1. Manuals
  2. Brands
  3. Emerson Manuals
  4. Control Unit
  5. SM-EZMotion Module P/N 400361-00
  6. User manual

Emerson SM-EZMotion Module P/N 400361-00 User Manual

Hide thumbs
Table of Contents

Advertisement

Quick Links

SM-EZMotion Module
User Guide
P/N 400361-00
Revision: A1
Date: July 3, 2003
© Control Techniques Drives, Inc. 2003

Advertisement

Table of Contents
loading

Related Manuals for Emerson SM-EZMotion Module P/N 400361-00

Summary of Contents for Emerson SM-EZMotion Module P/N 400361-00

  • Page 1 SM-EZMotion Module User Guide P/N 400361-00 Revision: A1 Date: July 3, 2003 © Control Techniques Drives, Inc. 2003...
  • Page 3 SM-EZMotion Module User Guide 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. Control Techniques is a Division of EMERSON Co.

  • 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) 397-3786 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

    Customer Service (Sales) (952) 995-8000 or (800) 397-3786 Email: customer.service@emersonct.com Authorized Control Techniques distributors may place orders directly with our Customer Service department. Contact the Customer Service department at this number for the distributor nearest you. Document Conventions Manual conventions have been established to help you learn to use this manual quickly and easily. As much as possible, these conventions correspond to those found in other Microsoft®...

  • Page 7: Safety Instructions

    Safety Instructions General Warning Failure to follow safe installation guidelines can cause death or serious injury. The voltages used in the product can cause severe electric shock and/or burns and could be lethal. Extreme care is necessary at all times when working with or adjacent to the product.

  • Page 9: Safety Considerations

    Safety is to be used on a new or existing system with other drives, there may be some differences between their software and the software in this product. These differences may cause Considerations this product to function differently. This may also apply to drives returned from a Control Techniques Service Centre.
  • Page 10 are isolated from human contact by at least one layer of insulation rated for use at the applied AC supply voltage. viii www.emersonct.com SM-EZ Motion Module Reference...

  • Page 11: Table Of Contents

    SM-EZMotion Module Technical Manual Table of Contents Customer Support ..................iii Document Conventions .
  • Page 12 SM-EZMotion Module Technical Manual 5.2 Jog................... .23 5.3 Home.
  • Page 13 7.6 Create User Programs................63 7.6.1 Program View .
  • Page 14 SM-EZMotion Module Technical Manual 11 Parameter Descriptions 12 Drive Parameters Used by SM-EZMotion Module 12.1 Description..................111 12.2 Chart.

  • Page 15: Introduction

    1 Introduction dedicated processor that allows the user to write their own application specific software. The Unidrive SP drive also offers powerful networking capabilities in addition to the SM-EZMotion module so that many drives (and other 1.1 Introduction equipment) can be linked together to communicate process wide information thus offering a complete Modern variable speed drive such as the Unidrive SP offer application solution.
  • Page 16 • Programming PowerTools Pro will run on Windows 98, NT, 2000, and XP operating systems. www.emersonct.com SM-EZMotion Module User Guide...

  • Page 17: Installation

    2 Installation the Setup view in PowerTools Pro (see “Setup View” on page 37 for more information on the Trajectory Update Rate). This section of the manual will cover basic installation The digital I/O on the SM-EZMotion module are also information.
  • Page 18 I/O Connector 1 I/O Connector 2 I/O Connector 4 Encoder Feedback 15 pin D-sub or SM-ETC GREEN CHANNEL A BROWN CHANNEL A/ BLUE CHANNEL B ORANGE CHANNEL B/ BLACK CHANNEL Z YELLOW CHANNEL Z/ WHT/GRY CHANNEL U NT, MG, or MH Motor GRY/WHT CHANNEL U/ WHT/BRN...

  • Page 19: Simple Servo Motor Phasing Test

    2.6 Simple Servo Motor Phasing Step 7: Verify wiring of commutation signals. The Unidrive SP Advanced User Guide section 3 Test (parameter 3.25) is helpful for this step. If no trips were encountered during Step 2, this step can be When connecting a non-standard servo motor to the skipped.
  • Page 20 www.emersonct.com SM-EZMotion Module User Guide...

