Page 1: Reference Manual
FM-3 Programming Module Reference Manual P/N 400508-01 Revision: A8 Date: March 10, 2004 © Control Techniques Drives, Inc. 2000-2004...
Page 3 FM-3 Programming Module Reference Manual Information furnished by Control Techniques Drives Inc. (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, AXIMA, “Motion Made Easy.”...
Page 5: Customer Support
Customer Support Control Techniques 12005 Technology Drive Eden Prairie, Minnesota 55344-3620 U.S.A. Telephone: (952) 995-8000 or (800) 893-2321 It is Control Techniques’ goal to ensure your greatest possible satisfaction with the operation of our products. We are dedicated to providing fast, friendly, and accurate assistance. That is why we offer you so many ways to get the support you need.
Page 6: Document Conventions
• Exact wording of any messages that appear on your screen • What you were doing when the problem occurred • How you tried to solve the problem Need on-site help? Control Techniques provides service, in most cases, the next day. Just call Control Techniques’...
Page 7 In addition, you will find the following typographic conventions throughout this manual. This bold italic ALL CAPITALS SMALL CAPS KEY1+KEY2 example: (Alt+F) KEY1,KEY2 example: (Alt,F) Note For the purpose of this manual and product, “Note” indicates essential information about the product or the respective part of the manual. EN Only For the purpose of this manual and product, the “EN”...
Page 8: Safety Instructions
Function Module Installation Manual (P/N 400506-03) • Epsilon Eb and EN Drives Reference Manual (P/N 400501-01) • PowerTools Software User’s Guide (P/N 400503-01) • FM-3 and FM-4 Connectivity Modules Reference Manual (P/N 400508-04) • Modular Drive System (MDS) Reference Manual (P/N 400525-01)
Page 9: Safety Considerations
Safety Precautions This product is intended for professional integration into a complete system. If you install the product incorrectly, it may present a safety hazard. The product and system may use high voltages and currents, carry a high level of stored electrical energy, or control mechanical equipment that can cause injury.
Page 10 relevant safety legislation in the country of use. AC supply isolation device The AC supply must be removed from the drive using an approved isolation device or disconnect before any servicing work is performed, other than adjustments to the settings or parameters specified in the manual.
Page 11: Table Of Contents
Introduction Operational Overview Software Interface ............. 3 PowerTools Pro Setup Software .
Page 12: Table Of Contents
Jog View ..............86 Home View .
Page 13: Table Of Contents
Diagnostics and Troubleshooting Diagnostic Display............225 Fault Codes .
Page 15: Introduction
FM-3 Programming Module Reference Manual Introduction The FM-3 module is a compact and rugged function module that attaches to the front of the drive. It provides eight digital input lines and four digital output lines, in addition to the four input and three output lines available on the drive.
Page 16 FM-3 Programming Module Reference Manual Figure 2: FM-3 Programming Module Features...
Page 17: Operational Overview
The FM-3 module augments the drive by providing the ability to implement programs written using PowerTools Pro. When a FM-3 module is attached to an drive, it overrides the operation and user accessible features of the drive. The drive’s basic operating modes (Pulse, Velocity and Torque) are not available when a FM-3 module is attached.
Page 18: Keypad Interface
Keypad Interface The keypad on the front of the FM-3 module provides navigation through a menu of common parameters and displays of current functions. Navigation through the menu is accomplished with the six keys located below the display. The top two keys are called the "soft keys"...
Page 19 PowerTools software. The groups are shown cyclically and wrap around. The drive parameters available with the FM-3 keypad are arranged into seven groups (see list below). Upon power-up the FM-3 module will display the default parameter groups “SECUR”...
Page 20 Security: 0 Parameter Screens After selecting a group using one of the soft keys, the FM-3 module will display a Parameter screen for that group. This screen could be either the first screen in the group or the last screen you used in that group.
Page 21: How Motion Works
This is reset on power-up and the FM-3 keypad displays the first Parameter screen in the group. In this screen, the parameter name is shown on the first line of the display. The up/down arrow keys are used to scroll through the parameters available in the selected group.The second line...
Page 22: How Home Works
Define Home is required to set the Absolute Position Valid so that any index to absolute position can work. The FM-3 module can home the motor to an external sensor, the motor’s encoder marker pulse, or to a sensor and then to the encoder marker pulse.
Page 23 Figure 6: Basic Home Function, Example The figure above show a basic home function using a ball screw. This example uses most of the setup features in the PowerTools Pro Home tab. Home Sequence Back off the sensor (if on the sensor. This step is optional). Move to the external home sensor to establish a home reference point.
Page 24 FM-3 Programming Module Reference Manual PowerTools Pro allows selection of one of three different Home References: Sensor, Marker, or Sensor and Marker. Sensor Selecting Sensor means the rising edge of the Home Sensor input function is used to establish the home reference position.
Page 25 Sensor and Marker Selecting Sensor and Marker means the reference position is established using the first marker rising edge after the device sees the rising edge of the Home Sensor input function. Figure 9: Sensor and Marker Home Reference Position Example 1 Accuracy and Repeatability The amount of accuracy your application requires will determine the Home Reference option you select.
Page 26 FM-3 Programming Module Reference Manual Sensor Marker Figure 10: Sensor and Marker Home Reference Position Example 2 The Home Sensor must be “On” for at least 800 µsec to guarantee that it will be recognized. Sensor Figure 11: Sensor and Marker Home Reference Position Example 3...
Page 27 The Specified Offset allows the user to choose an exact offset from the Home Reference. Once the home reference is detected, the device will do whatever is necessary to reach the offset position. This may be as simple as a deceleration to a stop, a continuation at speed followed by a deceleration to a stop, or a deceleration followed by a move in the opposite direction.
Page 28 FM-3 Programming Module Reference Manual Two examples below show operation when the specified offset is greater or less than the calculated offset. This causes the axis to continue on at speed before decelerating and stopping at the offset position, or backing up after the home sensor.
Page 29 Figure 16: Home to Sensor and Marker, Example When the FM-3 module sees the Home Initiate, it accelerates the motor to the Home Velocity. The motor continues at that velocity until it first senses the Home Sensor input. It continues at the same velocity until the motor’s encoder marker channel is sensed.
Page 30 FM-3 Programming Module Reference Manual Home Sequence If on sensor then back off (if enabled) Search for sensor Search for marker Go to offset (2.0 Revs) Set feedback position equal to End of Home Position Velocity + 100 Figure 17:...
Page 31 Example 2: Rotary Application This example uses an external sensor and the motor’s encoder marker pulse to establish a home reference position. Figure 19: Home Sensor and Marker then Offset, Example When the device sees the rising edge of the Home Initiate function, it accelerates the motor to the Home Velocity.
Page 32: How Indexes Work
FM-3 Programming Module Reference Manual How Indexes Work An index is a complete motion sequence that moves the motor a specific incremental distance or to an absolute position. This motion sequence includes an acceleration ramp to a programmed velocity, a run at velocity, and a deceleration to a stop.
Page 33 Indexes cannot be initiated when any other motion (jogging, homing, or program) is in progress. Indexes can be aborted with the Stop destination found in the Ramps group on the Assignments View. The FM-3 module supports five types of indexes: absolute, incremental, registration, rotary plus and rotary minus.
Page 34 Absolute indexes are used in applications where the motor must travel to a specific position, regardless of where the motor is when the index is initiated. The FM-3 module calculates the distance required to move to the specified position from the current position.
Page 35 In the example above, the motor starts at 1 rev, travels a distance of 2 revs and stops at 3 revs. If the same index is initiated a second time, the FM-3 module would move the motor another 2 revs to a position of 5 revs. If initiated a third time, the motor would travel another 2 revs to a final position of 7 revs.
Page 36: Registration Index
FM-3 Programming Module Reference Manual Registration Index A Registration Index is used in applications where the motor must move until an object is detected and then move a specific distance from the point of detection, such as finding a registration mark and moving a distance beyond.
Page 37: How Communications Work
Downloading is the process of sending your configuration created with PowerTools Pro from the PC to the FM-3 module. Changes made in PowerTools Pro will not take effect until the information has been downloaded or the Update to RAM button has been clicked.
Page 38 Pro file will remain the same as those that were last downloaded to the FM-3 module. Downloading When downloading to the FM-3 module the user will be required to select how to handle the NVM parameters upon downloading. The dialog box asking the user to select one of three options for the download is shown below.
Page 39 Index.0.Vel Updating to RAM The Update to RAM button can be used to send changes to the FM-3 module without performing a complete download. 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 –...
Page 40 Update to RAM icon will become disabled. When the user clicks on the Update to RAM icon, all the modified parameters are transmitted to the FM-3. Once transmitted, the icon will become disabled again until another parameter is changed. If the user performs a full download while the button is enabled, when the download is complete, the Update to RAM button will be disabled.
Page 41 When this checkbox is selected the “Overwrite” function will default on every download to the module. This function will overwrite the entire FM-3 configuration including user defined NVM parameters as set in the NVM setup area of PowerTools Pro. Note...
Page 42 FM-3 Programming Module Reference Manual Upload Non-Volatile Memory (NVM) Section: “Always upload NVM” When this checkbox is selected, PowerTools Pro will default on an upload to uploading all of the parameters that have been mapped to the NVM and updating the display of these parameters in PowerTools Pro.
Page 43: Brake Operation
the standard file format (.fm3), as well as in the secure file format (.fm3s). The “s” at the end of the file extension stands for “secure”. The secure file will be saved to the same directory as the standard file. To perform the Secure Download, close all open files in PowerTools Pro.
