTools Pro.
Page 36 EZMotion User/Programming Guide www.controltechniques.com Revision: A8...
Page 37: Communications
5.2.1 Modbus EZMotion communicates with the PC through the drive's RS-485 communication port. An RS-232 to RS-485 converter is necessary to communicate with the drive. The Unidrive SP/Digitax ST has a RJ45 serial port connector on the front of the drive.
Page 38: Uploading And Downloading Using Powertools Pro
Uploading Uploading is the process of reading the configuration stored in EZMotion and loading that data into a configuration file on the PC. Arrow B in Figure 25 represents a standard Upload. To upload a configuration from EZMotion, click the Upload button on the PowerTools Pro toolbar or on the Device menu, click Upload.
Page 39: Downloading
PowerTools Pro will not take effect until the information has been downloaded or the Update to RAM button has been clicked. Arrow A in Figure 25 represents a standard Download. To download information to EZMotion, click on the Download button on the PowerTools Pro toolbar or select Device > Download from the menu bar.
Page 40: Non-Volatile Memory (Nvm) Options For Uploading And Downloading
EZMotion. Downloading When downloading to EZMotion the user will be required to select how to handle the NVM parameters upon downloading. Figure 28 shows the dialog box asking the user to select one of three options for the download.
Page 41: Update To Ram
Arrow F in Figure 25). The Update to RAM button is found in the PowerTools Pro toolbar. This operation will send only those changes that have been made since the last Update to RAM or Device > Download to EZMotion. The changes will take effect immediately upon clicking on the button.
Page 42: Secure Downloading
Ignore saving file on Ptools/Drive revision conversion On a download PowerTools Pro first checks the revision of the EZMotion firmware before downloading the configuration. If the firmware in the module is older than the matching software revision, PowerTools Pro then converts the user configuration to match the firmware revision in the module.
Page 43: Change Path
EZMotion, all diagnostics capabilities in the software are lost. The only way to go online with the system again is to download the original (non-secure) file over the secure version, or to download a completely new file. Before performing a secure download, the file must first be saved in the secure file format. To do this, open the file you wish to save in the secure format using PowerTools Pro.
Page 44 Drive Type • Module Type • Communication Options • Base/Drive Revision • Module Revision • Module Serial Number • Drive Serial Number Select the devices communication connection you wish to change to and click OK. EZMotion User/Programming Guide www.controltechniques.com Revision: A8...
Page 45: How Motion Works
Most motors used with the drive have an encoder mounted in the back end of the motor. This encoder is used to feed positional data back to the drive or EZMotion for position control. Each encoder has a special signal called the Encoder Marker Channel that activates once every revolution of the motor.
Page 46 Home Initiate Encoder Marker Figure 36: Home to Marker Profile (Calculated Offset) Velocity Home Velocity Home Offset Home Accel Home Decel Time Home Initiate Encoder Marker Figure 37: Home to Marker Profile (Specified Offset) EZMotion User/Programming Guide www.controltechniques.com Revision: A8...
Page 47: Home To Sensor
Home Initiate External Sensor Figure 38: Home to Sensor Profile (Calculated Offset) Velocity Home Velocity Home Offset Home Accel Home Decel Time Home Initiate External Sensor Figure 39: Home to Sensor Profile (Specified Offset) EZMotion User/Programming Guide Revision A8 www.controltechniques.com...
Page 48: If On Sensor Options
Therefore, an external sensor is mounted on the machine to determine the home position. EZMotion allows the user to home first to the external sensor, followed by a home to the next marker pulse. The Home to Sensor then Marker combines the accuracy of homing to the encoder marker with the flexibility of homing to an external sensor.
Page 49: Index
If an Absolute Index is initiated a second time, just after completing the first index the motor will not move because it is already at its specified absolute position. Figures 44 and 45 show examples of an Absolute Index profile. Position (Revs) Starting Position: -2 Revs Index Position: 2 Revs Figure 44: Absolute Index Profile (Example 1) EZMotion User/Programming Guide Revision A8 www.controltechniques.com...
Page 50: Incremental Index
In a Registration Index with Sensor defined as the registration signal, the index travels at velocity until an external sensor or switch activates. The sensor or switch must be wired to a digital input on EZMotion, Unidrive SP/Digitax ST drive, or any SM I/O module. To EZMotion User/Programming Guide www.controltechniques.com...
Page 51 Registration to Sensor, an EZMotion digital input must be used to take advantage of the high- speed capture capability. Three Figures below show examples of a Registration Index to Sensor using different Offset values.
Page 52: Rotary Plus Index
Rotary Rollover range (Posn < Rotary Rollover). Figure 51 compares a Rotary Plus Index to an Absolute Index (Rotary Rollover is enabled). Starting Position Rotary Rollover: 360 Index Position: 270 Position After Index Rotary Plus Absolute (Forced Positive) (Shortest Path) Figure 51: Rotary Plus Index Profile EZMotion User/Programming Guide www.controltechniques.com Revision: A8...
Page 53: Timed Index
In many applications, the user knows how far the load must move in a certain period of time. Rather than making the user calculate an acceleration, velocity, and deceleration so that an index takes the right amount of time, EZMotion allows the user to enter the distance and the time instead.
Page 54: Gearing
The GearRatio can be changed on the fly (while gearing is active and in motion), but acceleration or deceleration must be enabled to use ramps to achieve the new ratio. If gearing accel and/or decel ramps are not enabled, the motor will attempt to achieve the new ratio in one trajectory update. EZMotion User/Programming Guide www.controltechniques.com Revision: A8...
Page 55: Camming
You can further adjust the flow by dynamically changing the cam tables themselves or using a cam table time base index to adjust time or distance. EZMotion User/Programming Guide Revision A8...
Page 56: Motion Timebase (Realtime Vs. Synchronized)
The acceleration units for a synchronized move are again a function of Master Distance. Acceleration and Deceleration units are as follows: Follower Distance Units / Master Distance Unit / Master Distance Unit A few examples of Synchronized motion units are listed in the following table. EZMotion User/Programming Guide www.controltechniques.com Revision: A8...
Page 57: Summing Multiple Profiles
Figure 57 shows an example to two separate profiles (Index 0 and Index 1). Each profile is shown individually, and then a summed profile diagram is shown to demonstrate what the overall profile looks like when the profiles are summed. EZMotion User/Programming Guide Revision A8...
Page 58 Velocity Time Index 0 Profile 0 Velocity Time -100 Index 1 Profile 1 Velocity Time Index 0 plus Index 1 Summed Profile Index 0 Initiate Index 1 Initiate Figure 57: Two Indexes Summed Profile EZMotion User/Programming Guide www.controltechniques.com Revision: A8...
Page 59: Configuring An Application
(i.e. User Units, Tuning, Torque Limits, etc.). Next, the user configures any devices or variables that are needed in the application. Then the Digital and Analog I/O for the drive, EZMotion, and any SM I/O module. The user then defines all of the different motion profiles (Jogs, Homes, Indexes, Gearing, Camming) to be used in the application.
Page 60 If check box is cleared: EZMotion checks Analog Input 3 Mode on power-up by reading Pr 7.15. If Pr 7.15 = 8, then EZMotion changes the mode to Voltage Mode by setting Pr 7.15 = 6. If 7.15 <> 8 then EZMotion does not modify the value of Pr 7.15.
Page 61: Motor Parameters Column
Rotor Inertia This parameter specifies the inertia of the motor rotor. The range is 0.000010 to 90.000000 kg*m^2. The SM-EZMotion module uses this parameter to interpret the “Inertia Ratio” parameter found on the Tuning view. “Inertia Ratio” is specified as a ratio of reflected load inertia to motor inertia.
Page 62: Closed-Loop Vector Motors- Sm-Ezmotion/Unidrive Sp Only
ST User Guide for more information (parameter 3.25). 8.2.4 Closed-loop Vector Motors- SM-EZMotion/Unidrive SP Only When the user has selected Closed-loop Vector from the Drive mode list box, the user must either select one of the pre-configured vector motors from the Motor Type list or create a new vector motor data file by editing the Motor Parameters column.
Page 63: Values From Drive Column
This parameter specifies the motor stator inductance and is defined as the inductance of the motor stator when rated flux is applied. This parameter is used to create velocity loop gains for the SM-EZMotion module and Unidrive SP. This value can be provided by the motor manufacturer, or can be measured using the Auto-Tune feature of the Unidrive SP (See Run Auto-Tune Button on page 52).
Page 64: Apply To Config. Button
Tune and displays them in the Values from Drive column of the Motor tab. After the Auto-Tune, the measured values are only saved in the Drive NVM, and not in EZMotion. Therefore, in order to store the values in EZMotion, the Auto-Tune values must be applied to the configuration file.