  • Page 21: Powertools Pro Configuration Software

    3 PowerTools Pro www.emersonct.com. Configuration Software 3.1 Introduction PowerTools Pro is the software used to configure hardware type, setup parameters, I/O functionality, motion profiles, user programs, and networks for the SM-EZMotion module. PowerTools Pro can also be used as a diagnostic tool and for troubleshooting assistance. 3.2 Installing PowerTools Pro 3.2.1 From the Power CD Figure 5:...
  • Page 22 • On the menu bar, click a menu name to display a list 3.3.1.1.5 Save As... of options. On the menu, either click an option or use Save As allows the user to save the active file using a the DOWN ARROW to move down the list, and then different name or to save an existing file to a different press ENTER.
  • Page 23 matches the text in the Find What field, and replace it with the text in the Replace With field. The user can select to replace just the next match, or all existing matches with the Replace All control button. 3.3.1.2.7 New Selecting New will bring up a sub menu allowing the user to add a new Index, Home, or Program.
  • Page 24 Drive option will not be available on the Edit menu. 3.3.1.3.7 Reset Errors Selecting Reset Faults will clear any active Errors or Trips. If the trip condition still exists, the trip may reactivate immediately after clearing it. 3.3.1.3.8 View Faults Selecting View Faults from the Edit menu will open the Active Faults pop up window.
  • Page 25 most commonly used parameters are available. If user level is set to "Too Much Mode", then all parameters will be visible. This feature is designed to make the most common parameters easier to find and use in programs, assignments, and throughout the software. 3.3.1.4.1.3 Ptools Operation Selecting Options >...
  • Page 26 3.3.1.5.1 Watch Window Selecting Watch Window will launch a diagnostics tool that allows the user to view the current value of multiple SM-EZMotion parameters while online with the module. For more information on the Watch Window, refer to Section 11 - Diagnostics of this manual. 3.3.1.5.2 Drive Menu The Drive Menu Watch Window allows the user to read or write a single SP Menu Parameter from within PowerTools...

  • Page 27: Tool Bar

    Navigation Tree to remove it from the display. If the 3.3.1.8.2 Using Help Hierarchy is not visible, select Show Navigation Tree to Selecting Using Help will launch a window that lets the user make it appear again. select different topics available as part of the help file. This utility makes it easier to navigate the different sections of 3.3.1.7 Window the help file.
  • Page 28 3.3.2.5 Upload 3.3.2.10 Add Index Same as Device > Upload from the Menu Bar. Selecting Same as Edit > New > Index from the Menu Bar. Selecting Upload will scan the Modbus network for available nodes, Add Index will add a new index to the configuration. and then upload the specified node address Indexes are added in sequential order.

  • Page 29: Hierarchy

    3.3.2.15 Clear Errors processed. If multiple user programs are running simultaneously, the user will be asked to specify which Task they wish to follow. A blue arrow will appear next to the active line of the program. The global Where Am I will continuously update until it is deactivated.

  • Page 30: View

    “-“symbol next to the grouping. Doing so will hide all of the branches within that group. Natural progression through the hierarchy, starting at the top, and working towards the bottom will step the user through the entire configuration. The Hierarchy starts at the top with Hardware, then moves on to Setup parameters, I/ O Setup, Motion, and then finishes with Programs.

  • Page 31: Communications

    4 Communications Options > Preferences > Communications on the Menu Bar. Figure 22 shows the Modbus Setup window that allows the user to configure the communication settings. 4.1 Communications Protocol PowerTools Pro communicates with the SM-EZMotion module using 32-bit Modbus RTU protocol. 4.2 Connecting the PC to the SM-EZMotion Module The SM-EZMotion communicates with the PC through the...

  • Page 32: Uploading

    PowerTools Pro configuration file (Arrow A on Figure 24 SM-EZ Motion Module above). At the completion of the upload, the user will be asked if they wish to upload the NVM values. This dialog box is shown below. User NVM PC with PowerTools Pro Non-User NVM Figure 25:...

  • Page 33: Updating To Ram

    values into the user configuration (First Arrow H followed by Arrow A, but data from H is not stored in PowerTools Pro file). Modify Parameter Values The table below shows an example of how these three options work: Click the Value After Download Update to RAM Value Before...
  • Page 34 4.4.5.1.3 Update - Upload the values into the current Update PowerTools Pro configuration When this radio button is selected the "Update" option will be used on every download to the module. For more details on how the Update option works, see the Download NVM Options above.

  • Page 35: Secure Downloading

    4.4.5.3.2 Always bypass NVM upload When uploading a configuration, PowerTools Pro uploads from a Non-User NVM location, so the data uploaded only matches exactly what was last downloaded. By selecting this radio button, the parameter values in the Save to NVM list will NOT be uploaded.
  • Page 36 www.emersonct.com SM-EZMotion Module User Guide...

  • Page 37: How Motion Works

    5 How Motion decelerate to a stop immediately (called Calculated Offset), or continues at the Home velocity and comes to a stop a specified distance from where the reference signal Works activated (called Specified Offset). The Home is typically used to define a reference position (or Home position) on a machine.