Page 44 FM-3 Programming Module Reference Manual Brake Release The Brake.Release destination function will release the brake under all conditions. When this function is active, the Brake output will be on (that is, release brake). This function overrides all other brake control, thus allowing the brake to be released while a fault is active or the power stage is disabled.
Page 45: Setting Up Parameters
(see Figure 28). The Setup view is divided into six groups, with an explanation of each function. The groups are Identification, Configuration, Drive Encoder Output, Positive Direction, Update Rate and Switching Frequency. Status Online will be shown when online with the FM-3 module. Figure 28: Setup View Identification Group The identification group consists of the Device Name and the Target Drive Address.
Page 46 FM-3 Programming Module Reference Manual Name This is a 12-character alpha/numeric user-configured name for this axis. Enter this name for the device you are currently setting up. Assigning a unique name for each device in your system allows you to quickly identify a device when downloading, editing, and troubleshooting.
Page 47 Messages are Modbus data, DeviceNet data, Keypad/Display information, and are only processed if a message is waiting. If no device is querying data from the FM-3 or sending data to the FM-3, then messages do not take up any time. Once messages have been processed, the remainder of the interrupt is dedicated to running the motion programs of user programs.
Page 48: Status Online Tab (Online Only)
FM-3 Programming Module Reference Manual Switching Frequency Group This parameter defines the switching frequency of the electronic amplifier. For EN drives, the switching frequency must be 20 kHz and cannot be changed. For MDS, the switching frequency can be modified to change system performance. Available selections are 5 kHz, and 10 kHz.
Page 49 Motor Velocity Group Velocity Command The Velocity Command is the velocity that the FM-3 module is commanding the motor to run at. This command is generated by the drive velocity control loop and position loop. It is displayed in user units.
Page 50 Trajectory Update Rate and the time taken to process the control loop since the last reset. Certain features in the FM-3 require more time to process (i.e. PLS, Capture, Compound Indexes), and therefore will cause lower limits. The software records the lowest measured value and displays it as the limit.
Page 51: Information Tab (Online Only)
Firmware Part Number Displays the part number of the FM-3 firmware you are using. Firmware Revision Displays the revision of the firmware in the FM-3 module with which you are currently online. Serial Number Displays the serial number of the FM-3 module with which you are currently online.
Page 52: User Units View
FM-3 Programming Module Reference Manual User Units View The User Units View is used to scale the desired application units into known values. All information for distance, velocity, and accel/decel units are set up here and used throughout the system setup.
Page 53 When the number of decimal places are changed in an existing configuration file the Index accel and decel parameters need to be checked. Scaling A Characteristic Distance and Length must be established to allow the FM-3 module to scale user units back to actual motor revolutions. This scaling factor is as follows: Scaling...
Page 54 User Units may affect end motor speed and could cause trajectory faults. Because of internal math in the FM-3 and FM-4, some user unit combinations may cause module or drive trajectory faults. The maximum motor velocity allowed by the drive is detailed under the distance section of the User Units View and is labeled “User Unit Limited...
Page 55 Separate Distance Units Example: A user has an application using a leadscrew with a 0.5"/turn lead. The user wants to have Distance Units of Inches, but wants Velocity Units of Feet so motion can be programmed in feet/minute. Distance Units Name — Set to Inches Enable Separate Distance Units —...
Page 56: Master Units View
FM-3 Programming Module Reference Manual Decimal Places The number of decimal places set in this parameter determines the number of digits after the decimal point used in all torque parameters throughout the software. Using a high number of decimal places will improve torque resolution, but will also limit the maximum torque. You can select from zero to six decimal places of programming resolution.
Page 57 Encoder Input is selected, then the synchronization signals sent to the Drive 44-pin command connector will be sent to the FM-3 Sync Output connector. If Module Encoder Input is selected, then the same signal coming into the FM-3 Sync Input connector will be sent out the Sync Output connector.
Page 58 FM-3 Programming Module Reference Manual Rollover value and then reset to zero and continue to count up. If rotating in the negative direction, the master position feedback will decrease until it reaches zero, and then start over at the Rotary Rollover value.
Page 59 Filters inherently introduce phase shift (or delay) in the followers response to the master position, velocity and acceleration. The FM-3 provides Feedforward compensation to correct for these delays introduced by the filter.
Page 60: Position View
FM-3 Programming Module Reference Manual Enable Feedforward Check Box The Enable Feedforward Check Box is used to turn on or turn off feedforward. If checked, feedforward is active. If unchecked, feedforward is not used. Position View The Position View allows you to set up and view the parameters related to drive positioning.
Page 61 In Position The In Position (InPosn) source will activate at the end of a move if the absolute value of following error is less than or equal to the In Position Window for the In Position Time. In Position Window The absolute value of the Following Error must be less than or equal to this value at the end of an index in order for the InPosn source to activate.
Page 62 The FM-3 module constantly monitors the feedback position, and if this position exceeds the values entered for Software Travel Limit + or -, then the drive will decel to a stop.
Page 63 Distance Units Decimal Places parameter on the Setup\User Units View in the PowerTools Pro software. If an absolute index is used with a non-zero rotary rollover point, the FM-3 module will calculate the shortest path to its destination and move in the required direction.
Page 64: Velocity View
FM-3 Programming Module Reference Manual Velocity View The Velocity View allows the setup of feedrate override details. By selecting Velocity in the Hierarchy View, the Velocity View will appear on the right (see Figure 33). Figure 33: Velocity View Settings Group FeedRate Override This parameter is used to scale all motion.
Page 65 If online, this view will show the limits group and the velocity group. Velocity Group Velocity Command The Velocity Command is the actual command generated by the FM-3 module to the motor in user units. Velocity Feedback This parameter is the actual feedback motor velocity in user units.
Page 66: Ramps View
FM-3 Programming Module Reference Manual Ramps View The Ramps View contains all setup information for the global acceleration and deceleration profiles. By selecting Ramps in the Hierarchy View, the Ramps View will appear on the right (see Figure 34). Figure 34:...
Page 67 This is used to select the acceleration/deceleration type for all motion (homes, jogs and indexes). The “S-Curve” ramps offer the smoothest motion, but lead to higher peak acceleration/deceleration rates. “Linear” ramps have the lowest peak acceleration/ deceleration rates but they are the least smooth ramp type. “5/8 S-Curve” ramps and “1/4 S- Curve”...
Page 68: Torque View
FM-3 Programming Module Reference Manual Torque View The Torque View allows you to edit torque level and limit parameters as well as view real- time torque values when online. By selecting Torque in the Hierarchy View, the Torque View will appear on the right (see Figure 35).
Page 69 Limits Group Torque Limit This parameter sets the value to which the Torque Command will be limited when the Torque Limit Enable destination is active. To make the Torque Limit always active, assign the Torque Limit Enable destination to the Initially Active source on the Assignments view. Peak Torque Displays the Peak Torque for the motor drive combination setup in the Setup View.
Page 70: Tuning View
FM-3 Programming Module Reference Manual Tuning View The Tuning View allows you to modify tuning parameters based on specific application information. By selecting Tuning in the Hierarchy View, the Tuning View will appear on the right (see Figure 36). The right part of the screen is divided into groups. An explanation of the groups and their functions is provided below.
Page 71 value higher than the actual inertia, the resultant motor response will tend to be more oscillatory. Friction This parameter is characterized in terms of the rate of friction increase per 100 motor RPM. If estimated, always use a conservative (less than or equal to actual) estimate. If the friction is completely unknown, a value of zero should be used.
Page 72 FM-3 Programming Module Reference Manual Time Constant Position Error Integral is a control term, which can be used to compensate for the continuous torque required to hold a vertical load against gravity. It is also useful in low speed applications, which have high friction.
Page 73: Faults View
Faults View The Faults View displays any active faults. Figure 37 below shows the Faults view. Figure 37: Faults View Active Faults Group The Active Faults group contains the Active Faults window. Active Faults Window This window displays any active faults in the system. Those faults which do not require a reboot can be cleared by clicking on the Reset button.
Page 74 These parameters will be active when online with the drive. Power Up Count This parameter shows the numbers of times the drive that the FM-3 is attached to has been powered up since the last reset be the factory. Power Up Time This parameter shows the time, in hours, since the drive was last powered up.
Page 75: Pls View
Setting Up Parameters PLS View The PLS View allows users to define Programmable Limit Switches (PLS) for advanced machine operation. By selecting PLS in the Hierarchy View, the PLS View will appear on the right (see Figure 38). Figure 38: PLS View A PLS can be used to turn on or off a bit based on feedback position, commanded position, or master feedback position.
Page 76 The source of a PLS can be assigned to the motor axis (MotorPosnFeedback, MotorPosnCommand) or a master synchronization signal (MasterPosnFeedback). The term motor axis refers to the motor being controlled by the FM-3/drive combination. The source list box is used to select the source for the individual PLS.
Page 77 is moving in the positive direction. If set to Minus, the PLS will activate only when the motor is moving in the negative direction. For example: A flying cutoff or flying shear application may use this feature to activate the PLS to fire the knife only when the axis is moving in the positive direction.
Page 78: Setup Nvm View
A command to store these parameters into the NVM is given to the module whenever a parameter on the list changes value (via a program or a communications network). Currently the NVM in the FM-3 will accept at a minimum, 1 million writes before the FM-3 ceases operation.
Page 79: User Variables View
Setting Up Parameters User Variables View User variables allow the user to store data related to their system into a parameter, which the user can name. The user must define each user variable by giving it a name, resolution (number of decimal places), and initial value. All user variables are signed 32-bit parameters. Setup for the User Variables is done on the User Variables view located under the Setup group in the hierarchy.
Page 80 User variables are all of a Global type, meaning that they can be accessed from any program. Online Tab (not shown) While online with the FM-3, an online tab will be shown on the lower half of the User Variables view. This online tab will show the current value of each of the user variables.