Page 65 When entering motor data parameters, some parameters are absolutely crucial to fundamental motor operation, while others are necessary only for optimum performance. The following chart defines the level of necessity for each motor data parameter. EZMotion User/Programming Guide Revision A8...
Page 66 Rotor Inertia Motor Ke Phase Resistance SP Transient Inductance SP Max. Operating Speed Thermal Time Constant Encoder Phase Angle Closed Loop Vector Mode - SM-EZMotion/Unidrive SP Only Motor Parameter Required for Required for Excellent Operation Operation Motor Name Peak Current...
Page 67: Save .Ddf Values Button
Encoder Phase Angle In addition to the above list, the user must set the Encoder Type and Encoder Lines Per Rev properly before running the Auto- Tune procedure. Closed Loop Vector Mode - SM-EZMotion/Unidrive SP Only Motor Parameter Needed to Run Auto-Tune...
Page 68: Help Button
This helps the user to determine whether they wish to overwrite, cancel, or create a new motor with this Save .ddf Values operation. 8.2.9 Help Button The Help button, located on the right side of the Motor tab, will display help information for the different functions available on the tab. EZMotion User/Programming Guide www.controltechniques.com Revision: A8...
Page 69: Slot # View
The Unidrive SP has three slots available and the Digitax ST has two slots. When a new application file is started for the Digitax ST EZMotion drive the EZMotion is automatically set in PowerTools Pro.
Page 70: Sm-Universal Encoder Plus Module View
The hierarchy tree automatically updates to show that a SM-Universal Encoder Plus module is populated in that specific slot, see Figure 67. Figure 67: Slot # View (SM-Encoder Plus Module) EZMotion User/Programming Guide www.controltechniques.com Revision: A8...
Page 71 Universal Encoder Plus module to support many different encoder types. Select the desired type of encoder from this list box. See the SM-Universal Encoder Plus section of the SM-EZMotion User Guide or the SM-Universal Encoder Plus User Guide for more information.
Page 72 Use this field to enter the desired drive source parameter (between 00.00 and 21.51). By default, EZMotion configures the simulated output to work in Quadrature mode. In order to change the mode, the user will have to change the Drive Menu Initialization file.
Page 73 Use this field to enter the desired drive source parameter (between 00.00 and 21.51). By default, EZMotion configures the simulated output to work in Quadrature mode. In order to change the mode, the user will have to change the Drive Menu Initialization file.
Page 74 = 128123 / 1000 = 128.123 Encoder Comms Baud Rate This parameter defines the baud rate for the encoder communications. The list box allows the user to select from various baud rates between 100kbaud and 2Mbaud. EZMotion User/Programming Guide www.controltechniques.com Revision: A8...
Page 75: Sm-Resolver Module View
Use this field to enter the desired drive source parameter (between 00.00 and 21.51). By default, EZMotion configures the simulated output to work in Quadrature mode. In order to change the mode, the user will have to change the Drive Menu Initialization file.
Page 76: Sm-Devicenet Module View
0.1251 to 0.2500 0.2501 to 0.5000 0.5001 to 3.0000 8.3.6 SM-DeviceNet Module View If DeviceNet is selected in the Slot # Module list box, the remainder of the view will have configuration parameters to define the EZMotion User/Programming Guide www.controltechniques.com Revision: A8...
Page 77 I/O Data Mapping Tab The left side of the view contains a list of the EZMotion and SP parameters that may be mapped to the words on the Master Send or Master Receive tabs on the right by dragging and dropping. EZMotion parameters from the variables parameters list can only be mapped to EZMotion parameter words, and SP parameters to SP parameter words.
Page 78 When selected (enabled) the SM-DeviceNet will trip the Unidrive SP/Digitax ST when the expected packet rate timeout occurs. This is an alternative network loss trip mechanism to the Network Loss trip. See the SM-DeviceNet User Guide for more information. EZMotion User/Programming Guide www.controltechniques.com...
Page 79: Sm-Profibus Dp Module View
High byte fourth Most Profibus-DP master controllers use big endian format by default, many also support little endian. The default configuration of Big Endian is consistent with the way most Profibus Master PLCs transfer their data. EZMotion User/Programming Guide Revision A8 www.controltechniques.com...
Page 80 Individual parameters are mapped by dragging and dropping the parameter from the Variables list to the desired word. EZMotion parameters from the variables list can only be mapped to EZMotion parameter words, and SP parameters to SP parameter words. EZMotion Parameter Words There are a maximum of 32 EZMotion parameter words available, 24 is the default.
Page 81: Sm-Applications Plus Module View
This is a 32-bit identification number for each node on an Internet Protocol network. These addresses are represented as four 8-bit numbers (0 to 255), with periods between them. Each node on the Ethernet network must have a unique IP address. For EZMotion User/Programming Guide Revision A8...
Page 82 Select this button when using the LCD Keypad Plus and the SM-Ethernet module this will turn .37 off. Maintain elevated Ethernet comms priority (Leave x37 - On) Select this button when using the standard LED Keypad is will leave x37 on. EZMotion User/Programming Guide www.controltechniques.com Revision: A8...
Page 83: Sm-I/O 120V
If I/O 120V is selected in the Slot# Module list box, the remainder of the view should have configuration parameters for the module’s digital I/O points. The hierarchy tree automatically updates to show that an SM-IO 120V module is populated in the specific slot, see Figure 75. Figure 75: Slot# View (SM-IO 120V Module) EZMotion User/Programming Guide Revision A8 www.controltechniques.com...
Page 84: Sm-I/O 32
I/O on the Unidrive SP/Digitax ST or EZMotion itself. When used with EZMotion the SM-I/O 32 module is only used in "Fast Update Mode". See the SM-I/O 32 User Guide for details. When an SM-I/O 32 module is used, EZMotion automatically reserves the following parameters in the drive's Menu 20 mapping: For the 1st SM-I/O 32 module: 20.38, 20.39, and 20.40 are reserved (regardless of which slot the module is in).
Page 85: Drive Menu Watch View
Unidrive SP/Digitax ST can operate in many different modes, and has many different features, it must be put into a known state so that EZMotion can control it. To get into this state, certain menu parameters must be set to specific values. The Drive Menu Initialize View is simply a list of parameters that EZMotion writes to the Unidrive SP/Digitax ST on powerup so that the Unidrive SP/Digitax ST is in a known state so EZMotion can control it.
Page 86: Configure Setup Parameters
Once the data is written from the SpInitialize.ini file into the new configuration, it is stored as part of the configuration. Therefore, if the file is downloaded to EZMotion, the contents of the Drive Menu Initialize view resides in the module. If the file is uploaded using PowerTools Pro, the contents of the SP Menu Initialization list is uploaded as part of the configuration file.
Page 87 Motor Feedback Source Motor Feedback Source allows the user to specify where the motor feedback device is connected to the Unidrive SP/Digitax ST. Early releases of PowerTools Pro and EZMotion only allow selection of "Drive". NOTE When the Dual Loop Mode feature is used, this specifies the location of connection for the motor feedback device even though a different feedback device is being used to close the position loop.
Page 88: User Units View
You can select from zero to six decimal places of accuracy. Scaling A Characteristic Distance and Length must be established to allow the module to scale user units back to actual motor revolutions. EZMotion User/Programming Guide www.controltechniques.com Revision: A8...
Page 89: Master Units View
Popup Variables button and the Select Variables from Tree window will open. Select the variable and drag it over to the Module Variable text box. EZMotion User/Programming Guide Revision A8 www.controltechniques.com...
Page 90 Samples list box, used by the filter. If the check box is clear, the filter is not used Master Position Filter Samples Defines the number of samples used by the filter to smooth the master signal. Increasing the number of samples increases EZMotion User/Programming Guide www.controltechniques.com Revision: A8...
Page 91: Absolute Position View
"re-home" the machine to a sensor or encoder marker pulse. Since the machine does not need to be re-homed, the customer saves time and in many cases reduces product waste. This view is used to define how the position feedback from the absolute encoder is to be interpreted by the EZMotion on power-up or after a warm-start.
Page 92 The Absolute Position view allows the user to configure the necessary parameters for both the Motor Axis (this is the axis being controlled by the EZMotion), and the Master Axis (if applicable). If the encoder selected for use on either the Motor Axis or Master Axis are not of the absolute type, then the setup parameters on that tab will be grayed-out and cannot be modified.