  • Page 38: Home To Sensor

    Velocity Velocity Home Velocity Home Velocity Home Offset Home Offset Home Accel Home Decel Home Accel Home Decel Time Time Home Initiate Home Initiate External Sensor Encoder Marker Figure 34: \Home to Marker Profile (Specified Offset) Figure 36: Home to Sensor Profile (Specified Offset) 5.3.2 Home to Sensor 5.3.3 Home to Sensor then Marker The Home to Sensor profile acts much like the Home to...

  • Page 39: If On Sensor Options

    Velocity Velocity Home Velocity Home Sensor is active when Home Decel Home is initiated, so motor travels in negative direction Home Velocity Home Accel Time Home Accel Home Decel Home Accel Home Decel Home Velocity Time External Home Sensor Clears Home Initiate Home Initiate Encoder Marker...

  • Page 40: Incremental Index

    position. After completing an Absolute Index, the motor will 5.4.3 Registration Index always be in the same position regardless of the starting A Registration Index functions much the same as a Home position of the motor. The direction that the motor moves profile.

  • Page 41: Rotary Plus Index

    5.4.5 Rotary Minus Index Velocity A Rotary Minus Index is used when Rotary Rollover is active. The Rotary Minus Index is similar to an Absolute Index Velocity Index Decel Index, but it is forced to go in the negative direction to get Index Accel to its programmed position.

  • Page 42: Gear

    without a deceleration ramp. Velocity Acceleration and Deceleration ramps can be enabled by the user. If enabled, the Accel and Decel ramps are specified in units of Follower Units / Velocity Time Base / Acceleration Time Base. Note that this is a Realtime ramp. Therefore, the time that it takes to reach the programmed Index Accel ratio depends on how fast the master is traveling when...

  • Page 43: Summing Multiple Profiles

    profile are as follows: Follower Distance Units / Velocity Timescale. And units of acceleration for a realtime move are Foll Distance Units / Velocity Timescale / Accel Timescale. A few examples of these units are as listed below. Realtime Follower Distance Units Master Distance Units Vel.
  • Page 44 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 52: Two Indexes www.emersonct.com SM-EZMotion Module User Guide...

  • Page 45: How I/O Works

    6 How I/O Works 6.4 SM-I/O Plus Module I/O The SM-I/O Plus module has three I/O points that are configured by the user to be Inputs or Outputs, along with 6.1 I/O Scan three dedicated Inputs. The scan rate of the I/O on the SM-I/O Plus module depends on how many SM-I/O Plus When used to activate SM-EZMotion functions, the modules are being used.
  • Page 46 www.emersonct.com SM-EZMotion Module User Guide...

  • Page 47: Configuring An Application

    7 Configuring an Application 7.1 Introduction All applications using SM-EZMotion modules are configured using PowerTools Pro configuration software. For specific questions on PowerTools Pro operation, please refer to Section 3 of this manual. The hierarchy in PowerTools gives the user a basic template on how to configure an application.
  • Page 48 7.2.2.2 SM-EZMotion Module View 7.2.2.4 SM-Universal Encoder Plus Module View If SM-EZMotion is selected in the Slot # Module combo If Universal Encoder Plus is selected in the Slot # Module box, the remainder of the view should be blank. The combo box, the remainder of the view should have hierarchy automatically updates to show that an configuration parameters to define what type of encoder is...

  • Page 49: Unidrive Sp Parameters View

    7.2.2.6 SM-DeviceNet Module View 7.2.2.8 Applications Plus Module View If DeviceNet is selected in the Slot # Module combo box, If Applications Plus is selected in the Slot # Module combo the remainder of the view should have configuration box, the remainder of the view should be blank. The parameters to define the properties of the DeviceNet hierarchy automatically updates to show that an device and network.

  • Page 50: Sp Menu Initialization View

    side of the view. The values displayed are only the values at the time the "Get Menu Values" button was selected. The values are NOT continuously updating. Control Button Get Menu Values Pressing the Get Menu Values control button will cause PowerTools Pro to read the current value of all the parameters in the selected menu and display them in the memory column, If the value in the memory is different from...

  • Page 51: Setup View

    7.3.1 Setup View available on the Status Online tab when online with the device to help select the ideal setting. (See description of The Setup view allows the user to setup various Control Loop Group of online parameters for further parameters related to how the overall system operates.

  • Page 52: Master Units Setup View

    Distance Units Name This is a 10-character name for the distance user units you want to use in your application Decimal Places The number of decimal places set in this parameter determines the number of digits after the decimal point used in all distance and position parameters throughout the software.
  • Page 53 synchronized motion throughout the software. Using a high The denominator (bottom value of the scaling fraction) is number of decimal places will improve position resolution, the # of encoder revolutions. The master revs parameter is but will also limit the maximum position. You can select the number of incoming whole revolutions it takes to travel from zero to six decimal places of programming resolution.