Page 81: User Bits View
Setting Up Parameters User Bits View User Bits act just like User Variables except that they allow the user to store bit level parameters rather than 32-bit parameters. The user may customize each User Bit by giving it a Name and an Initial Value. The Name for each bit may be up to 12 characters in length, and must start in an alpha character (non-numeric character).
Page 82 FM-3 Programming Module Reference Manual Figure 41: User Bits View Adding and Deleting User Bits User bits can be added or deleted in groups of 32-bits. Individual bits cannot be added or deleted. The default number of User Bits available is 32. To add an additional 32 bits, simply click on the “Up Arrow”...
Page 83 User Bits in a single parameter, rather than having to access them individually. In the FM-3 module it is possible to access 32 User Bits in a single parameter. This parameter is named BitRegister.#.Value. Because some of the 32 User Bits may be used by the program, and should not be modified from the network communications, it is possible to “Mask Off”...
Page 84 FM-3 Programming Module Reference Manual Network Master Written data is AND’ed with the Mask and then written into 32-bit Value. Read data is read directly from the 32-bit Value and bypasses the Mask. Figure 43: User Bits Read/Write Process Configuring the User Bit Mask Register The User Bit Mask is a 32-bit parameter that can be configured through Power Tools Pro, in the User Program, or over the communications network.
Page 85 Figure 44: User Bits Mask View To configure the mask in a user program, the parameter named BitRegisiter.#.ValueMask is written to. The mask can be written to using Hexadecimal based values or decimal based values. To write a hexadecimal value to the parameter, the hex value must be preceded with the characters "0x".
Page 86: I/O Setup Group
These functions directly correspond to any input or output line on the drive or the FM-3 module. External controllers, such as a PLC or other motion controllers, may be connected to affect or monitor the device’s operation.
Page 87: Creating An Assignment
(or destinations) on the right side of the view. To make an assignment in the FM-3 module occur, you must tie a source to a destination. Any source can be tied to any destination to create the desired system operation.
Page 88: Deleting An Assignment
FM-3 Programming Module Reference Manual Drag and Drop Method First, position your pointer over the source on the left that you wish to assign to the destination on the right. Press the left mouse button while over the source, and hold the button down.
Page 89: Assignment Polarity
Setting Up Parameters Figure 46: Tying a Source to a Destination Assignment Polarity The active state of an assignment can be programmed to be Active Off, Active On, or Custom using PowerTools Pro. Making an assignment “Active On” means that the destination will be active when the source it is assigned to becomes active, and is inactive when the source is inactive.
Page 90 Certain assignments (Sources or Destinations) automatically generate position capture data internally for greater performance and accuracy. This captured data is used by the FM-3 module, but is not directly available to the user. Following is a list of assignments that automatically generate or use captured data.
Page 91: Selector View
Setting Up Parameters that it is assigned to. The destination may then use the captured data to accurately initiate motion (if it is a motion-related destination). Motor Encoder Marker – The rising edge of the motor encoder marker pulse will automatically capture data.
Page 92 FM-3 Programming Module Reference Manual Figure 47: Selector View The selector allows conservation of the number of input lines by using a binary input conversion to decimal. The binary select lines are set up by assigning sources to the selector.select destinations on the Assignments view. In most cases, hardware inputs are assigned to the selector.select functions (see Figure 47).
Page 93 Setting Up Parameters Figure 48: Assignment View For example, if we entered 2 for the number of Selector Input Destinations, we would have 4 selection lines (Selector.Selection0 through Selector.Selection3). The Selector.Selection number that is activated is determined by the status of the Selector.Select lines when the Selector.Selector Initiate bit is activated.
Page 94 FM-3 Programming Module Reference Manual The following examples demonstrate how to determine which Selector.Selection will activate based on the Selector.Select lines. Example 1: If Selector.Select2 is active, Selector.Select1 is inactive, and Selector.Select0 is active, then the total binary value is as follows:...
Page 95: Input Lines View
Input Lines View The Input Lines View displays any functions that have been assigned to the drive or module hardware inputs. See Figure 49. Note No assignments can be made using the Input Lines View, assignments are only displayed in the Input Lines View. Figure 49: Input Lines View Two functions can be performed on the Input Lines view.
Page 96: Output Lines View
FM-3 Programming Module Reference Manual Figure 50: Input Line Diagram If the Input Line attached to the home sensor is debounced, the actual rising edge of the Home Sensor is used to determine the Home Reference Position (the debounce time ensures a minimum pulse width).
Page 97: Analog Inputs View
Setting Up Parameters Analog Inputs View The FM-3 module is able to use the analog input circuitry located on the drive. The analog input accepts a +10 to –10 Volt signal. The analog input can be setup on the Analog view, which is located underneath the I/O Setup group in the PowerTools Pro hierarchy.
Page 98 This parameter is visible while Online. It is the raw analog input in Volts. Value This parameter is visible while Online. This is the results of the analog value scaled to the user unit value. Read Max/Min Voltage Settings This button is not funtional for the FM-3 module.
Page 99: Motion Group
Setting Up Parameters Motion Group All motion parameters related to Jogs, Homes, Indexes and Gearing are located in the Motion hierarchy group. Motion views will use units that correspond to Realtime or Synchronized motion. This choice is made on each motion view. The units are customized in the Setup Group: Realtime units are defined on the User Units View, and Synchronized units are defined on both the User Units View and the Master Units View.
Page 100: Jog View
FM-3 Programming Module Reference Manual Jog View Jogging produces rotation of the motor at controlled velocities in a positive or negative direction. The jog is initiated with the Jog.#.Initiate destination or from a program. Figure 53: Jog View Jog Number This scroll box allows you to select between Jog0 and Jog1 setup views.
Page 101 Jog Velocity This parameter specifies the target jog velocity for the individual Jog. The motor will run at this velocity when jogging with an assignment or through a program. This value is a signed number. The direction of the jog is determined by the sign of the jog velocity as well as using the Jog.PlusInitiate or the Jog.MinusInitiate.
Page 102 FM-3 Programming Module Reference Manual Jog.#.Decelerating This source is active while a jog is decelerating from its target velocity. Once the Jog reaches zero velocity (or its new target velocity), the Jog.#.Decelerating source will deactivate. Destinations The following destination functions can be found in the Assignments view under the I/O setup group: Jog.PlusActivate...
Page 103 Figure 54: Jog Activation Figure 55: Jog Select Details If the Jog direction is reversed, the Jog.#.Decel value will be used to decelerate the motor to zero speed and then the Jog.#.Accel will be used to accelerate to the new (opposite sign) velocity.
Page 104 FM-3 Programming Module Reference Manual The Stop destination (found under the Ramps group in the Assignments view) will override the Jog operation and decelerate the motor to zero speed at the stop deceleration rate. If the motor reaches a Travel Limit, you can Jog off the Travel Limit in the opposite direction.
Page 105: Home View
Home View The Home is used in applications in which the axis must be precisely aligned with some part of the machine. The Home is initiated with the Home.#.Initiate Destination or from a program. Figure 56: Home View Home Number The Home Number parameter displays which home sequence you are editing and allows you to scroll through multiple home sequences using the up and down arrows.
Page 106 FM-3 Programming Module Reference Manual home position. When the home reference is 'Marker' the rising edge of the motor encoder's marker channel is used to establish the home position. When the home reference is 'Sensor then Marker' the home position is established using the first marker rising edge after the Home.#.SensorTrigger destination activates.
Page 107 distance is used to guarantee that the motor will not need to backup after the deceleration ramp. Specified Offset Radio Button The specified offset allows the user to choose an exact offset from the Home Reference point. The commanded motion will stop at exactly the offset distance away from the reference point as specified.
Page 108 FM-3 Programming Module Reference Manual Home Sources and Destinations Sources Home.AbsolutePosnValid This source is activated when a Home is successfully completed. It indicates that the device has been homed properly. It is will be deactivated by the Home.#.Initiate destination, an encoder fault, a reboot, or when the device is powered down, unless using Auxiliary Logic Supply (ALP).
Page 109 Setting Up Parameters Destinations Home.#.Initiate The Home.#.Initiate destination is used to initiate the home function. The Home is initiated on the rising edge of this function. The device will not initiate a Home if there is an Index, Jog, or Program in progress, or if the Stop destination is active or if a travel limit is active. Home.#.SensorTrigger This destination is required to be used if you are homing to a sensor.
Page 110: Index View
FM-3 Programming Module Reference Manual Index View An index is a complete motion sequence that moves the motor a specific incremental distance or to an absolute position. The index is initiated with the Index.#.Initiate destination or from a program. Figure 58:...
Page 111 Index Name The User can specify an Index name of up to 12 alphanumeric characters. This allows assigning a descriptive name to each index indicating different machine operations. IndexType Select the index type from Incremental, Absolute, Registration, Rotary Plus, or Rotary Minus. Click the down arrow on the parameter list box to select the desired type of Index profiles, as follows: Incremental Indexes run a specified distance from the current position.
Page 112 FM-3 Programming Module Reference Manual Timed Indexes A Timed Index allows the user to specify the amount of time in which to perform an index rather than specifying the Velocity, Acceleration, and Deceleration. The processor in the FM- 3 will automatically calculate the necessary velocity, accel, and decel in order to achieve the programmed distance in the specified time.
Page 113 Setting Up Parameters Figure 59: Time Checkbox Enabled If the values for Max.Velocity, Max.Acceleration, and Max.Deceleration are such that the distance cannot be covered in the specified time, the Index.ProfileLimited flag will activate when the index is initiated, indicating the index cannot be performed as desired. The internal calculation are performed only when the index is initiated, and therefore is the only time the flag will activate.