Page 93 P + 1000 or P 2375. If the machine is powered-down and then back up, EZMotion would read the position from the absolute encoder P subtract the position of the absolute encoder at the home position P , and then add the position feedback of the machine at...
Page 94: Reasons For Re-Homing
Flash Upgrade If EZMotion is flash upgraded, the contents of NVM is lost and hence, the system needs to be re-homed to re-learn the absolute home position of the machine. The absolute home position is not stored as part of the user configuration, so downloading the previous user configuration will not re-load the absolute home position.
Page 95: Virtual Master View
This is necessary because the new or repaired motor/encoder almost certainly will not be mounted with the exact same absolute position when at the machine home position. There is no way for EZMotion to monitor that this scenario has occurred, so it is up to the user to manually undefine the home, and then repeat the homing procedure.
Page 96 100%. A setting of 200% will scale time so that all count run twice as fast as they would at 100%. Feed Rate Override is always active, and this parameter may be modified via Modbus, Ethernet, or in a program. EZMotion User/Programming Guide www.controltechniques.com...
Page 97: Position View
(in seconds) to accelerate or decelerate 100% of programmed feedrate. 8.4.7 Position View The Position view allows the user to configure parameters related to position control of EZMotion. Figure 85 shows a sample of the Position view. Figure 85:...
Page 98: Velocity View
359.999 degrees and count down. The resolution of the rotary rollover point is determined by the Distance Units Decimal Places parameter on the User Units view in the PowerTools Pro software. If an absolute index is used with a non-zero rotary rollover point, the EZMotion will calculate the shortest path to its destination and move in the required direction.
Page 99 User Ramps Prior to the introduction of this feature in firmware revision A8 of EZMotion, User Ramps was the only ramp control type available. When User Ramps are enabled, the Acceleration or Deceleration ramp entered by the user will ALWAYS be used during a motion profile, even if that means the motor must overshoot the entered stopping position.
Page 100 If Index.1.Decel was aggressive enough to reach zero speed within 3 Revs, it would have been used instead of automatically calculating the ramp. Distance Velocity Accel Decel (Revs) (RPM) (RPM/sec) (RPM/sec) Index 0 1000 1000 Index 1 1250 2000 2000 EZMotion User/Programming Guide www.controltechniques.com Revision: A8...
Page 101: Current View
The value entered here is the deceleration ramp that is used when a software or hardware travel limit is hit. 8.4.10 Current View The Current view allows the user to configure Current Level Flags and Current Limits for use in the application. EZMotion User/Programming Guide Revision A8 www.controltechniques.com...
Page 102: Distance Recovery View
This distance can be recovered when at velocity by adding a distance recovery index on top of the gear operation or cam. This view defines the limits of that recovery index. Gearing uses distance recovery after accelerating from zero to a locked state. Camming uses distance recovery after using the EZMotion User/Programming Guide www.controltechniques.com Revision: A8...
Page 103: Tuning View
This (DistanceRecovery. Decel) is the deceleration rate for the distance recovery index in user units. 8.4.12 Tuning View The Tuning view contains all the parameters that are adjusted to properly tune the motor/drive system. Figure 92 shows an example of the Tuning View. Figure 92: Tuning View EZMotion User/Programming Guide Revision A8 www.controltechniques.com...
Page 104 EZMotion from sending its calculated gain values to the Unidrive SP/Digitax ST. By default, the Module Gains Enable check box will be selected so that the values calculated by EZMotion are sent to the Unidrive SP/Digitax ST. To disable this function, simply clear the Module Gains Enable check box.
Page 105: Errors View
Module Power Up Count Module Power Up Count is a current value of how many times EZMotion has been powered up. Each time power is cycled to the system, this number increments by one. This parameter is stored in EZMotion, and is not reset if the module is switched to another drive.
Page 106 Digitax ST User Guide. Note that this trip code is not the same as the Trip Code or Error Code within a solutions module. For example, if an error occurs in a SM-EZMotion module located in Slot 1, the Trip Log will not store the SM-EZMotion Error code, but instead it will store SL1.Er indicating that an error occurred in Slot 1.
Page 107: Setup Nvm View
PLSs can be assigned to four different sources: the motor axis, (MotorPosnFeedback, MotorPosnCommand), a master synchronization signal, (MasterPosnFeedback) or the real time clock from the built-in microprocessor (FreeRunTime). This parameter determines which source the PLS uses to reference its OnPosn and OffPosn in order to determine the EZMotion User/Programming Guide Revision A8 www.controltechniques.com...
Page 108: Capture View
The Capture view allows the user to configure the various Capture object parameters. Figure 96 shows an example of the Capture view. Figure 96: Capture View A detailed explanation of each of the Capture components is below. EZMotion User/Programming Guide www.controltechniques.com Revision: A8...
Page 109 The capture component will automatically reset itself if the CaptureEnable signal is removed. CaptureEnable CaptureActivate CaptureTriggered CaptureReset Figure 98: Capture Timing Diagram Figure 98 is a timing diagram that shows how the different capture related sources and destinations function. The three EZMotion User/Programming Guide Revision A8 www.controltechniques.com...
Page 110: Queues View
Only a select few sources can accurately capture data. The reason that only certain signals can accurately capture data is because they are wired directly to the EZMotion FPGA or the signal is generated internally by the processor and can be activated in the FPGA.
Page 111 If set to Master Position, then the sum is compared to the Master Feedback Position parameter, and if set to Command Position, then the sum is compared to the Motor Commanded Position. Queue Sources and Destinations Figure 100 shows a block diagram of the Queue object. EZMotion User/Programming Guide Revision A8 www.controltechniques.com...
Page 112: Timers View
For example: When a digital input turns on, we want to start a program exactly 500 msec later. Or, when an index is complete, we want to hold an output on for exactly 2.000 seconds. There are several different types of Timers available to the user based on the task they are trying to achieve. EZMotion User/Programming Guide www.controltechniques.com Revision: A8...
Page 113 Input after that. The Output will always turn ON when the Preset Time is reached (unless the Reset activates before the Preset Time is reached). The Timer Output will remain ON until the Reset is activated or the TimerEnable is deactivated. Figure 103: Edge On Timer - Timing Diagram EZMotion User/Programming Guide Revision A8 www.controltechniques.com...
Page 114 Once the Preset time is reached, the Output of the timer turns OFF. If the Input turns ON again before the Preset time is reached, the clock resets to zero and waits again for the Input to turn OFF before starting the count. EZMotion User/Programming Guide www.controltechniques.com...
Page 115 On Timer. Figure 107: Cumulative ON Timer, No Reset - Timing Diagram Additionally, a Reset signal can be used to clear the cumulative timer and restart it at zero. The figure below shows an EZMotion User/Programming Guide Revision A8 www.controltechniques.com...
Page 116 Input to turn OFF before resuming the count again. Figure 109: Cumulative Off Timer - Timing Diagram Additionally, a Reset signal can be used to clear the cumulative timer and restart it at zero. The figure below shows an example of EZMotion User/Programming Guide www.controltechniques.com Revision: A8...
Page 117 Preset time, the Output turns ON. The Output will remain ON until the Timer Reset is activated. If a rising edge is seen on the Input while the Output is ON, it will be ignored and the Elapsed Time will NOT be reset. Figure 111: Watchdog Timer - Timing Diagram EZMotion User/Programming Guide Revision A8 www.controltechniques.com...
Page 118: Timer Signals/Events
Timer Signals/Events The Timer objects has several inputs and outputs that are available on the Assignments view, or within a user program. A block diagram of the Timer object is seen in Figure113 below. EZMotion User/Programming Guide www.controltechniques.com Revision: A8...
Page 119 All timer types use the Enable even though it is not shown in the individual timing diagrams. See examples of how TimerEnable affects timer functionality in Figure 114 and Figure 115 below. Figure 114: Timer Enable with Edge On Timer EZMotion User/Programming Guide Revision A8 www.controltechniques.com...
Page 120: Using Timers Within Programs
To change the value of a Timer Preset in a program: Timer.#.Preset = 12.345 'Seconds To check if a timer is running: If (Timer.#.Active = ON) Then Some code Endif To wait for a Timer to start running: EZMotion User/Programming Guide www.controltechniques.com Revision: A8...
Page 121: Variables View