  • Page 54: Position View

    7.3.4 Position View Following Error Limit. If enabled, a fault will be generated if the absolute value of the following error ever exceeds the The Position View allows the user to configure parameters value in the following error parameter. If disabled, a fault related to position control of the SM-EZ Motion module.

  • Page 55: Velocity View

    software. If an absolute index is used with a non-zero rotary rollover point, the SM-EZMotion will calculate the shortest path to its destination and move in the required direction. To force the motor to run a certain direction, use the Rotary Plus or Rotary Minus type of indexes.

  • Page 56: Current View

    Feedhold Decel/Accel 7.3.8 Tuning View When the Feedhold destination is activated, the motor will The Tuning View contains all the parameters that are decelerate to a stop in the time specified by the adjusted to properly tune the motor/drive system. Figure 72 FeedholdDecelTime parameter.

  • Page 57: Errors View

    setting the bandwidth too high can result in ringing (audible Gradually increase the Velocity Loop Bandwidth ringing) in the velocity loop. The units for Velocity Loop until the velocity plot shows less than 20% velocity Bandwidth are Hz. overshoot with no ringing (instability). Position Loop Response Audible noise may be introduced by increasing the Velocity Loop Bandwidth due to velocity jitter.
  • Page 58 Power Up active error. The Power Up box contains information related to the Slot 3 Error Code – This will show the error code that is lifetime of the Unidrive SP and SM-EZMotion module. active for the module in Slot 3 of the Unidrive SP. If 0 is Following are the parameters listed in the Power Up displayed, then the module in this slot does not have an information box:...

  • Page 59: Pls View

    Codes, please refer to the Unidrive SP Users Guide or feedback position executes the OnPosn, the PLS.#.Status Unidrive SP Advanced Users Guide. Note that this trip will activate. As the motor continues in the same direction, code is not the same as the Trip Code or Error Code within the PLS.#.Status will deactivate when feedback position a solutions module.

  • Page 60: Setup Nvm View

    range begins at an absolute position of zero and ends at the RotaryRolloverPosn. For example, in a rotary application a PLS could be setup with an OnPosn of 90 degrees and an OffPosn of 100 degrees. If the RotaryRolloverPosn is set to 360 degrees the PLS would come on at 90, go off at 100, go on at 450 (360+90), go off at 460 (360+100), go on at 810 (2*360+90), go off at 820 (2*360+100), and continue...
  • Page 61 Capture Sources and Destinations Figure 77 shows a block diagram of the Capture object CaptureEnable CaptureActivate CaptureEnable CaptureTriggered Time CaptureActivate CaptureTriggered Command Position Feedback Position CaptureReset Master Position CaptureReset Figure 78: Capture Timing Diagram Figure 78 is a timing diagram that shows how the different Captured Data capture related sources and destinations function.

  • Page 62: Queues View

    time they activate even when a capture object is not the user program. Two types of data are most often used configured. If any of these Sources are assigned to a with the queue: Position Feedback, and Master Position destination, the captured data may be used by the Feedback.

  • Page 63: User Variables View

    Queue Object QueueEmpty IF (# of Queue Exit Objects = 0) Data[ ] QueueClear Set # of Queue Objects = 0 QueueFull Empty Clear Size IF (# of Queue and clear data in queue Objects = or > Full Level) Offset Full Level Compare...

  • Page 64: User Bits View

    Adding and Deleting Variables The default number of variables is ten. To add more user variables, click on the up arrow next to the "Number of User Variables" spinner box on the User Variables view. The maximum number of user variables is 256. Only the last variable in the list can be deleted.
  • Page 65 than having to access them individually. In the SM-EZMotion module it is possible to access 32 User Bits FM-3/4 in a single parameter. This parameter is named BitRegister.#.Value. Because some of the 32 User Bits Write may be used by the program, and should not be modified from the network communications, it is possible to "Mask Network Off"...

  • Page 66: Configure I/O

    that particular bit will be passed through when written. destination. Destinations are found on the right side of the Assignments view, and are functions that need to be Each additional group of 32 User Bits that are added, a triggered, such as Index Initiates, Program Initiates, Jog new Mask parameter will appear for that group.
  • Page 67 which Source has been assigned to it. This could cause motion to initiate on loss of I/O Power. Destinations can also be dragged from right to left, over to Sources. Default polarity for a new assignment is Active On. There Assign Button Method are two methods that can be used to change the polarity of an assignment.

  • Page 68: Sp I/O Setup View

    7.4.2 SP I/O Setup View Figure 90: 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 88: Drive I/O Setup View Figure 91 shows a block diagram of the Selector Object.