Page 114 FM-3 Programming Module Reference Manual The units for the Time parameter depend on the current setting of the Time Base parameter. If Time Base is set to “Realtime” (default), then the units for the Time parameter are Seconds. The user can program the index time with resolution of 0.001 Seconds (or milliseconds). If Time Base is set to “Synchronized”, the units for the Time parameter are defined by the...
Page 115 is only updated when Index# is run. The direction of the PLS does not matter, the Index.#.PLSStatus will activate and deactivate the same incremental distance from the start of the index. PLS On Point This parameter is an incremental distance from the start position of the index, at which the PLS.#.Status will become active.
Page 116 FM-3 Programming Module Reference Manual Registration Parameters The following parameters are only used if Registration is selected as the Index Type. ’Analog’ or ’Sensor’ Radio Buttons Select one of these radio buttons to determine what signal will be used as your registration trigger.
Page 117 (or distance) should be greater than the Registration Window Start position. If a registration sensor is seen outside of this window (not between the WindowStart and WindowEnd positions) then it will be ignored. Example: Index 0 is defined as a Registration type of index. The user wants the index to run at velocity for 10 Revs, or until the Torque Feedback reaches 50% continuous torque and then continue for another 0.5 Revs.
Page 118 FM-3 Programming Module Reference Manual Index.#.AtVel This source activates when the target index velocity is reached. If Feedrate override is changed or FeedHold is activated AtVelocity shall remain active. Index.#.AtVel will deactivate at the start of any deceleration or acceleration. During a synchronized index, this source could be active even without any motor motion if the master axis stops.
Page 119 Destinations Index.ResetProfileLimited If a timed index was not able to complete in the specified time, the Index.ProfileLimited source will activate. Index.ResetProfileLimited is used to clear the ProfileLimited flag and acknowledge that the index did not complete in the specified time. This can be activated through an assignment, or through a user program.
Page 120 FM-3 Programming Module Reference Manual Deleting an Index Navigate to the Indexes View, and select the Index you wish to delete. From the PowerTools Pro menu bar, select Edit/Delete/Index. The selected Index will be deleted from the configuration. Right Click Method Adding an Index Navigate to the Indexes View.
Page 121: Gearing View
Setting Up Parameters Gearing View Figure 61: Gearing View Gearing is used to fix the motion of the motor to the motion of the master axis signal at a specified ratio. This is commonly called “electronic line shafting” or “electronic gearing”. To gear the motor to the master axis, a ratio must be specified as a relationship between follower distance units and master distance units.
Page 122 FM-3 Programming Module Reference Manual Acceleration and Deceleration ramps may be enabled on the Gearing setup screen as seen in Figure 61 above (B3 firmware or later is required for Accel / Decel). If enabled, the accel and decel ramps are specified in units of Follower Units / Velocity Time Base / Acceleration Time Base.
Page 123 Setting Up Parameters Initiating Gearing Motion Gearing can be activated through an Assignment, or from a program instruction (Gear.Initiate). If initiated from an assignment, the Gear.Activate destination is a level- sensitive event. This means that gearing will be active as long as the source to which it is assigned is active.
Page 124: Stopping Motion
FM-3 Programming Module Reference Manual Stopping Motion Motion Stop from a Program The MotionStop command will cause all motion to stop regardless of what type of motion it is, or where it was initiated from. Upon activation of the MotionStop, all motion will begin to decelerate to a stop using the standard Stop deceleration ramp.
Page 125: Network Group
Network Group For information on the DeviceNet and Profibus View, please refer to the FM-3 and FM-4 Connectivity Reference Manual (P/N 400508-04). Modbus View The Modbus View is used to assign Modbus addresses to individual parameters. By selecting Modbus in the Hierarchy View, the Modbus View will appear on the right (see Figure 63).
Page 126 FM-3 Programming Module Reference Manual An external device such as a Human Machine Interface (HMI) or PLC can be used to monitor or edit individual FM-3 module parameters. The FM-3 module and drives use a 32-bit Modbus RTU communications protocol.
Page 127: Devicenet View
DeviceNet View For those modules that have the DeviceNet option, please refer to the FM-3 and FM-4 Connectivity Reference Manual, P/N 400508-04, which can be found on the Control Techniques MME Power CD. Profibus View For those modules that have the Profibus option, please refer to the FM-3 and FM-4 Connectivity Reference Manual, P/N 400508-04, which can be found on the Control Techniques MME Power CD.
Page 128 FM-3 Programming Module Reference Manual...
Page 129: Programming
FM-3 Programming Module Reference Manual Programming By selecting Program in the hierarchy view, the Program View will appear in the right (see Figure 65). The left side of this view contains the program instructions. The right side of the Program view contains the Program Toolbar above the program.
Page 130: Program Toolbar Icons
FM-3 Programming Module Reference Manual Program Toolbar Icons Following is a detailed description of each of the icons found on the Program Toolbar. These icons will help the user edit programs as well as debug errors and troubleshoot program functionality. Some of these icons are only available when online with the module.
Page 131 Programming Next Book Mark This icon will position the cursor on the next available bookmark ahead of the cursor in the program. Previous Book Mark This icon will position the cursor on the previous bookmark behind the cursor in the program. Delete All Book Marks This icon will delete all of the bookmarks in the program.
Page 132 This list will easily allow you to find any of the available pre-defined variables in the FM-3. The available parameters shown in the window depends on the selected Program User Level.
Page 133: Programs
Multiple programs can be created using PowerTools Pro software and stored in the FM-3. The FM-3 module is capable of storing up to 55 indexes, 99 motion programs, and a maximum of 1024 program steps in the FM-3 Flash Memory. The amount of available Flash Memory determines how many programs, program steps, indexes, etc.
Page 134: For Count/Next
FM-3 Programming Module Reference Manual Jog.0.PlusInitiate Wait For ModuleInput.2=OFF Jog.Stop Endif If (ModuleInput.3=ON) Then Jog.0.MinusInitiate Wait For ModuleInput.3=OFF Jog.Stop Endif Else This program flow instruction is used in conjunction with the If/Then/Endif instruction. If the If/Then test condition evaluates to true the code after the If/Then and before the Else is executed.
Page 135: Do While/Loop
ModuleOutput.1=OFF Next Do While/Loop This program instruction is used for repeating a sequence of code as long as an expression is true. To loop forever use “TRUE” as the test expression as shown in the third example below. The test expression is tested before the loop is entered. If the test expression is evaluated as False (0) the code in the loop will be skipped over.
Page 136 FM-3 Programming Module Reference Manual Jog.Stop Endif If (ModuleInput.3=ON) Then Jog.0.MinusInitiate Wait For ModuleInput.3=OFF Jog.Stop Endif Wait For (MasterAxis.PosnFeedback > 1000.00) DriveOutput.1 = ON Wait For (VelFeedback > 50.00) DriveOutput.2 = ON Wait For Time This program instruction is used to halt program execution for a specified period of time. This instruction is not a motion instruction and can be used while a motion instruction is executing.
Page 137 This program instruction can be used to enter a formula or assignment into a program. All FM-3 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 the section on User Level in the Setting Up Parameters chapter).
Page 138 FM-3 Programming Module Reference Manual Bit And This operator may be used when it is desireable to AND each individual bit of a 32-bit parameter. var.var2 = var.var0 bitand var.var1 For example: if var.var0 = 1000 and var.var1 = -1 var.var0 = 0000000000000000000001111101000b...
Page 139: Motion Instructions
DriveOutput.1 = ON See GoTo instruction for additional examples. GoTo The GoTo instruction is used in conjunction with the Label: instruction to cause program flow to transfer to a specified location within a program. The destination label is allowed to be above or below the GoTo instruction within the same program.
Page 140: Dwell For Master Dist
FM-3 Programming Module Reference Manual The “Dwell For Time” instruction is in units of seconds with a resolution of milliseconds (0.000 seconds). If you want to pause the program while an index is executing you should use a “Wait for Time”...
Page 141 the following error is less than a specified amount. This is accomplished by changing the “Wait For Index.AnyCommandComplete” to “Wait For InPosn”. The In Position Window is configured in the Position view. Examples: Index.0.Initiate Wait For Index.AnyCommandComplete Index.37.Initiate Wait For InPosn Index.CompoundInitiate This program instruction is used to initiate an index which has no deceleration ramp.
Page 142 FM-3 Programming Module Reference Manual Figure 66: Index Velocity Profile Index.0.CompoundInitiate Index.1.CompoundInitiate Index.2.Initiate Wait For Index.AnyCommandComplete Drive Output 3 ON Drive Output 2 Drive Output 1 Figure 67: Index Velocity Profile with Drive Outputs Index.0.CompoundInitiate ‘Incremetal,Dist=5.000in,Vel=50in/s DriveOutput.1=ON Index.1.CompoundInitiate ‘Incremental,Dist=20.000in,Vel=75in/s DriveOutput.2=ON Index.2.Initiate...
Page 143 Jog.Stop This program instruction is used to halt jogging using the deceleration ramp setup for the currently operating jog. Examples: Wait For ModuleInput.2=ON Jog.0.MinusInitiate Wait For ModuleInput.2=OFF Jog.Stop Do While(TRUE) If (ModuleInput.2=ON) Then input goes OFF Endif If (ModuleInput.3=ON) Then input goes OFF Endif Loop...
Page 144: Gear Stop
Prior to A7 firmware in the FM-3 module the user had no control over the timeline. If a motion initiate command was seen within 5 milliseconds from the last time a motion profile was completed, the processor assumed that the user wanted to initiate the motion from the ‘Sync,Vel=1.000in/in...