Once setup, Variables can be used inside a program for calculations, motion profile setup, or any other user-desired function. To access User Variables, click Drag In Variables button in the user program toolbar. User Variables is a branch in the Select EZMotion Variables box. 8.5.8 Bits View Bits act just like Variables except that they allow the user to store bit level parameters rather than 32-bit parameters.
Page 122 When using different communications protocols (i.e. DeviceNet, Profibus, Modbus), it is often desirable to access groups of Bits in a single parameter, rather than having to access them individually. In EZMotion it is possible to access 32-bits in a single parameter.
Page 123 The default value for the Mask register is 0xFFFFFFFF (HEX), or all bits ON. To change the Mask value using PowerTools Pro, navigate to the Mask tab on the Bits view, see Figure 120. EZMotion User/Programming Guide Revision A8...
Page 124: Packed Bits
Control Word value. For example, if a user initiates a Jog Plus within a user program, Bit0 of the ControlWord in Figure 121 would not automatically change to 1. Bit0 will only be 1 if the master device sets that bit when writing to EZMotion User/Programming Guide www.controltechniques.com...
Page 125: Packed Bits Control Words View
Control Words handle data being written to the user defined drive bit-level parameters. The user configures the Control Word(s) by dragging-and-dropping the desired bit-level parameters they wish to write into the Control Word mapping. Figure EZMotion User/Programming Guide Revision A8...
Page 126 While online with the drive, the user can monitor the Control Words value (see Figure 124). The data is displayed in binary form for each individual bit of the Control Word(s), as well as hexidecimal and decimal format for each Control Word. EZMotion User/Programming Guide www.controltechniques.com...
Page 127: Pack Bits Status Words View
Status Word(s) by dragging-and-dropping the desired bit-level parameters they wish to read onto the Status Word mapping. Figure 89 below shows the Packed Bits Status Words view onto which the user has dragged several status parameters. EZMotion User/Programming Guide Revision A8 www.controltechniques.com...
Page 128 Status Word mapping requires a full download. Online Status Tab (Available Online Only) While online with the device, the user can monitor the Status Word value (see Figure 90). The data is displayed in binary form for EZMotion User/Programming Guide www.controltechniques.com Revision: A8...
Page 129: Configure I/O
The Unidrive SP/Digitax ST is equipped with up to six input lines (three can be configured as Input or Output) and up to five output lines (three can be configured as Input or Output and two are Relay Outputs). EZMotion has an additional four input and two output lines.
Page 130 The active state of an assignment can be programmed to be Active Off, Active On, or Custom using PowerTools Pro. Making an assignment "Active On" means that the Destination will become active when the Source it is assigned to becomes active, and is EZMotion User/Programming Guide www.controltechniques.com...
Page 131: Selector View
The selector helps to minimize the required number of inputs and outputs to initiate different actions. The selector limits the I/ O by using a conversion from binary to decimal. Figure 130 shows a block diagram of the Selector Object. EZMotion User/Programming Guide Revision A8...
Page 132 Index 0 through Index 3 Initiates, and the two Select lines being assigned to digital inputs. By doing this, we could initiate up to four indexes with only two Select lines and a Selector Initiate. This helps to minimize the number of inputs required to initiate a large number of indexes or programs. EZMotion User/Programming Guide www.controltechniques.com Revision: A8...
Page 133: Drive I/O Setup View
Unidrive SP/Digitax ST can be configured as Inputs or Outputs. Use the list boxes to configure as desired. While online with PowerTools Pro, this view shows “Virtual LED’s” that are used to show the current status of the drive’s digital I/O. EZMotion User/Programming Guide Revision A8...
Page 134: Ezmotion I/O Setup View
EZMotion I/O Setup View The EZMotion I/O Setup view allows the user to configure the debounce time for each of the digital input on EZMotion. Debounce time is the minimum time that the given input must be active before it is accepted as a valid active signal. This can be used to reject momentary noise spikes in a electrically noisy environments.
Page 135: Analog Input - Channel 2
Enable Channel Check Box By default, the analog input channel is not enabled meaning that EZMotion is not reading the A/D value read by the analog circuit. If the channel is not selected (disabled) the configuration parameters for the analog input are dim and unavailable. To enable the input, simply select the Enable Channel check box, and the configuration parameters will become available to edit.
Page 136: Analog Outputs View
Enable Channel By default, the analog output channel is not enabled meaning that EZMotion is not sending a value to the analog circuit. If the Enable Channel check box is clear (disabled), the configuration parameters for the analog output appear dim and are unavailable. To enable the output, simply select the Enable Channel check box, and the configuration parameters will become available for editing.
Page 137 The Module Variable parameter is only available once the user has selected User Defined Module Variable from the Source list box. The field is used to define what EZMotion parameter will control the Analog Output. This means that the selected module parameter will directly determine the value of the Analog Output based on the Max and Min scaling values entered on this view.
Page 138: Analog Output - Channel 2
In order to scale the Analog Output value into the proper scale and units for the selected Module Variable, the user must define the maximum scale value and the minimum scale value. EZMotion then uses linear interpolation to determine the value to be sent to the analog output.The Minimum Output is the value that will be sent to the Analog Output when the Module Variable is equal to the...
Page 139: Define Motion Profiles
Jog.#.Decelerating - This source is active while a jog is decelerating from its target velocity. Once the Jog reaches zero velocity (or its new target velocity), the Jog.#.Decelerating source will deactivate. Destinations The following destination functions can be found in the Assignments view under the I/O setup group: EZMotion User/Programming Guide Revision A8 www.controltechniques.com...
Page 140 In the table below Jog.0.Velocity = 100 RPM and Jog.1.Velocity = -500 RPM. Jog.PlusActivate Jog.MinusActivate Jog.Select0 Motion 0 RPM +100 RPM -100 RPM -500 RPM +500 RPM 0 RPM 0 RPM All Jog destinations are level sensitive. Figure 137: Jog Activate Figure 138: Jog Select Usage EZMotion User/Programming Guide www.controltechniques.com Revision: A8...
Page 141: Home View
Acceleration Average Acceleration rate used during the home. Units are specified on the User Units view. Deceleration This is the average Deceleration rate used at the end of the Home move in user units. EZMotion User/Programming Guide Revision A8 www.controltechniques.com...
Page 142 If debounce is used on the hardware input that the Home.#.SensorTrigger is assigned to, the debounce determines the length of EZMotion User/Programming Guide www.controltechniques.com...
Page 143: Index View
Distance. If a Registration Sensor is seen, then the index runs an additional Registration Offset distance. Rotary Plus and Rotary Minus type indexes are typically used in applications which use rotary rollover. These absolute EZMotion User/Programming Guide Revision A8 www.controltechniques.com...
Page 144 The Index.ProfileLimited flag will remain active until cleared using the Index.ResetProfileLimited assignment or program instruction. In EZMotion User/Programming Guide www.controltechniques.com...
Page 145 If an index is so short (possible in the case of an absolute index) that it reaches the On Point, or incremental distance, into the index, but never reaches the Off Point, the Index.#.PLSStatus will remain active until the index is run again. EZMotion User/Programming Guide Revision A8...
Page 146 AtVelocity shall remain active. Index.#.AtVel will deactivate at the start of any deceleration or acceleration. During a synchronized index, this source could be active even without any motor motion if the master axis stops. Index.#.Command Complete - The Index.#.CommandComplete source will activate when the specific index completes its EZMotion User/Programming Guide www.controltechniques.com Revision: A8...
Page 147 Navigate to the Indexes View. Select the Index to be deleted, and then right-click the mouse. A selection menu will appear allowing the user to add a New Index or Delete an Index. Click on Delete Index and the selected index will be deleted from the configuration. EZMotion User/Programming Guide Revision A8 www.controltechniques.com...
Page 148: Gearing View
The follower will follow both the plus and minus master axis command at the specified ratio. ComMinus The follower will follow only the minus master axis command. ComPlus The follower will follow only the plus master axis command. EZMotion User/Programming Guide www.controltechniques.com Revision: A8...
Page 149: Camming View
As an alternative, the cam is initiated in the same manor as jogs, home and indexes. EZMotion User/Programming Guide Revision A8...