  • Page 69: Define Motion Profiles

    direct result of the number of Select lines. The formula is until the Selector.SelectorInitiate destination is activated. as follows: Selector.Selection sources can be tied to any destination in # of Selection outputs = 2n (where n is the number of the Assignments view.
  • Page 70 Jog Name destination is used during a Jog, then the Jog.#.CommandComplete will not activate. This is a descriptive character string which can be assigned to the specific jog. Giving a name to a jog can Jog.#.Decelerating - This source is active while a jog is make the motion setup easier to follow.

  • Page 71: Home View

    Switch that is active. 7.5.2 Home View Figure 94: Jog Activate Figure 96: 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. The first release only allows for one home sequence.
  • Page 72 home reference. End of Home Position Acceleration This parameter defines the position at the completion of the home. This defaults to 0.0 such that at the end of a Average Acceleration rate used during the home. Units are home, the Feedback Position and the Commanded specified on the User Units View.

  • Page 73: Index View

    Destinations machine operations. Home.#.Initiate - The Home.#.Initiate destination is used to IndexType initiate the home function. The Home is initiated on the Select the index type from Incremental, Absolute, rising edge of this function. The device will not initiate a Registration, Rotary Plus, or Rotary Minus.
  • Page 74 the SM-EZ Motion module will automatically calculate the cannot be performed as desired. The internal calculation necessary velocity, accel, and decel in order to achieve the are performed only when the index is initiated, and programmed distance in the specified time. therefore is the only time the flag will activate.
  • Page 75 PLS has On and Off points just like a global PLS, but the run again. On and Off points are specified as an incremental distance Similarly, if the index is so short that it never reaches the from the start of the index, instead of absolute positions. On Point, the Index.#.PLSStatus will never activate.
  • Page 76 If a registration sensor is seen outside of this window (not reaches the target velocity, or begins to decelerate, the between the WindowStart and WindowEnd positions) then Index.#.Accelerating source will deactivate. it will be ignored. Index.#.AtVel - This source activates when the target index Window End velocity is reached.

  • Page 77: Gearing View

    active will not prevent ProfileLimited from activating. deleted, and then right-click on the mouse. A selection menu will appear allowing the user to add a New Index or Index.#.Initiate - The Index.#.Initiate destination is used to Delete an Index. Click on Delete Index and the selected initiate the specific index.
  • Page 78 Figure 101: Program View For details on the Program View or how to create a program, see Section 7 - How User Programs Work in this manual. www.emersonct.com SM-EZMotion Module User Guide...

  • Page 79: How User Programs Work

    8 How User Programs Work 8.1 Program Window Components There are 5 major components to the Program View or Error Bar, and the Code Window. Figure 102 points out the programming window. These components are the Program components listed above. Parameters, Program Toolbar, Instruction List, Red Dot Program Parameters Program Toolbar...

  • Page 80: Run Anytime Enable

    8.2.4 Run Anytime Enable 8.3.1 Undo The SM-EZ Motion programming environment has been designed to automatically stop all user programs when a This icon will undo the last change made to the program. fault occurs (regardless of what type of fault), or when the PowerTools Pro will save up to ten of the last changes drive is disabled.

  • Page 81: Red Dot Help

    delete only a single bookmark, place the cursor on the line clicked. for which you wish to delete the bookmark, and click on the The arrow will not continue to follow program flow. If the Book Mark icon. 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.

  • Page 82: Program Instruction List

    8.4 Program Instruction List logical tests. Example: If EZInput.1=ON Then EZOutput.1=ON EZOutput.2=OFF Endif Example: If (EZInput.1=ON AND EZInput.2=OFF) Then EZOutput.1=ON EZOutput.2=OFF Endif Example: If (SPInput.4=OFF) Then Jog.0.PlusInitiate 'Vel=20in/s Wait For SPInput.4=OFF Jog.Stop Endif Example: If (NOT SPInput.5=ON) Then Jog.0.MinusInitiate 'Vel=20in/s Wait For SPInput.5=OFF Jog.Stop Endif...
  • Page 83 valid range for the numbers provided is 0 to 2147483647. Example: Wait For (EZInput.1=ON AND Example: EZInput.2=OFF) For Count = 1 to 5 Index.0.Initiate Index.1.Initiate Dwell For Time 1.000 'seconds Example: Next Wait For Index.AnyCommandComplete Example: If (EZInput.2=ON) Then Jog.0.PlusInitiate 'Vel=20in/s For Count = 1 To 10 Wait For EZInput.2=OFF Wait For ModuleInput.1 = ON...
  • Page 84 picks up where it left off in the program that called it. This location within a program. The destination label is allowed is often used when a section of code is used in multiple to be above or below the GoTo instruction within the same places in a program.