Page 145: Adding And Deleting Programs
exact ending point of the last profile. Because of this, the processor would adjust the current motion profile to compensate for the lost time, therefore keeping the timeline intact. The user may or may not have been aware that this was happening. If no motion initiate was commanded within 5 milliseconds of the last motion complete point, then the timeline was broken and started over again on the next motion profile.
Page 146: Run Anytime Programs
Run Anytime Programs The FM-3 programming environment has been designed to automatically stop all programs when a fault occurs (regardless of what type of fault). Some applications require the ability to run a program as soon as a fault occurs of continue running a program even through a fault condition.
Page 147 Figure 68: Program View with "Run Anytime" Checkbox Enabled When a fault occurs, the drive will still be disabled, and no motion will be possible. For this reason, it may be necessary to reset the fault in the "Run Anytime" program prior to running motion again.
Page 148: Example Programs
FM-3 Programming Module Reference Manual Resetting Faults in "Run Anytime" Programs To reset a fault from a "Run Anytime" program, use Fault.Reset = ON command in the user program. The Fault.Reset command does not clear all types of faults. Some faults require power to be cycled in order to clear the fault.
Page 149 Punch a Hole in a Web a Specified Distance Beyond a Registration Mark Description: Index a web to a position 2 inches beyond a registration mark. Then fire a solenoid to punch a hole in the web. Wait for a sensor to indicate that the punch is in the down position. Retract the solenoid.
Page 150 FM-3 Programming Module Reference Manual Simple Jogging within a Program Jog+ when DriveInput.2 goes ON and stop when it goes off. Jog- when DriveInput.3 goes ON and stop when it goes off. This could also be accomplished using the Jog input functions when there is no program running.
Page 151 Knife Travel Distance = 20 inches PLS.0 is used to initiate Index.0 every 100 inches. PLS.0 has an “ON” point at 0.000 inches and an “OFF” point at 90.000 inches. PLS.0 has a rollover position of 100.000 inches. The rollover position is used to set the part length. The source for PLS.0 is the master axis. The PLS is configured in the PLS setup screen.
Page 152 FM-3 Programming Module Reference Manual Wait For ModuleInput.1=ON Jog.0.PlusInitiate Do While (TRUE) If (ModuleInput.2=ON) Then Jog.0.Vel=1.100 Wait For ModuleInput.2=OFF Jog.0.Vel=1.000 Endif If (ModuleInput.3=ON) Then Jog.0.Vel=0.900 Wait For ModuleInput.3=OFF Jog.0.Vel=1.000 Endif Loop Auger Filler with Inputs to Adjust the Fill Amount Incremental indexes are used to squirt a specified amount of food product into a box.
Page 153 ModuleOutput.3=OFF Endif ‘Decrease the fill amount once every time ModuleInput.4 is pressed. If ((ModuleInput.4=ON) AND (ModuleOutput.4=OFF)) Then Index.1.Dist = Index.1.Dist - 0.10 ‘ounces ModuleOutput.4=ON ‘ModuleOutput.4 is used to make sure that the distance is ‘incremented only once each time ModuleInput.4 is pressed. If (Index.1.Dist <...
Page 154 FM-3 Programming Module Reference Manual If (ModuleInput.1=ON) Then Index.2.Dist = PosnCommand Endif Wait For ModuleInput.1=OFF Wait For ModuleInput.2=OFF Index.3.Initiate Wait For Index.AnyCommandComplete Call Program.1 If (ModuleInput.1=ON) Then Index.3.Dist = PosnCommand Endif Wait For ModuleInput.1=OFF Wait For ModuleInput.2=OFF Subroutine for Jogging the Axis into the Desired Position (Program 1) ‘Allow jogging until either the “Learn”...
Page 155 Endif Loop Jog.Stop Endif Loop Playback Program (Program 2) Home.0.Initiate Do While (TRUE) Index.1.Initiate Wait For InPosn ModuleOutput.1=ON Wait For Time 1.000 ModuleOutput.1=OFF Index.2.Initiate Wait For InPosn ModuleOutput.1=ON Wait For Time 1.000 ModuleOutput.1=OFF Index.3.Initiate Wait For InPosn ModuleOutput.1=ON Wait For Time 1.000 ModuleOutput.1=OFF Loop ‘Stop jogging when the Jog+ input goes off.
Page 156 FM-3 Programming Module Reference Manual...
Page 157: Parameter Descriptions
Accelerating Accelerating This source is active when the FM-3 module is executing an acceleration ramp. A normal index consists of 3 segments: Accelerating, At Velocity, and Decelerating. The Accelerating source will be set (active) during this acceleration segment regardless of whether the motor is speeding up or slowing down.
Page 158 At Velocity AtVel This source is active when the FM-3 module is executing a constant velocity motion segment. One example would be during an index. The source would activate after the motor has finished accelerating up to speed and before the motor begins to decelerate to a stop. A normal index consists of 3 segments: Accelerating, At Velocity, and Decelerating.
Page 159 Parameter Descriptions Bit Register Number Value Mask BitRegister.#.ValueMask This parameter is the Mask for the BitRegister.#.Value. Each bit location is set to either transfer the current data in the corresponding bit location of BitRegister.#.Value (by setting the bit location to 1) or to clear the current data in BitRegister.#.Value (by setting the bit location to 0).
Page 160 Decelerating Decelerating This source is active when the FM-3 module is decelerating. A normal index consists of 3 segments: Accelerating, At Velocity, and Decelerating. Decelerating follows the accelerating segment and the At Velocity segment. When indexes are compounded to create a complex motion profile, only the last index may contain a decelerating segment.
Page 161 Parameter Descriptions Distance Decimal Places DistUnits.Decimal This parameter is used to select the number of decimal places used in the DistUnits.CharacteristicDist. Using a high number of decimal places will improve positioning resolution, but will also limit the maximum travel distance. The number of decimal places set in this parameter determines the number of decimal places used in all distance parameters throughout the software.
Page 162 DriveInput.#.DebounceTime The Drive Input Debounce Time parameter is the minimum time a digital input must be steady in order to be recognized by the FM-3. This feature helps prevent false triggering in applications in electrically noisy environments. Drive Input Force DriveInput.#.Force...
Page 163 When on, this parameter enables the use of the drive encoder output scaling feature. Drive Serial Number DriveSerialNumber This displays the serial number of the Drive to which the FM-3 module is attached. Drive Faults Bitmap Fault.DriveFaultsBitmap This parameter is a 32-bit register which holds all of the drive fault status bits. Following is...
Page 164 FM-3 Programming Module Reference Manual 3 = Drive power module fault 4 = Low DC bus fault 5 = High DC bus fault 8 = Drive internal fault 1 9 = Drive trajectory fault 10 = Drive internal fault 2...
Page 165 Parameter Descriptions 5 = Module travel limit plus 6 = Module travel limit minus 7 = Module program fault All other bits are not used. A "1" in these bit locations indicates the specific fault is active, and a "0" is inactive. Reset Faults Fault.Reset Resets faults that do not require a power down.
Page 166 FM-3 Programming Module Reference Manual come to a halt, but the index's velocity command remains at the velocity it was at before the feedhold was activated. When the feedhold is deactivated time will ramp back up and the index will continue on to its programmed distance or position. Feedhold affects indexes, homes, and programs.
Page 167 Parameter Descriptions Foldback RMS FoldbackRMS This read-only parameter accurately models the thermal heating and cooling of the drive. When this parameter reaches 100 percent, current foldback will be activated. Following Error FollowingError Following Error displays the difference between the Position Command and the Position Feedback.
Page 168 FM-3 Programming Module Reference Manual Gear Accel Enable Gear.AccelEnable Gear.AccelEnable is a Destination that when it is "on" allows a gear to run a specified accel ramp after the gearing command is turned on. Gear Accelerating Gear.Accelerating If Gear.AccelEnable is activated, this source is activated during the time between Gear.Initate = On and Gear.AtVel = On.
Page 169 Parameter Descriptions Gear Decel Gear.Decel This parameter sets the deceleration of the realtime gearing ramp. Gear.Decel units are in Follower Units/Velocity Time Base/Acceleration Time Base. The Gear.Decel functions only when the follower is ramping its speed down after the gearing function has turned off. Gear Decel Enable Gear.DecelEnable Gear.DecelEnable is a Destination that when it is "on"...
Page 170 FM-3 Programming Module Reference Manual Accelerating Home.#.Accelerating Active during any acceleration while the specified home is in progress. Accelerating may turn off and on again based on the type of Home selected. Accelerating will activate during the Home back off sensor motion.
Page 171 Parameter Descriptions Decelerating Home.#.Decelerating This source is active during any deceleration while the specified home is in progress. Decelerating will turn off and on based on the type of Home selected. Decelerating will activate during the Home back off sensor motion. End of Home Position Home.#.EndPosn This parameter defines the drive position at the completion of a home.
Page 172 FM-3 Programming Module Reference Manual Home Offset Type Home.#.OffsetType 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.
Page 173 Parameter Descriptions Time Base Home.#.TimeBase The time base selects either realtime, which allows velocities, acceleration and deceleration to be based on real time, or synchronized, which allows for an external synchronization signal. Velocity Home.#.Vel This parameter sets the target velocity for all of moves in the home. The sign determines the home direction.
Page 174 FM-3 Programming Module Reference Manual 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 Pro software. Accelerating Index.#.Accelerating This source is active while an index is accelerating to its target velocity. Once the index reaches the target velocity, or begins to decelerate, the Index.#.Accelerating source will...
Page 175 Parameter Descriptions Command In Progress Index.#.CommandInProgress The Index.#.CommandInProgress source is active throughout an entire index profile. The source activates at the beginning of the index acceleration ramp, and deactivates at the end of the index deceleration ramp. Compound Initiate Index.#.CompoundInitiate When activated will initiate the specified Index to compound into the next index in the program.