Page 150 Jerk Free – The jerk starts and ends at zero. Jerk increases or decreases in smooth transition. Incremental MFI Incremental MFI is different from Absolute MFI in that each point is a delta position. This allows values in the middle to be modified. EZMotion User/Programming Guide www.controltechniques.com Revision: A8...
Page 151: Torque Mode View
The Velocity Limiting has values and enables for acceleration and deceleration. This allows for position control integration with compound and blended Indexes. We recommend using the graphical monitor to debug your motion integration. EZMotion User/Programming Guide Revision A8 www.controltechniques.com...
Page 152: Multiple Profiles
The default Profile is Profile.0 and therefore it is unnecessary to specify On Profile.0 in user programs. If no Profile is specified, the default profile is used. For example, a user program that initiates an index on Profile.0. The following two program lines will generate the same result. Index.0.Initiate EZMotion User/Programming Guide www.controltechniques.com Revision: A8...
Page 153: Create User Programs
Figure 148 shows an example of the Program View. Figure 148: Program View For details on the Cyclic, Real Time, and Programs views or how to create a program, see Programming on page 147 in this manual. EZMotion User/Programming Guide Revision A8 www.controltechniques.com...
Page 154: Graph View
If the slider is completely to the right (default), the full captured buffer will be uploaded and displayed. If the slider is completely to the left, only 1% of the captured buffer will be uploaded and displayed. EZMotion User/Programming Guide www.controltechniques.com Revision: A8...
Page 155: Data Group
A Module parameter text box is only available once the user has selected Module Parameter from the Data Channel Select list box. This field is used to define what EZMotion parameter will be plotted on that channel. The module parameter can be entered two ways: by just typing any module parameter using the program format for the variable, or click the Popup Variables button and the variable window will open.
Page 156 Menu 70 Menu 70 Setup is used to gain non-cyclic access to EZMotion parameters in the module. When the user drags an EZMotion parameter from the left to the right PowerTools Pro gives the user the flexibility to assign a SP drive parameter number to the EZMotion parameter.
Page 157: How I/O Works
The SM-32 I/O module has 32 I/O points that are configured by the user to be Inputs or Outputs. The outputs are updated at the same rate as the control loop. Menu’s 20.38-40 are used by the EZMotion to support the device. If a second device is used, menu’s 20.35-37 are used to support that module.
Page 158 EZMotion User/Programming Guide www.controltechniques.com Revision: A8...
Page 159: Programming
Redo Last Change This button will redo the last change that was undone. PowerTools Pro will save up to ten of the last changes that have been undone in the program. EZMotion User/Programming Guide Revision A8 www.controltechniques.com...
Page 160 The arrow will not continue to follow program flow. If the program is not currently running, then the arrow will point to the top of the program, or to the last line of the program that was processed before it was stopped. (Only available while online) EZMotion User/Programming Guide www.controltechniques.com...
Page 161: Cyclic Program View
In actuality the Cyclic Programs are initiated from the control loop but are run outside the control loop interrupt. They run as processes along with user programs, but at a higher priority so cyclic programs are run before any user program. Other EZMotion User/Programming Guide Revision A8...
Page 162: User Programs View
The Task Number parameter determines which task the program runs on. Default Task Number is 0. Users can select Task Numbers from 0 to 3. Programs assigned to different tasks can run simultaneously due to the multitasking capabilities of EZMotion. Programs assigned to the same task cannot run at the same time.
Page 163: Global Where Am I Enable
Many applications require the operation of a background task that operates outside of the main program loop, but must be consistently processed. For instance, a background task that performs calculations for values sent to an operator interface or EZMotion User/Programming Guide Revision A8...
Page 164: Timing Diagram
The EZMotion processor has the ability to execute multiple tasks. Because only one task can be processed at a time, a process called time slicing must be used. Time Slicing is simply splitting the total processing time between multiple tasks. The EZMotion processor generates an interrupt that causes any task to stop, and the control loop to update.
Page 165 This process description is accurate as long as no program is blocked. The following figure shows examples of user programs and task numbers and how the ezmotion processes them.
Page 166 80%. Note that Cyclic Program takes an extra update to complete Control Loop Cyclic Program User Program Update Rate Cyclic Update = 3x Update Rate Figure 161: Diagram of User Program and a Cyclic Program EZMotion User/Programming Guide www.controltechniques.com Revision: A8...
Page 167 70% of update is reached, then resumed next update Control Loop Cyclic Program User Program Update Rate Cyclic Update = 3x Update Rate Figure 163: Diagram of User Programs on Two Tasks and a Cyclic Program EZMotion User/Programming Guide Revision A8 www.controltechniques.com...
Page 168 Diagram of User Program and a Real Time Program User program can be "choked" if too much code is put into realtime program Control Loop Realtime Program User Program Update Rate Figure 166: Diagram of User Program and a Real Time Program EZMotion User/Programming Guide www.controltechniques.com Revision: A8...
Page 169 Figure 168: Diagram of User Programs on Two Tasks and a Real Time Program The following three figures show how the module processes Real Time, Cyclic, and User Programs with different number of tasks. EZMotion User/Programming Guide Revision A8 www.controltechniques.com...
Page 170 Utilization set to 80%. Control Loop Realtime Program Cyclic Program User Program Update Rate Cyclic Update = 4x Update Rate Figure 170: Diagram of User Programs on Two Tasks, a Real Time Program and a Cyclic Program EZMotion User/Programming Guide www.controltechniques.com Revision: A8...
Page 171 Utilization set to 80%. Control Loop Realtime Program Cyclic Program User Program Update Rate Cyclic Update = 4x Update Rate Figure 171: Diagram of User Programs on Three Tasks, a Real Time Program, and a Cyclic Program EZMotion User/Programming Guide Revision A8 www.controltechniques.com...
Page 172: Program Instruction List
In the above example if var.var0 = 2 then the program will execute from case <2> and process the instructions of case 2 and proceed through the program. If var.var0 = 0 the program starts to execute from Default and process continue from there. EZMotion User/Programming Guide www.controltechniques.com...
Page 173 If/Then and before the Else is executed. If the test evaluates to false the code between the Else and the Endif is executed. Example: If EZInput.1=ON Then EZOutput.1=ON EZOutput.2=OFF Else EZOutput.1=OFF EZOutput.2=ON Endif Example: If (SPInput.5=ON) Then Jog.0.Vel = 1.0 'in/s Else Jog.0.Vel = 0.1 'in/s Endif EZMotion User/Programming Guide Revision A8 www.controltechniques.com...
Page 174 Formula This program instruction can be used to enter a formula or assignment into a program. All EZMotion parameters are available for use in a formula. They may be dragged and dropped into a formula, but the program User Level will determine how many appear for dragging and dropping (see User Levels on page 16).
Page 175 See GoTo instruction for additional examples. Switch The Switch instruction is used in conjunction with the Case: instruction to cause program flow to transfer based on the switch expression value and execute the instructions associated with that case instruction. EZMotion User/Programming Guide Revision A8 www.controltechniques.com...
Page 176 +/- 1 Trajectory Update. Therefore, if the Trajectory Update Rate is set to 2msec, then the worst-case accuracy is 2msec. Example: Wait For Time 5.000 'seconds Do While (TRUE) Index.1.Initiate Wait For AtVel EZOutput.1=ON Wait For Time 1.000 'seconds EZOutput.1=OFF Wait For Index.AnyCommandComplete Loop EZMotion User/Programming Guide www.controltechniques.com Revision: A8...
Page 177: Program Math Functions
If you want to pause the program while an index is executing you should use a Wait for Time instruction described below. A comment is automatically inserted after the Dwell For Time instruction that notes that the dwell time is in units of seconds. The comment starts with the apostrophe ' character. EZMotion User/Programming Guide Revision A8 www.controltechniques.com...
Page 178 Index, Home, Jog, or Program in progress, or if the Cam.#.Initiate is an instruction. If any motion is active, the program will hold on this instruction until that motion is complete (unless it is run on a different profile). Cam.Resume Resumes the cam execution from a Cam.Suspend command (or SetCamMasterOffset(MasterPosn), or SetCamFollowerOffset EZMotion User/Programming Guide www.controltechniques.com Revision: A8...
Page 179 It can be initiated at different times using the Index.0.Initiate instruction and the Index.0.CompoundInitiate instruction. A comment is automatically inserted after the index instruction that shows key data about the particular index. The comment starts with the apostrophe ' character. EZMotion User/Programming Guide Revision A8 www.controltechniques.com...