  • Page 85: Motion Instructions

    applications. This dwell does not begin until all other GoTo RunIndex2: 'Go to RunIndex2 label motion has completed. When the dwell begins, program EndIf flow will wait until the specified master distance has passed. The units for the dwell value are specified in the RunIndex1: Master Units View.
  • Page 86 (Index.0.Initiate or Index.0.CompoundInitiate), not the Jog.Stop index itself, determines whether or not the index will EndIf execute a deceleration ramp. For example, Index.0 can be Loop used multiple times in multiple programs. It can be initiated 8.4.2.7 Jog.PlusInitiate at different times using the Index.0.Initiate instruction and the Index.0.CompoundInitiate instruction.

  • Page 87: Motion Modifier Instructions

    Example: complete. Although the amount of time lost is extremely small (less than 5 milliseconds), over a long period of time, Gear.Initiate this lost time can accumulate. Wait for EZInput.2=ON Gear.Stop Keeping the timeline intact is most important in applications using synchronized motion. This is because in This instruction should not be used within a loop in the user synchronized motion, time is replaced by master encoder program.

  • Page 88: Program Code Window

    PowerTools Pro into "Red Dot Help Mode". While in this parameters for fault detection. mode, the mouse pointer should have a red and yellow The SM-EZMotion processor has the ability to execute question mark next to it. After going into Red Dot Help multiple tasks.
  • Page 89 profile is finished. Index.0.Initiate Index.1.Initiate EZOutput.2 = ON A Dwell instruction is also a motion instruction and can block the program in the same way. Index.0.Initiate Dwell For Time 0.550 'sec Update Rate Update Rate Update Rate Update Rate EZOutput.2 = ON The Dwell cannot start until other motion on the same = Control Loop Update profile is complete, and therefore the program (or task) is...
  • Page 90 (tasks) are blocked. t = 0 Control Loop Update Process Message(s) Message(s) Waiting? Switch to Next Task Process Task End Of Update? Task Blocked? Switch to Next Task Figure 109: Multitasking Flow Chart www.emersonct.com SM-EZMotion Module User Guide...

  • Page 91: Starting And Stopping Motion

    9 Starting and motion are listed below. 9.1.1.1 Jog.PlusActivate Stopping Motion Jog.PlusActivate will, when active, cause the motor to run at a specified Jog Velocity in the positive direction. Jog.PlusActivate is a level sensitive assignment meaning 9.1 Starting Motion that as long as the Destination is active, the Jog will be active.

  • Page 92: From Programs

    an edge-sensitive assignment meaning that the home will 9.1.2.3 Home.#.Initiate start on the rising edge of the Source signal. If the Home.#.Initiate is used in a program to initiate the Home Home.#.Initiate Destination is held active, the Home will sequence. The user must specify which Home is to be not initiate again until the next rising edge.
  • Page 93 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 1000 RPM 500 RPM 30 Revs 20 Revs 100 RPM 10 Revs Figure 111: Compound Index Example 1 Example 2: Index.2.CmpoundInitiate 'Dist=30, Vel=1000, Accel=10000, Decel=10000 Index.1.CompoundInitiate 'Dist=20, Vel=500, Accel=5000, Decel=5000 Index.0.Initiate 'Dist=10, Vel=100, Accel=100, Decel=100 1000 RPM...

  • Page 94: From Powertools Pro

    It is important to understand that when compounding 9.2.1.2 MotionStop indexes together, the acceleration and deceleration will The MotionStop destination will stop all motion that is override the index distance. Figure 112 above shows the currently active. It will not stop any user programs. Stop scenario where the final index in the compound string has Motion is level sensitive so that all motion will be prevented a short distance and a slow acceleration ramp.

  • Page 95: From Powertools Pro

    On Profile.1 modifier must be added to the Jog.Stop 9.2.3 From PowerTools Pro command. Motion can be stopped while online with PowerTools Pro in If this instruction is used while gear motion is not active, it a number of different ways. Following is a list of ways to will be ignored, and the program will move to the next stop motion while online with the device.
  • Page 96 www.emersonct.com SM-EZMotion Module User Guide...

  • Page 97: Starting And Stopping Programs

    10 Starting and online, click on the Run Program icon on the Program Toolbar. Doing so will initiate the program number that is currently displayed. Stopping Programs 10.2 Stopping Programs 10.1 Starting Programs 10.2.1 From Assignments The user can initiate programs using multiple different There are numerous different methods that can be used to methods.
  • Page 98 again. 10.2.3.2 Stop All - Program Toolbar Motion and Programs can also be stopped from the Program Toolbar using the Stop All icon. This icon is like an edge sensitive function that will not prevent motion or programs from being initiated again. www.emersonct.com SM-EZMotion Module User Guide...