Page 176 FM-3 Programming Module Reference Manual Initiate Index.#.Initiate The Index.#.Initiate destination is used to initiate the specific index. The Index is initiated on the rising edge of this function. An Index cannot be initiated if there is an Home, Jog, or Program in progress, or if the Stop destination or if a travel limit is active.
Page 177 Parameter Descriptions PLS Status Index.#.PLSStatus Controlled by the PLSOn and PLSOff Points, this is relative to the distance commanded since the start of the index. Index.#.PLSStatus will be active if the distance traveled from the start of the index is greater than the Index.#.PLSOnDist and less than the Index.#.PLSOffDist. Registration Offset Index.#.RegistrationOffset This parameter is the Distance the motor will travel after a valid registration sensor or analog...
Page 178 25 times the inertia of the motor. Initially Active InitiallyActive This source, when assigned to a destination, will activate the destination on power-up or upon FM-3 reset. InitiallyActive can be assigned to any destination that does not create motion (i.e. indexes, jogs, homes, programs).
Page 179 Parameter Descriptions In Position InPosn This source activates when commanded velocity is zero and the absolute value of the following error is less than the InPosnWindow for at least the amount of time specified in the InPosnTime parameter. In Position Time InPosnTime This parameter is the minimum amount of time that commanded motion must be complete and the absolute value of the following error is less than the InPosnWindow parameter for the...
Page 180 FM-3 Programming Module Reference Manual Select Jog.Select0 This destination is used to select between the jogs. It is used along with the Jog.PlusActivate and Jog.MinusActivate destinations. If the Jog.Select0 destination is not active then the Jog.0 setup parameters will be used for jogging. If the Jog.Select0 input function is active, the Jog.1 setup parameters will be used for jogging.
Page 181 Parameter Descriptions Command In Progress Jog.#.CommandInProgress 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. Deceleration Jog.#.Decel This parameter is the average deceleration ramp for the specific jog.
Page 182 ModuleInput.#.DebounceTime The Module Input Debounce Time parameter is the minimum time a digital input must be on in order to be recognized by the FM-3. This feature helps prevent false triggering in applications in electrically noisy environments. Module Input Force ModuleInput.#.Force...
Page 183 Module Output Name ModuleOutput.#.Name User assigned name to the hardware output. Module Output State ModuleOutput.#State This destination sets the current state of an output line. Module Serial Number ModuleSerialNumber This is the FM-3 module serial number.
Page 184 MotorType This parameter is used to select the motor type. Name Name User name for this FM-3 axis can have a length up to 12 characters. This can be used to help differentiate setup files. PLS Direction PLS.#.Direction This parameter specifies the direction of motion that a particular PLS output will function. If set to Both, the PLS will activate regardless of whether the axis is moving in the positive or negative direction.
Page 185 Parameter Descriptions If using negative values for the OnPosn and OffPosn, the most negative value should go in the OnPosn parameter, and the least negative value should go in the OffPosn. If the PLS has a rollover point, and the OnPosn is greater than the OffPosn, the PLS will be active whenever the axis is not between the On and Off positions, and inactive whenever the axis is between the two positions.
Page 186 Select from CW or CCW. Position Command PosnCommand Position command sent to the EN drive by the FM-3. This parameter does not take following error into account. See also PosnFeedback and FollowingError. Units are in user units. Position Error Integral Enable PosnErrorIntegralEnable This parameter is used to enable the position error integral compensation.
Page 187 Parameter Descriptions Position Error Integral Time Constant PosnErrorIntegralTimeConstant Position Error Integral parameter is a control term, which can be used in Pulse mode to compensate for the continuous torque required to hold a vertical load against gravity or to minimize following error. The user configures this control term using the “Position Error Integral Time Constant”...
Page 188 FM-3 Programming Module Reference Manual PowerUpTimeTotal PowerUpTimeTotal Total power up time since the drive was manufactured. Units is hours. 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.
Page 189 Parameter Descriptions zero when the axis position gets to 360 degrees. (358, 359, 359.999, 0.0000, 1, 2, and so on.) The rollover point is defined to be exactly the same position as 0. Selector Input Destinations Selector.SelectLinesUsed The selector is a binary to decimal decoder. This parameter selects the number of destinations (input lines) to be used by the selector.
Page 190 FM-3 Programming Module Reference Manual Enable Software Travel Limits SoftwareTravelLimitEnable Software travel limits can be used to limit machine travel. They are often setup inside the hardware travel limits to add a level of protection from exceeding the machines travel limits.
Page 191 Start Up StartUp This source can be used to trigger an event to occur on startup (when the FM-3 module powers up or is rebooted). This source is typically used to initiate a program or to initiate a home so that a machine will automatically home on power up or reboot.
Page 192 TravelLimitDisable can be used from the Assignments screen, or through a user program. It can be used to temporarily disable the travel limit fault capability of the FM-3 module. When TravelLimitDisable is activated, the FM-3 travel limits (hardware or software) are no longer valid.
Page 193 Parameter Descriptions Torque Limit TorqueLimitEnable This destination is used to enable the TorqueLimit. This is level sensitive. Travel Limit Minus Activate TravelLimitMinusActivate This destination is used to activate the travel limit minus fault. It should be assigned to the travel limit minus sensor. When it is activated the drive will decelerate to a stop using the deceleration rate defined in the TravelLimitDecel parameter.
Page 194 User Variable have the same number of decimal places. Velocity Command VelCommand The Velocity Command is the velocity that the FM-3 module 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 195 Parameter Descriptions Decimal Places VelocityUnits.Decimal This parameter is used to select the number of decimal places used in velocity units scaling. Using a high number of decimal places will improve velocity resolution, but will also limit the maximum velocity. This parameter is selectable between 0 and 6 decimal places. The number of decimal places set in this parameter determines the number of decimal places used in all velocity parameters throughout the PowerTools Pro software.
Page 196 FM-3 Programming Module Reference Manual...
Page 197: Installation
The FM-3 module detects and verifies the drive serial number when its attached to an drive. If a FM-3 module is moved from one drive to another, it will detect the difference in serial numbers and generate an Invalid Configuration fault.
Page 198: Modbus Communications
Figure 70: Detaching the FM-3 from the Drive Connections Do not attach or detach the FM-3 module when power is applied to the drive It could cause drive instability and may cause property damage. Modbus Communications The drive’s serial communication protocol is Modbus RTU slave with a 32 bit data extension.
Page 199: Software Installation
Software Installation PowerTools Pro software was designed for users who need access to all setup options and diagnostic information for the drive. The software provides access to all commonly used drive parameters. PC System Configuration Required: • Microsoft® Windows® 98, Microsoft® Windows NT® 4.0 (service pack 3), Microsoft® Windows XP (Home and Pro) and Microsoft®...
Page 200: Starting And Exiting Powertools
FM-3 Programming Module Reference Manual PowerCD doesn’t auto start use Windows Explorer to navigate to the CDROM drive and open the HELP.TXT file for additional information. When prompted, install the software on to your hard drive following the instructions on your screen.
Page 201: Accessing Help
To start a new file or configuration, select file from the menubar, and then select New. You may also click on the File New icon on the toolbar. The New dialog box will appear prompting the user to select FM-3 Drive Setup or FM-3DN Drive Setup (see figure 71). Figure 71:...
Page 202 FM-3 Programming Module Reference Manual • Click the Help button on a dialog box or tab. • Click the Help icon on the toolbar. • Click the Context Sensitive Help button on the toolbar and then the field on the tab.
Page 203: Quick Start
The quick start guide provides information on the basic operation and functions of the FM-3. The quick start steps cover only the most basic steps required to setup a FM-3 module for use with a drive. Basic Setup Steps Step 1: Opening a New Configuration Window To open a new configuration window, click either on the New File icon at the left end of the PowerTools Pro toolbar, or click on File-New from the menubar as shown in 72.
Page 204 General Setup View On this view, you must enter the following parameters before entering other setup views: Drive Type – Select, from the list box, the type of drive to which the FM-3 module is attached. Motor Type – Select, from the list box, the type of motor being used in this application.
Page 205 Quick Start User Units View Determine which types of units the drive should use to measure motion and enter them on this view. Figure 74 shows the Setup group in the hierarchy expanded with the User Units element selected. Figure 74: User Units View Now setup the parameters in the Distance group on the User Units view.
Page 206 If a configuration is downloaded to the FM-3/4 with a red background on the “User Unit Limited Speed”, the drive will obtain a trajectory fault at speeds near this velocity. To alleviate this issue, simply remove decimal places from your user units, and/or change the characteristic distance (numerator) of your scaling parameters to be a smaller number than it was.
Page 207 Enable Following Error – This checkbox enables (when checked) and disables the following error fault capability. If checked, a following error fault is generated whenever following error exceeds the value entered in the parameter box. If unchecked, a following error fault will never be generated. Following Error Limit –...
Page 208 FM-3 Programming Module Reference Manual Figure 76: Ramps View Travel Limit Decel – The deceleration ramp is used if either a Software or Hardware Travel Limit is encountered. The deceleration units of the ramp are defined in the User Units setup view under the Acceleration group.
Page 209 Quick Start Figure 77: Tuning View Inertia Ratio - This parameter is the ratio between the reflected inertia of the load and the inertia of the motor rotor. For assistance in calculating the Inertia ratio, see the Determining Tuning Parameter Values section of this manual. PLS View Use this view to setup Programmable Limit Switches (PLS), if your application requires them.
Page 210 Debounce – This is the minimum time a specific input must be on, for recognition by the drive/FM-3. This helps prevent false triggering for applications in electrically noisy environments. The units for this parameter are seconds, with resolution of 0.001 seconds.