Page 180 Jog.Stop EndIf If (EZInput.3=ON) Then Jog.0.MinusInitiate Wait For EZInput.3=OFF Jog.Stop EndIf Loop Jog.PlusInitiate This program instruction is used to initiate jogging in the positive direction. The Jog.Stop instruction is used to stop jogging motion. EZMotion User/Programming Guide www.controltechniques.com Revision: A8...
Page 181 The Using Capture instruction can be inserted after any Jog Initiate, Index Initiate, Dwell for Time, and Dwell for Master Dist instructions. By inserting the Using Capture instruction, it specifies that data captured by the position capture object is to be EZMotion User/Programming Guide Revision A8...
Page 182: Motion Modifier Instructions
The Red Dot Error Bar is used to display if an error exists on a particular line of code in the user program. PowerTools Pro uses a program parser that reads the user program, and translates it directly into the language that the EZMotion processor understands. If the parser detects a mistake (i.e.
Page 183 The time taken to process the blocked task and pass on to the next available task is between 50 and 100 microseconds. Figure 174 is a flowchart that reflects the time-slicing process. It shows the complete loop based on whether Modbus messages need processing and if programs (tasks) are blocked. EZMotion User/Programming Guide Revision A8 www.controltechniques.com...
Page 184: Program Math Functions
ArcCos This trig function can be used in formulas from within a program. Example: var.var0 = ArcCos(var.var1) Returns the trigonometric ArcCos in degrees. The ArcCosine is the angle whose cosine is the given number. EZMotion User/Programming Guide www.controltechniques.com Revision: A8...
Page 185 Where FLOOR is defined as rounding the argument down to the next whole integer value towards negative infinity. Example: FLOOR(-3.5715) = -4 The FLOOR function itself is not available to the user within a user program. EZMotion User/Programming Guide Revision A8 www.controltechniques.com...
Page 186 EZMotion User/Programming Guide www.controltechniques.com Revision: A8...
Page 187: Starting And Stopping Motion
Source signal. If the Home.#.Initiate Destination is held active, the Home will not initiate again until the next rising edge. EZMotion User/Programming Guide Revision A8 www.controltechniques.com...
Page 188: From Programs
Index.#.Initiate to signify that it should stop at the end of the index. Figures 176 and 177 show examples of Compound Indexing. Example: 1: Index.0.CompoundInitiate 'Dist=10, Vel=100, Accel=100, Decel=100 Index.1.CompoundInitiate 'Dist=20, Vel=500, Accel=5000, Decel=5000 Index.2.Initiate 'Dist=30, Vel=1000, Accel=10000, Decel=10000 EZMotion User/Programming Guide www.controltechniques.com Revision: A8...
Page 189 The index will run at velocity before using its deceleration ramp to accelerate or decelerate towards the velocity of the next index specified. This differs from the compound index where the index finishes using the accel ramp of the next index. EZMotion User/Programming Guide Revision A8 www.controltechniques.com...
Page 190 Index.2.Initiate'Index2,Dist=25, Vel=1000, Accel=10000, Decel=1000 1000 5 Revs 20 Revs 25 Revs Figure 178: Blended Index Example 1 Example: 2: Index.2.BlendInitiate into (1)'Index2,Dist=25, Vel=1500, Accel=10000, Decel=1000 Index.1.BlendInitiate into (0)'Index1,Dist=20, Vel=1000, Accel=5000, Decel=500 Index.0.Initiate'Index0,Dist=5, Vel=500, Accel=1000, Decel=250 EZMotion User/Programming Guide www.controltechniques.com Revision: A8...
Page 191: From Powertools Pro
10.2 Stopping Motion 10.2.1 From Assignments There are numerous different methods that can be used to stop or pause motion using Assignments in the EZMotion. Listed below are the various assignment Destinations. Stop The Stop Destination will, when activated, stop any motion that is active, along with any user programs that are active. Stop is level sensitive, so that while it is active, all motion and programs are prevented from starting.
Page 192: From Programs
Pause/Break is identical to clicking the Stop All button on the PowerTools Pro toolbar. Once motion has been stopped using the Pause/Break key on the keyboard, it is necessary to press the Pause/Break key a again to allow motion. EZMotion User/Programming Guide www.controltechniques.com...
Page 193: Starting And Stopping Programs
Motion and Programs can also be stopped from the Program Toolbar using the Stop All button. This button is like an edge sensitive function that will not prevent motion or programs from being initiated again. EZMotion User/Programming Guide Revision A8...
Page 194 Pause/Break is identical to clicking on the Stop All button on the PowerTools Pro toolbar. Once motion has been stopped using the Pause/Break key on the keyboard, it is necessary to press the Pause/Break key a again to allow motion. EZMotion User/Programming Guide www.controltechniques.com...
Page 195: Parameter Descriptions
This read-only parameter is used to automatically store the number of decimal places being used at the time the absolute home was defined. This value is used by EZMotion so that it can correctly calculate the machine position based on the absolute encoder position and the absolute home position on power-up.
Page 196 This is how EZMotion worked in and prior to A8 firmware (previous to the release of this feature). If clear, the Absolute Position Mode parameters will remain unavailable on the Absolute Position View. If this parameter is TRUE, EZMotion will internally calculate the correct feedback position of the machine in user units based on a previously defined home position and the position feedback from the absolute feedback device.
Page 197 AtVel This source is active when EZMotion is executing a constant velocity motion segment. One example would be during an index. The source would activate after the motor has finished accelerating up to speed and before the motor begins to decelerate to a stop.
Page 198 For example the master may not be moving, but the follower is still considered to be in a Commanding Motion state. Stop Decel Enable Check Box Cam.DecelEnable When the check box is selected (activated) the Cam.StopDecel parameter is used when Cam.Stop and Cam.Suspend commands are activated. EZMotion User/Programming Guide www.controltechniques.com Revision: A8...
Page 199 This parameter is the deceleration rate of the cam after a Cam.Suspend or Cam.Stop command is initiated. A value of zero disables the stop decel ramp as well as clearing the Stop Decel Enable check box. EZMotion User/Programming Guide Revision A8...
Page 200 Final Velocity Cam.#.FinalVelocity The cam table profile will exit at this velocity. See Initial Velocity for more information. When using a single cam table, with no chaining, simply set the Initial Velocity to zero. EZMotion User/Programming Guide www.controltechniques.com Revision: A8...
Page 201 Cam.#.CamTableSize it will be set to the maximum, Cam.#.CamTableSize. Time Base Cam.#.TimeBase This list box selects the Time Base for the cam master position entries. Realtime and Synchronized (to the Master Encoder) are allowed selections. EZMotion User/Programming Guide Revision A8 www.controltechniques.com...
Page 202 Captured Master Position parameter will be off by the value of the master axis before the position was zeroed out. This parameter is to be used if the master axis position is redefined after power-up. EZMotion User/Programming Guide www.controltechniques.com Revision: A8...
Page 203 CurrentLimit The user can limit the amount of current that the drive can generate by configuring the Current Limit in EZMotion. The Current Limit Enable signal must be active for the current to be limited to the Current Limit value. By default. the Current Limit Enable signal is not active.
Page 204 CurrentLimitEnable The user can limit the amount of current that the drive can generate by configuring the Current Limit in EZMotion. The Current Limit Enable signal must be active for the current to be limited to the Current Limit value. The Current Limit Enable signal is not active by default.
Page 205 When the trip is cleared, Drive Healthy will activate again. Drive Serial Number DriveSerialNumber This displays the serial number of the Drive to which EZMotion is attached. Drive OK Error.DriveOK Active when there are no errors. Inactivated when any error or trip, except travel limits occur. Drive enable has no effect on this event.
Page 206 EZInput.#.Force The digital inputs on EZMotion can be forced On or Off within a user program. To do so, the Force Enable event for the desired input must first be activated. Once the Force Enable for the input is active, the input can be forced on or off using the following instructions: EZInput.#.Force = ON...
Page 207 EZOutput.#.Name Each digital output on EZMotion can be given a name. The name can be used in a user program to reference a specific input. The name can be up to 12 alphanumeric characters, but must begin with a non-numeric character.
Page 208 FreeRunTime EZMotion has a free-running timer with 1 microsecond accuracy that is always running. The user has access to this timer value in a user program using the FreeRunTime parameter. This value can be used to wait for a period of time, find the difference in time between two point in a program, or any other application.