  • Page 99: Parameter Descriptions

    11 Parameter • Linear: Peak Accel = Average Accel Acceleration Decimal Places Descriptions AccelUnits.Decimal This section lists all programmable and feedback This parameter is the decimal point location for all real-time parameters available. The parameters are listed accel./decel. ramps. alphabetically by variable name (shown in italics below the on screen name) and give a description.
  • Page 100 the corresponding bit location of BitRegister.#.Value (by Capture Reset setting the bit location to 1) or to clear the current data in CaptureReset BitRegister.#.Value (by setting the bit location to 0). The CaptureReset is used to reset or re-arm the capture Unidrive SP Braking Resistor Overload Accumulator component after it has been activated.
  • Page 101 units, at the time when CaptureTriggered activated. generated by the Unidrive SP. Units for the Current Level are % Continuous. This means Captured Master Position Homed that 100% is equal to the system rated current (Motor Captured.#.CapturedMasterPosHomed Rated Current < System Rated Current < Drive Rated Current).
  • Page 102 Accelerating, At Velocity, and Decelerating. Decelerating Distance Units Name follows the accelerating segment and the At Velocity DistUnits.Name segment. When indexes are compounded to create a complex motion profile, only the last index may contain a This is a text variable which is used as the label for the decelerating segment.
  • Page 103 considered active in the SM-EZMotion firmware. Once the often referred to simply as EZOutput.#. In a user program, input has been active for the debounce time, a rising edge EZOutput.#.Out is set On or Off to activate or deactivate on the input will occur in the SM-EZMotion module. This the digital outputs.
  • Page 104 FeedRate Override feature. When FeedRate Deactivate is Gear Accel Enable enabled, FeedRate Override will be disabled and all index Gear.AccelEnable or home motion will operate at its programmed velocity. When FeedRate Deactivate is disabled, FeedRate Gear.AccelEnable is a Destination that when it is "on" Override will be enabled, and index and home motion is allows a gear to run a specified accel ramp after the subject to scaling by the FeedRate Override parameter.
  • Page 105 Gear.Decel functions only when the follower is ramping its during the Home back off sensor motion. speed down after the gearing function has turned off. Home At Velocity Gear Decel Enable Home.#.AtVel Gear.DecelEnable This source is activated when the home velocity is reached Gear.DecelEnable is a Destination that when it is "on"...
  • Page 106 Home Initiate Home Reference Home.#.Initiate Home.#.Reference When activated, this destination will initiate the specified This parameter determines how the reference position is home. Home will not initiate if an index, jog, program, or determined. The parameter can have one of three different stop is currently active.
  • Page 107 Stop destination is used during an Index, then the Index Profile Limited Index.#.CommandComplete will not activate. Index.ProfileLimited Index Command In Progress For timed indexes, if the values for Max. Velocity, Max. Index.#.CommandInProgress Acceleration and Max. Deceleration are such that the distance cannot be covered in the specified time, the The Index.#.CommandInProgress source is active Index.ProfileLimited flag will activate when the index is...
  • Page 108 to the distance commanded since the start of the index. Index Initiate Index.#.PLSStatus will be active if the distance traveled Index.#.Initiate from the start of the index is greater than the Index.#.PLSOnDist and less than the Index.#.PLSOffDist. The Index.#.Initiate destination is used to initiate the specific index.
  • Page 109 registration point for registration type indexes. commanded motion must be complete and the absolute value of the following error is less than the InPosnWindow parameter for the InPosn source to activate. Index Time Base Index.#.TimeBase In Position Window InPosnWindow 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 The absolute value of the following error must be less than...
  • Page 110 Jog.#.MinusActivate or Jog.#.PlusActivate instructions, negative direction at the specified jog velocity. and using the Jog.Stop will cause the motor to decelerate to a stop at the Jog.#.Decel rate for the jog that is active. Jog Initiate Plus Jog.#.PlusInitiate Jog Acceleration Jog.#.Accel This is used inside a program to initiate a specific jog.
  • Page 111 Master Axis Feedback Selector Unidrive SP Overload Accumulator MasterAxis.SpeedFeedbackSelector OverloadAccumulator The MasterAxis.Speed Feedback Selector parameter This parameter gives an indication of the motor determines where the feedback device for the master temperature based on a simple thermal model. The signal is connected to. Early releases of the SM-EZMotion formula for the thermal model is a function of the current module only support a value of Slots 1, 2, or 3 (and NOT demand and a thermal time constant of the motor...