Page 211 Quick Start Figure 79: Output Lines View A name can also be given to each hardware output line. Double click the Output line name field to enter a name for that individual output line. Name – This 12-character string allows a descriptive name assignment to an output line. This makes the configuration easier to follow.
Page 212 FM-3 Programming Module Reference Manual Figure 80: Jog Setup View Jog Deceleration - Is the average deceleration rate used when decelerating to zero speed or to the new target velocity. Home Setup Next, select the Home view from the hierarchy window. Figure 81 shows the Home view and its associated home parameters.
Page 213 Quick Start Figure 81: Home Setup View Deceleration - Is the average deceleration rate used to decelerate from the target velocity to zero velocity at the completion of the home. Home Offset – By selecting a specified offset, the home will travel at a set velocity until the home reference signal is detected, then travel an additional set distance, before coming to a stop.
Page 214 FM-3 Programming Module Reference Manual Figure 82: Index Setup View (Absolute Type) Indexes use the following parameters: Index Name - Is a 12-character string that gives a descriptive name to an index. Index Type – Selects the desired type of index from the list box. An Absolute index means the load will travel to an exact position with respect to the home reference point.
Page 215 Quick Start Position/Distance – If using an absolute index, this is the desired final position after the index is complete. If using an incremental index, then this is the distance you want the load to move from the start of the index. This is a signed value. Velocity –...
Page 216 FM-3 Programming Module Reference Manual Now that all of the motion parameters are setup, the jogs and indexes can be initiated through assignments to hardware inputs that were made on the assignment view. Step 5: Creating a Program Now that the drive setup is complete, assignments are made, and motion profiles are defined, you are ready to create the program.
Page 217 Quick Start To expand the usable area of the programming view, use the Hide/Show Hierarchy button on the PowerTools Pro toolbar. Figure 85 shows this utility. By clicking on the button once, the hierarchy window will be hidden, allowing for a larger programming window. To show the hierarchy again, simply click on the button a second time.
Page 218 FM-3 Programming Module Reference Manual Now the program is complete, and is ready to be run. In order to run the program, the drive must be enabled and the setup parameters must be downloaded. Once the download is complete, verify the drive is enabled and initiate your program.
Page 219: Example Application Start Up
Quick Start Example Application Start Up Software Travel Limits Home Prox Figure 86: Example System In order to make the setup easier to understand in this guide, the guide will use an example setup. The example application used in the quick start guide is a ball screw application (see the drawing above).
Page 220 FM-3 Programming Module Reference Manual selects three digits allowing resolution of 0.001 Inches on all distance variables. Use the spinner window Up/down buttons. Distance Units Scaling – Enter the number of User Units the motor/load travels for each revolution of the motor. You must enter the numerator and the denominator for this scaling factor, but for this example, the denominator (bottom portion of the ratio) is at 1.
Page 221 Quick Start Making Assignments Using this process, three individual assignments are made. The example application wants to turn on an output when each index completes. Therefore, Index Complete sources will be assigned to the hardware Output destinations. Figure 88 shows this process. Figure 88: Assignments View The Input Lines view shows all of the assignments that have been made to the Inputs group...
Page 222 FM-3 Programming Module Reference Manual Figure 89: Input Lines View Notice that a Name can be associated to each input line. Each input line can also have a debounce time. Figure 89 demonstrates how to enter a debounce time for an input line. The...
Page 223 Home Setup The example application calls for setup of the following parameters: Home Reference –The example calls for a Home to Sensor; therefore, “Sensor” is selected as the home reference. Because of this selection, the home profile will travel at its target velocity until the Home.0.SensorTrigger is activated.
Page 224 FM-3 Programming Module Reference Manual Index Type – Select the desired type of index from the list box. Index2 has been defined as an Incremental type of index. This means that the load travels an exact distance from the start of the index.
Page 225 Quick Start Figure 92: Index Setup View (Incremental Type) Now that all of the motion parameters are setup, the jogs and indexes can be initiated through assignments to hardware inputs that were made on the assignment view. See Figure 89 to determine which input is used to activate which functions.
Page 226 FM-3 Programming Module Reference Manual The example program uses the following instructions: Do While / Loop – This program instruction is used to repeat a sequence of code as long as a test expression is true. The test expression is validated before the loop is entered. If the test expression is evaluated as False (0), then the code inside the loop will be skipped over.
Page 227: Tuning Procedures
FM-3 Programming Module Reference Manual Tuning Procedures The drive uses closed loop controllers to control the position and velocity Travel Limit of the attached motor. These position and velocity controllers and the associated tuning parameters are in effect when the drive is in velocity or pulse mode and have no effect when the drive is in Torque mode.
Page 228: Tuning Procedure
If your system needs optimization, we recommend that you start with the Basic Level, then determine if further tuning is needed based on axis performance. The setup procedures explained here assume that you are using PowerTools FM-3 software or an FM-P.
Page 229 Enter the inertia value calculated into the Inertia Ratio parameter. Set the Line Voltage to the applied voltage (default is 230 VAC). Leave all other tuning parameters at the initial values. Enable the drive and run the system. Adjust Response to obtain the best performance. Fully Optimized Level Determine the actual system parameters.
Page 230: Tuning Parameters
FM-3 Programming Module Reference Manual Tuning Parameters Inertia Ratio Inertia Ratio specifies the load to motor inertia ratio and has a range of 0.0 to 50.0. A value of 1.0 specifies that load inertia equals the motor inertia (1:1 load to motor inertia). The drives can control up to a 10:1 inertia mismatch with the default Inertia Ratio value of 0.0.
Page 231 Response The Response adjusts the velocity and position loop bandwidths with a range of 1 to 500 Hz. In general, it affects how quickly the drive will respond to commands, load disturbances and velocity corrections. The effect of Response is greatly influenced by the status of the High Performance Gains.
Page 232: Determining Tuning Parameter Values
FM-3 Programming Module Reference Manual Friction parameter is less than the actual friction, velocity error will be reduced but not eliminated. Feedforwards can be enabled in any operating mode, however, there are certain modes in which they do not function. These modes are described in the table below.
Page 233 Initial Test Settings When running the tests outlined in this section, the motor and drive must be operational so you will need to enter starting values. If your application has less than a 10:1 inertia mismatch, the default parameter settings will be acceptable.
Page 234 FM-3 Programming Module Reference Manual Note If the friction loading of your system varies when operating at constant speed, due to a load or spring load that changes as the motor rotates, use the lowest value measured. Repeat Step 1 using a velocity at least two times the low speed.
Page 235 Consider the following before determining the inertia: • If your application allows a great deal of motor motion without interference, it is recommended that you use a Preset Velocity to produce accurate acceleration ramps. • If your application has a very limited range of motion, it is recommended that you use a position controller to produce the acceleration ramps and to prevent exceeding the axis range of motion.
Page 236 FM-3 Programming Module Reference Manual IR = Inertia Ratio R = ramp in ms/kRPM Ta = (unsigned) percent continuous torque required during acceleration ramping (0 - 300) Td = (unsigned) percent continuous torque required during deceleration ramping (0 - 300)
Page 237 Motor Drive NT-320 MG-205 EN-204 MG-208 MG-316 NT-320 NT-330 NT-345 NT-355 EN-208 MG-316 MG-340 MG-455 NT-345 NT-355 MG-455 EN-214 MG-490 MG-4120 NT-207 NT-212 Eb-202 MG-205 MG-208 NT-207 NT-212 MG-205 Eb-203 MG-208 MG-316 NT-320 NT-330 Eb-205 NT-345 Percent Continuous/volt Scaled Torque Command Output (default)) 4.30 4.77...
Page 238 FM-3 Programming Module Reference Manual...
Page 239: Diagnostics And Troubleshooting
Diagnostics and Troubleshooting Diagnostic Display The diagnostic segment display on the front of the drive shows drive status, FM-3 module status, and fault codes. When a fault condition occurs, the drive will display the fault code, overriding the status code. The alphanumeric display on the FM-3 module provides additional fault information.
Page 240: Fault Codes
FM-3 Programming Module Reference Manual Display Indication Status Indexing Decelerating from Stop Jogging Program Fault Codes A number of diagnostic and fault detection circuits are incorporated to protect the drive. Some faults, such as high DC bus and amplifier or motor over temperature can be reset with the Reset button on the front of the drive or the Reset input function.
Page 241 Line Cycle Power Cycle Power Reset Button or Input Line Reset Button or Input Line Reset Button or Input Line FM-3 Display Power Up Tst NVM Invalid Invalid Conf Power Module High DC Bus Low DCBus Encoder State Encoder HW...
Page 242: Fault Descriptions
FM-3 Programming Module Reference Manual Segment Display Fault Max Following Error Travel Limit +/- All "On" FM-3 Fault Descriptions Flash Invalid This fault indicates that the firmware checksum has failed. Use the Tools Program Flash menu item from PowerTools to reprogram/upgrade the firmware stored in flash memory. If this problem persists, call Control Techniques.
Page 243: Invalid Configuration
FM-3 Fault A 3 will be displayed in the segment display on the drive when the FM-3 module experiences a fault. See the table above for more information about the various faults. Invalid Configuration The FM was not on this drive during its previous power-up and it is not known if the setup data in the FM matches the drive and motor to which the FM is now attached.
Page 244: Encoder State
FM-3 Programming Module Reference Manual Encoder State Certain encoder states and state transitions are invalid and will cause the drive to report an encoder state fault. This is usually the result of noisy encoder feedback caused by poor shielding. Encoder Hardware If any pair of complementary encoder lines are in the same state, an encoder line fault is generated.