Page 209 The numerator (top value of the scaling fraction) is the # of follower units. Scaling is defined as the number of follower distance units that will be traveled per the number of master distance units of travel. The master distance units is defined in the bottom value (gear.scaledenominator) of the fraction. EZMotion User/Programming Guide Revision A8 www.controltechniques.com...
Page 210 This parameter defines the type of module fitted in the specified slot number. This parameter can be found on each of the SlotX views. This parameter is read-only in a user program. If the module type specified in the PowerTools Pro configuration does not match the actual module type fitted, EZMotion will generate an error, and the drive will trip.
Page 211 Selects calculated or specified home offset. Calculated offset is the distance traveled during the deceleration ramp from the home velocity. The specified offset allows the user to choose an exact offset from the Home Reference. EZMotion User/Programming Guide Revision A8...
Page 212 This function is edge-sensitive, so holding Reset Profile Limited active will not prevent ProfileLimited from activating. Index Acceleration Index.#.Accel This parameter is the average Acceleration rate used during the index. Units are specified on the User Units view in the PowerTools EZMotion User/Programming Guide www.controltechniques.com Revision: A8...
Page 213 If an index type of Registration is selected, then this is a limit distance, or the maximum distance the index will travel if a registration sensor is not seen. Index Time Index.#.IndexTime This parameter is used in conjunction with the Index.TimeIndexEnable parameter. If TimeIndexEnable is activated, then this is EZMotion User/Programming Guide Revision A8 www.controltechniques.com...
Page 214 This check box enables (if checked) the Registration Sensor valid Window. When active, only registration marks that occur inside the registration window are seen as valid. Index Window End Index.#.RegistrationWindowEnd This parameter defines the end of the Registration Sensor Valid Window relative to start position of this index. This is an unsigned EZMotion User/Programming Guide www.controltechniques.com Revision: A8...
Page 215 Initially Active InitiallyActive This source, when assigned to a destination, will activate the destination on power-up or upon EZMotion reset. InitiallyActive can be assigned to any destination that does not create motion (i.e. indexes, jogs, homes, programs). In Position...
Page 216 The Jog.#.CommandInProgress source is high throughout an entire jog profile. The bit goes high at the start of a jog acceleration ramp, and turns off at the end of a jog deceleration ramp. Jog Deceleration Jog.#.Decel This parameter is the average deceleration ramp for the specific jog. EZMotion User/Programming Guide www.controltechniques.com Revision: A8...
Page 217 Master Axis instead of the Motor Axis. Master Absolute Position Mode MasterAxis.AbsPosnMode See Absolute Position Mode. This parameter is a duplicate of Absolute Position Mode, except it applies to the Master Axis EZMotion User/Programming Guide Revision A8 www.controltechniques.com...
Page 218 NOTE Early releases of the SM-EZMotion module only support a value of Slots 1, 2, or 3 (and NOT Drive). The master encoder feedback signal must be connected to a SM-Universal Encoder Plus module fitted into one of the Unidrive SP option slots.
Page 219 This parameter is used to select the motor type. Name Name User name for this EZMotion axis can have a length up to 12 characters. This can be used to help differentiate setup files. Overload Accumulator OverloadAccumulator This parameter gives an indication of the motor temperature based on a simple thermal model. The formula for the thermal model is a function of the current demand and a thermal time constant of the motor (parameter 4.15 and found in .ddf file).
Page 220 If enabled, the PLS will begin to function as soon as the drive has been homed or a DefineHome destination has been activated. Master Posn Valid must be active (Master Define Home is activated) if using a master signal for PLS source. EZMotion User/Programming Guide www.controltechniques.com...
Page 221 PowerUpCount Power Up Count is the current value of how many times EZMotion has been powered up. Each time power is cycled to the system, this number increments by one. This parameter is stored in EZMotion, and is not reset if the module is switched to another drive.
Page 222 Program Any Complete Program.AnyComplete This source is activated when any program ends normally. If a program ends due to a fault or the stop destination, this source does not activate. Deactivates when any program is initiated. EZMotion User/Programming Guide www.controltechniques.com Revision: A8...
Page 223 Data is loaded into the queue using the Queue.#.DataIn instruction in a program. When DataIn is set equal to value, that value is entered into the queue and the queue offset is added to it. If Queue Overflow is active, then no more data can be put into the Queue. EZMotion User/Programming Guide Revision A8 www.controltechniques.com...
Page 224 The Queue Remove instruction is used in the program to remove data from the queue. When processed, the oldest piece of data will be deleted out of the queue. The Queue Remove instruction also deactivates the Queue Exit function. EZMotion User/Programming Guide www.controltechniques.com...
Page 225 The digital I/O points on the SM-I/O 32 module are configured as Inputs or Outputs using PowerTools Pro software. The SlotX.DIO.#.Direction parameter is used to configure whether the I/O point acts as a digital input or digital output. Valid entries EZMotion User/Programming Guide Revision A8...
Page 226 (x.09, x.10, x.11) automatically. To enable the auto configuration, the check box should be active (checked), to disable the feature and manually configure the parameters, the check box should be unchecked. See the SM-Universal Encoder Plus section of this manual or the SM-Universal Encoder Plus User Guide for more information. EZMotion User/Programming Guide www.controltechniques.com Revision: A8...
Page 227 SM-Universal Encoder Plus module configuration menu. To support many different applications, the SM-Universal Encoder Plus module can provide several different supply voltages. Select from 5V, 8V, or 15V EZMotion User/Programming Guide Revision A8...
Page 228 The name can be up to 12 alphanumeric characters, but must begin with a non-numeric character. SM-I/O 120V Module Input Status SlotX.Input120V.#.In This parameter is only available with the SM-I/O 120V module that have been populated in one of the Unidrive SP/Digitax ST slots. EZMotion User/Programming Guide www.controltechniques.com Revision: A8...
Page 229 Assignments view, when the source event activates, the output that it is assigned to will turn on. NOTE This parameter will appear on the Assignments view under the Outputs group of Destinations even if the I/O point has been configured as a digital input. EZMotion User/Programming Guide Revision A8 www.controltechniques.com...
Page 230 The SoftwareTravelLimitPlusActive source is active when the SoftwareTravelLimitPlusPosn is reached or exceeded. Motion will come to a stop using the TravelLimitDecel ramp. Software travel limits are not active unless enabled and Absolute Position Valid is active. EZMotion User/Programming Guide www.controltechniques.com Revision: A8...
Page 231 This check box, found on the Analog Inputs view, is used to enable the specific analog input channel for use by EZMotion. If the check box is clear, the analog input is not being used by EZMotion and the user is free to use it with alternate methods.
Page 232 SPAnalogOutput.#.MaxOutputValue EZMotion can read the value of a specified parameter and scale it into the Unidrive SP’s scale of 0 to 100% of scale on the output. EZMotion uses linear interpolation to scale the value properly. When the selected source parameter is equal to the Maximum User Value, then the Analog Output will be equal to the Maximum Output Value.
Page 233 SM- EZMotion module will automatically change the Unidrive SP’s operating mode on power up or warm start. This parameter cannot be changed while online.
Page 234 Unidrive SP and its’ option modules. The value for this parameter comes from parameter 3.30 of the database. Early releases of the SM-EZMotion module do not support use of high resolution encoders. Therefore, the value for this parameter will always be displayed as 0.
Page 235 Drive, Slot1, Slot2, and Slot3. This parameter was hard-coded to “Drive” in early revisions of software and firmware, meaning that the motor feedback had to be connected to the Unidrive SP Encoder Port. This parameter must be set up correctly, otherwise EZMotion will not properly receive position information from the motor. SPInput Status SPInput.#.In...
Page 236 The name can be up to 12 alphanumeric characters, but must begin with a non-numeric character. SPRelay State SPRelay.#.Out The Unidrive SP has relay output that can be used to control devices that require more current than a digital output. The “.Out” at the EZMotion User/Programming Guide www.controltechniques.com Revision: A8...
Page 237 Total Power Up Time is the total elapsed time that EZMotion has been powered up (since reset by the factory). The units for the parameter are Hours with a resolution of 0.1 Hours. This parameter is stored in EZMotion, and is not reset if the module is switched to another drive.
Page 238 Velocity Command VelCommand The Velocity Command is the velocity that EZMotion is commanding the motor to run at. This command is generated by the drive velocity control loop. It is displayed in user units. Velocity Feedback VelFeedback This is the feedback (or actual) velocity.
Page 239 Modbus, Ethernet, or in a program. Position Counts VirtualMaster.PosnCmdInCounts This parameter is the number of virtual counts transmitted. Write to this parameter to zero it's value. It is only used as a user EZMotion User/Programming Guide Revision A8 www.controltechniques.com...
Page 240 This parameter is the maximum virtual velocity that will be attained by the virtual master. This parameter is in user units. Enable Virtual Master VirtualMaster.VirtualMasterEnable Enable Virtual Master check box by default is clear. Select the check box to enable virtual master (VirtualMaster.VirtualMasterEnable = ON). EZMotion User/Programming Guide www.controltechniques.com Revision: A8...
Page 241 When the drive inhibits, the drive does not have control of the motor/load. An Error is an action that happens in EZMotion or Unidrive SP/Digitax ST that may or may not cause the drive to Trip. Most of the Errors that occur in EZMotion will cause a Trip on the drive.
Page 242 Error Possible Reason Possible Solution Code Trip? (x.50) Cycle power to the system. If SM-EZMotion module Power Up Power Up Test Failure Error problem persists, please contact Test failed factory Increase Following Error Limit in PowerTools Pro configuration. Increase Velocity Loop Bandwidth...
Page 243: Drive Parameters Used By Ezmotion
File Corruption Error - Consult Factory Program Error - Too Many Wait No more than nine arguments in Limit # of arguments and For Instructions Wait for Instruction redownloads File Corruption Error - Consult Factory EZMotion User/Programming Guide Revision A8 www.controltechniques.com...
Page 244 32-bit parameters. Once the Analog Output Source has been set to a 32-bit parameter, the SM-EZMotion user program must be coded to write the value of the desired SM-EZMotion parameter to the 32-bit menu parameter. Below is an example of this process.
Page 245: Watch Window
PowerTools Pro contains a diagnostic utility called the Watch Window. The Watch Window can be used while PowerTools Pro is online with EZMotion. The Watch Window allows the user to monitor the status of all of their desired system parameters in one location.
Page 246: Ezmotion Setup Parameters
Motion is stopped if stop is active. PowerSupplyReady will become inactive if the 24 volt PowerSupplyReady True logic power is taken away or if the bus voltage drops below the "low bus fault" threshold. EZMotion User/Programming Guide www.controltechniques.com Revision: A8...
Page 247: Errors View
There are two buttons on the pop-up window that allow the user to clear an error and trip or simply ignore it and remove the pop-up window. An example of the pop-up window is shown in Figure 183. EZMotion User/Programming Guide Revision A8 www.controltechniques.com...
Page 248: Status Bar
Figure 183: SM-EZMotion Error Pop-Up Window The Errors View also contains a Trip Log that lists the 10 most recent drive trips. Trip 0 is listed as the most recent fault with a Trip Time in Years.Days and Hours.Minutes format. Along with the Trip Code, the Trip Log will also store the time before the most recent trip that each trip occurred.
Page 249: Diagnostics
Clearing SLX.dF trip after installing SM-EZMotion module After installing a SM-EZMotion module for the first time, the Unidrive SP will display a SLX.dF trip (where X is the slot number that the SM-EZMotion module is in). This trip occurs because the drive detects the module type in the slot has changed. This trip will occur on each successive power up until the drive parameter database has been saved.
Page 250 After performing the clear memory sequence, the SM-EZMotion module will cause a SLX.Er trip (where X indicates the slot number that the SM-EZMotion module is fitted in). The Error Code for the SM-EZMotion module will be “107 – No Program Error” indicating that the module has no configuration stored in it.
Page 251 Chart The parameters outlined in bold are used in some way by EZMotion. Each parameter outlined in bold has a note associated with it to further describe how EZMotion uses that particular parameter. The chart is followed by a detailed description of each of the notes.
Page 252: Analog Outputs
= Read /Write from module based on PTPro view 10.45 = Speed command from module to drive 10.46 10.47 = Accessed by EZMotion module firmware = Reserved if one I/O Plus module is used 10.48 = Reserved if 2nd I/O Plus module is used 10.49 = Reserved if one I/O 32 module is used 10.50...
Page 253: Powertools Pro
19.35 20.35 18.36 19.36 20.36 18.37 19.37 20.37 18.38 19.38 20.38 18.39 20.39 18.40 20.40 18.41 18.42 Notes: EZMotion reads this parameter for display purposes in PowerTools Pro Software. Primary use is for diagnostics. EZMotion User/Programming Guide Revision A8 www.controltechniques.com...
Page 254 EZMotion Setup Parameters Several parameters associated with the SM-EZMotion option module can be found in either Menu 15, 16, or 17. Each of menus 15, 16, and 17 refer to one of the available slots into which the SM-EZMotion option module can be fitted.
Page 255 – EZOutput.1.Status This parameter shows the status of digital Output #1 on EZMotion. A value of 1 indicates that the Output is active. A value of 0 indicates that the Output is inactive. This equates Pin # 6 on the EZMotion I/O Connector.
Page 256: Where Am I
A non-zero value indicates that an error has been detected (See Errors and Error Codes in Diagnostics section of this manual). When the drive is reset, this parameter is cleared for the relevant option module. All parameters between x.00 through x.50 not listed above are not used by EZMotion. EZMotion User/Programming Guide www.controltechniques.com...
Page 257: Online View Tabs
ARMS Amps Root Mean Squared (RMS). Axis The full system to control in a single motor shaft. A single SM-EZMotion module with Unidrive SP Drive can denote an axis. 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.)
Page 258 Another type of EEPROM. Flash File In the SM-EZMotion module, this file loads the firmware into the drive and function module. Flash files can field upgrade the firmware. Function Module - device which is attached to the front of the drive to provide additional functionality.
Page 259 PowerTools Pro PowerTools Pro is a Windows® based software to interface with the SM-EZMotion module. Radio Button Also known as the Option Button. In a dialog box, radio buttons are small circles only one of which can be chosen at a time.
Page 260 Microsoft Windows is an 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. EZMotion User/Programming Guide www.controltechniques.com Revision: A8...
Page 261: Index
Connecting Motor Encoder Feedback to the Unidrive SP, 8 FollowingErrorEnable, 196 Current View, 89 FollowingErrorLimit, 196 CurrentDemand, 191 FreeRunTime, 196 CurrentLevel, 191 CurrentLevelActive, 191 CurrentLimit, 191 CurrentLimitActive, 192 CurrentLimitEnable, 192 Gear.Accel, 196 Gear.AccelEnable, 196 EZMotion User/Programming Guide Revision A8 www.controltechniques.com...
Page 262 I/O Scan, 145 Jog.#.Vel, 206 If On Sensor Options, 36 Jog.AnyCommandComplete, 204 Incremental Index, 38 Jog.MinusActivate, 204 Index View, 131 Jog.PlusActivate, 204 Index.#.Accel, 201 Jog.Select0, 204 Index.#.Accelerating, 201 Jog.Stop, 205 Index.#.AtVel, 201 Index.#.CommandComplete, 201 Index.#.CommandInProgress, 202 EZMotion User/Programming Guide www.controltechniques.com Revision: A8...
Page 263 Setup NVM View, 95 Profile.#.CommandInProgress, 211 Setup View, 74 Profile.#.Decelerating, 211 Slot # View, 57 Profile.#.Feedhold, 211 Slot1.ErrorStatus, 214 Profile.#.MotionStop, 211 Slot2.ErrorStatus, 214 Program Blocking, 171 Slot3.ErrorStatus, 214 Program View, 141 SlotX.EncoderCommsBaudRate, 215 Program.#.GlobalWhereAmIEnable, 211 SlotX.EncoderCommsResolution, 215 EZMotion User/Programming Guide Revision A8 www.controltechniques.com...
Page 264 SlotX.LinesPerRevDivider, 219 SPRelay.#.Out, 226 SlotX.Poles, 219 SPRunTimeHoursMinutes, 226 SlotX.Relay.#.Name, 219 SPRunTimeYearsDays, 226 SlotX.Relay.#.Out, 219 StackTemperature1, 226 SM-EZMotion Module I/O, 145 StartUp, 226 SM-I/O Plus Module I/O, 145 Status View, 245 SoftwareTravelLimitEnable, 219 Stop, 226 SoftwareTravelLimitMinusActive, 219 StopDecel, 227 SoftwareTravelLimitMinusPosn, 219...
Page 265 VelFeedback, 228 Velocity View, 86 VelocityFeedforwardEnable, 228 VelocityLoopBandwidth, 228 VelocityUnits.TimeScale, 228 EZMotion User/Programming Guide Revision A8 www.controltechniques.com...
Page 266 EZMotion User/Programming Guide www.controltechniques.com Revision: A8...
Page 268 For more information about Control Techniques “Motion Made Easy” products and services, call (800) 893-2321 or contact our website at www.emersonct.com. Control Techniques Americas LLC Division of EMERSON Co. 12005 Technology Drive Eden Prairie, Minnesota 55344 U.S.A. Customer Service...

Emerson EZMotion User Manual

Safety Information

Introduction

Installation

Powertools Pro Software

Communications

How Motion Works

Configuring an Application

How I/O Works

Programming

Starting and Stopping Motion

Starting and Stopping Programs

Parameter Descriptions

Drive Parameters Used by Ezmotion

Diagnostics

Glossary

Index

Quick Links

Related Manuals for Emerson EZMotion

Summary of Contents for Emerson EZMotion

Table of Contents