Page 245 Diagnostics and Troubleshooting FM-3 Specific Fault Descriptions Figure 95: FM-3 display is used to display drive and FM-3 faults Enc St Certain encoder states and state transitions are invalid and will cause the drive to report an encoder state fault. This is usually the result of noisy encoder feedback caused by poor shielding or a faulty cable.
Page 246 Check the user units, velocities, accels and decels for correct values. Drv Syn This fault occurs when the drive loses timing with the attached FM-3. This issue is generally caused by either a trajectory update rate that is too low (800 or 1200usec), or a processor...
Page 247 This fault is caused when the - Travel Limit input function is active. Prog Flt This fault indicates a FM-3 user program fault. For example the program is attempting to divide by zero, or overflows and math errors caused by numbers that are too large, or non-...
Page 248: Analog Outputs
FM-3 Programming Module Reference Manual No Prog This fault will be displayed on initial power-up indicating that no configuration has been downloaded to the FM-3 module. To clear the fault, download a valid configuration to the FM-3 module. Cn Tmout A connection time-out occurs when a FM-3DN or any other device on the network does not receive a packet of information that it was expecting.
Page 249 • Torque Command = Percent of continuous torque Analog Output Scale units: • Velocity Feedback = RPM/volt • Torque Command = Percent of continuous torque/volt Diagnostics and Troubleshooting...
Page 250: Diagnostic Analog Output Test Points
FM-3 Programming Module Reference Manual Diagnostic Analog Output Test Points The DGNE cable was designed to be use with either an oscilloscope or a meter. The wires are different lengths to avoid shorting to each other. However, if signals do get shorted to GND, the drive will not be damaged because the circuitry is protected.
Page 251 Diagnostics and Troubleshooting Figure 97: Diagnostic Cable (DGNE) Diagram...
Page 252: Drive Faults
FM-3 Programming Module Reference Manual Drive Faults The Active Drive Faults dialog box is automatically displayed whenever a fault occurs. There are two options in this dialog box: Reset Faults and Ignore Faults. Figure 98: Active Drive Faults Dialog Box Resetting Faults Some drive faults are automatically reset when the fault condition is cleared.
Page 253 Diagnostics and Troubleshooting The terms below appear in the list the of common problems you might encounter when working with PowerTools software along with the error message displayed, the most likely cause and solution. Assign means to set a value using an equation. For example, x = 2, you are assigning the value of 2 to x.
Page 254: Programming Error Messages
FM-3 Programming Module Reference Manual Programming Error Messages These Red Dot Error messages occur while you are working in the Program View. When creating a program, the parser is executed when you left mouse click, when you arrow off the current Line, when you enter the carriage return, when you paste or when you drop a drag source.
Page 255 Diagnostics and Troubleshooting Error: A string variable can only be assigned a quoted text string The Variable is string. It only accepts types consisting of text strings. Error: Can only compare(>,<,etc) numeric results This message occurs in conditional Expressions (i.e. If then). Variables are type identified, so equation and assignments (x = 9) can be verified.
Page 256 FM-3 Programming Module Reference Manual Error: Syntax error encountered Parser Error Message. The Parser can not understand your text sequence. Error: Text Strings are limited to 12 characters... To change a Name you assign a quoted text string to that name. In FM3, text strings are fixed at 12 characters.
Page 257 Diagnostics and Troubleshooting Error: The destination variable's resolution is less than the resolution of the number You attempted to assign a number with a greater resolution of decimal points than the variable will accept (i.e. index.0.vel = 2.34567). The User Units setup will allow you to define the desired decimal point resolution.
Page 258 FM-3 Programming Module Reference Manual Error: The Selection variable can only be assigned a Selection value. The destination variable only accepts selection values. Selection values are fixed unquoted text. The selection text must exactly match the available selections of the Destination variable.
Page 259: Online Status Indicators
PowerTools Pro contains a diagnostic utility called the Watch Window. The Watch Window can be used while PowerTools Pro is running and the PC is online with the FM-3 module. The Watch Window allows the user to monitor the status of all their desired system parameters in one location.
Page 260 FM-3 Programming Module Reference Manual Figure 100: Select Drive Parameters Dialog Box Once a parameter is added to the Watch Window, its current value or state is constantly monitored. If a parameter in the window changes value or state, it will change to a red color.
Page 261 User Level - The User Level setting is a filter for the parameters that are seen in the Select Drive Parameters list. If set to Easy, the parameters used in most basic applications will be seen while the more advanced parameters are hidden. If set to Detailed, the parameters used in more advanced applications will be added to the list.
Page 262 FM-3 Programming Module Reference Manual...
Page 263: Specifications
Power consumption: 3W from drive power supply. I/O Supply Voltage: 10-30 VDC. Function Inputs Outputs Dimensions and Clearances 7.187 (182.5) ON State Voltage ON State Current OFF State Voltage OFF State Current Max. ON State Voltage Max. ON State Current Max.
Page 264 FM-3 Programming Module Reference Manual AX4-CEN CDRO...
Page 265: Cable Diagrams
Specifications Cable Diagrams...
Page 266 FM-3 Programming Module Reference Manual SNCE-XXX Cable SNCDD-001.5 Cable...
Page 267 Specifications SNCO-003 Cable SNCI-003 Cable...
Page 268 FM-3 Programming Module Reference Manual SNCLI-003 Cable...
Page 269: Cmdx-Xxx Cable
Specifications CMDX-XXX Cable Note Some CMDX cables may have White/Yellow and Yellow/White wires in place of the White/Orange and Orange/White shown in the figure above (pins 6 and 21).
Page 270: Cmdo-Xxx Cable
FM-3 Programming Module Reference Manual CMDO-XXX Cable Note Some CMDO cables may have White/Yellow and Yellow/White wires in place of the White/Orange and Orange/White shown in the figure above (pins 6 and 21).
Page 271: Cdro-Xxx Cable
CDRO-XXX Cable Specifications...
Page 272 FM-3 Programming Module Reference Manual TIA-XXX Cable DDS-XXX Cable...
Page 273 Specifications TERM-H (Head) Terminator TERM-T (Tail) Terminator Note See the "Multi-drop Communications" section for resistor values.
Page 274: Cmds-Xxx Cable
FM-3 Programming Module Reference Manual CMDS-XXX Cable CMMS-XXX Cable...
Page 275: Cfcs-Xxx Cable
Specifications CFCS-XXX Cable...
Page 276: Cfco-Xxx Cable
FM-3 Programming Module Reference Manual CFCO-XXX Cable...
Page 277: Cfos-Xxx Cable
Specifications CFOS-XXX Cable...
Page 278 FM-3 Programming Module Reference Manual...
Page 279: Glossary
Servo Drive. ARMS Amps Root Mean Squared (RMS). Axis The full system to control in a single motor shaft. A single FM-3 module with EN 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.
Page 280 Cyclical Redundancy Check, the data transfer error checking mechanism. Destination A function (i.e., Stop, Preset) that may be assigned to an input line. In FM-3, the input function is connected to the action through click and drag operations in PowerTools Software on the Assignment View.
Page 281 Another type of EEPROM. Flash File In the FM-3, 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 282 FM-3 Programming Module Reference Manual Input Function See destination. A function (i.e., Stop, Preset) that may be assigned to an input line. In FM- 3, the input function is connected to the action through click and drag operations in PowerTools Software on the Assignment View.
Page 283 Non-Volatile Memory. NVM stores specifically defined variables as the variables dynamically change. It is used to store changes through a power loss. Negative Temperature Resistor Option Button See Radio Button. Opto-isolated A method of sending a signal from one piece of equipment to another without the usual requirement of common ground potentials.
Page 284 PowerTools Pro PowerTools Pro is a Windows® based software to interface with the EN or MDS drive with an attached FM-3 or FM-4 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 285 Uploading The transfer of a complete set of parameters from a drive to an FM. User Units Ability of program to allow user to specify which type of units will measure and specify motion and time. Volts, Alternating Current. Variable A labeled value that encompasses numeric boolean, input function, and output functions.
Page 286 FM-3 Programming Module Reference Manual...
Page 287: Index
Symbols +/- Limit, 230 Add Program Button, 131 Adding a Program, 131 Adding Indexes, 105 Analog Output, 236 Assignment Polarity, 75 Book Mark, 116 Brake Operation and Wiring, 236 Cable Diagrams, 251 Call Program, 122 CDRO-XXX Cable, 257 CFCO-XXX Cable, 262 CFCS-XXX Cable, 261 CFOS-XXX Cable, 263 CMDO-XXX Cable, 256...
Page 288: Table Of Contents
FM-3 Programming Module Reference Manual For Count/Next, 120 Formula, 123 Gear Stop, 130 Gear.Initiate, 130 GoTo, 125 High DC Bus Fault, 229 Home.Initiate, 128 If/Then/Endif, 119 Index.CompoundInitiate, 127 Index.Initiate, 126 Installation Notes, 183 Introduction, 1 Invalid Configuration, 229 Jog.MinusInitiate, 129 Jog.PlusInitiate, 129...
Page 289 Safety Considerations, vii Safety of Machinery, vii Safety Precautions, vii Setup, 31 Setup, Commissioning and Maintenance, vii status codes decimal point, 225 Ready, 225 Ready to Run, 225 Stop All, 118 TERM-H (Head) Terminator, 259 TERM-T (Tail) Terminator, 259 TIA-XXX Cable, 258 Undo Last Change, 116 Using Last, 130 Wait For, 121...
Page 290 FM-3 Programming Module Reference Manual...
Page 292 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 Drives, Inc. Division of EMERSON Co. 12005 Technology Drive Eden Prairie, Minnesota 55344 U.S.A. Customer Service...

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