  • Page 112 is not between the On and Off positions, and inactive application a PLS could be setup with an OnPosn of 90 whenever the axis is between the two positions. However, degrees and an OffPosn of 100 degrees. If the the PLS.#.Status will not turn on until it reaches the RotaryRolloverPosn is set to 360 degrees the PLS would OnPosn the first time.
  • Page 113 SM-EZMotion Power Up Count Note PowerUpCount Activation of the CommandComplete signal does not mean that the motor is no longer moving. If there is any Power Up Count is the current value of how many times the following error at the end of the motion, the SM-EZMotion module has been powered up.
  • Page 114 Program Any Complete Queue Size Program.AnyComplete Queue Size This source is activated when any program ends normally. This is the maximum number of elements that can be If a program ends due to a fault or the stop destination, this stored in the queue.
  • Page 115 the queue and remain inactive until all data has been Queue Source removed from the queue. Queue.#.Source Queue Exit The Queue Source determines which parameter the sum Queue.#.QueueExit of the Queue Data and Queue Offset are compared to in order to activate the Queue Exit function. If set to Position This event activates when the source parameter is equal to Feedback, the sum of the data and offset are compared to the QueueExitPosition.
  • Page 116 Error Code for the specific error. This parameter can be SM-Universal Encoder Plus module has been fitted in. For seen while online with PowerTools Pro EZ on the Errors example, if the Universal Encoder Plus module is in slot 2, view.
  • Page 117 the Unidrive SP slots. though the Unidrive SP is capable of handling other encoder types). The X in “SlotX” defines the slot number that the SM-Universal Encoder Plus option module has been fitted This parameter is found on the SlotX view after a in.
  • Page 118 (pins 2, 3, and 4) are configured as Inputs or Outputs using Slot2.IO.#.Out. PowerTools Pro EZ software. The SlotX.IO.#.Direction The first three digital I/O points on the SM-I/O Plus module parameter is used to configure whether the I/O point acts (pins 2, 3, and 4) are configured as Inputs or Outputs using as a digital input or digital output.
  • Page 119 add a level of protection from exceeding the machines levels for external encoders. This parameter defines the travel limits. The SoftwareTravelLimitMinusActive source supply voltage put out to the external encoder and can be (output function) is active when the found on the Hardware > Drive / Encoder view in SoftwareTravelLimitMinusPosn is reached or exceeded.
  • Page 120 Bit 13 = Parameter 10.14Direction Running feedback signal must be connected to the Unidrive SP encoder connector. This parameter is read-only from within Bit 12 = Parameter 10.13Direction Commanded a user program. Bit 11 = Parameter 10.12Braking Resistor Alarm SPInput Status Bit 10 = Parameter 10.11Braking IGBT Active SPInput.#.In Bit 9 = Parameter 10.10Regenerating...
  • Page 121 using the Drive Watch Window icon. These are not to be SPIO Name used inside a user program. SPIO.#.Name If writing to or reading from a Unidrive SP menu parameter in a program, use the Menu.MM.PP instruction instead. In Each digital I/O point on the Unidrive SP can be given a this instruction, MM represents the desired menu, and PP name.
  • Page 122 SPRunTimeHoursMinutes Unidrive SP Power Up Time – Yrs.Days SPPowerUpTimeYearsDays Unidrive SP Stack Temperature 1 StackTemperature1 The Drive Power Up Time is the time elapsed since power has been cycled to the Unidrive SP. The format for this This read-only parameter is read from the Unidrive SP parameter is Years.Days and Hours.Minutes.
  • Page 123 12kHz, and 14kHz. Travel Limit Plus Active TravelLimitPlusActive SM-EZMotion Total Power Up Time TotalPowerUpTime This source is active when the TravelLimitPlusActivate is active. Total Power Up Time is the total elapsed time that the SM-EZMotion module has been powered up (since reset Variable Decimal by the factory).
  • Page 124 Velocity Loop Bandwidth VelocityLoopBandwidth The Velocity Loop Bandwidth parameter is the theoretical bandwidth of the velocity controller (how fast the system can respond to change in velocity command). The value of this parameter depends heavily on the correct values for the motor data, particularly the Motor Rotor Inertia and the Motor Current Constant (Ke).

  • Page 125: Drive Parameters Used By Sm-Ezmotion Module

    12 Drive Parameters Used by SM-EZMotion Module 12.1 Description The Unidrive SP is configured using a database of parameters. The parameters are grouped according to functionality. Each function group is given a Menu#. Each parameter in the drive is accessed using a Menu Number and Parameter Number in the following format: Menu Number.Parameter Number (or MM.PP) An example of this is Menu Number 5, Parameter Number...
  • Page 126 Menu 1 Menu 2 Menu 3 Menu 4 Menu 5 Menu 6 Menu 7 Menu 8 Menu 9 Menu 10 Menu 11 Current Motor Logic / Mot. General Drv Speed Ref. Ramps Fdbk Setup Sequencer Analog I/O Digital I/O Status / Trips Control Control Setup...
  • Page 127 Menu 12 Menu 13 Menu 14 Menu 15 Menu 16 Menu 17 Menu 18 Menu 19 Menu 20 Menu 21 Threshold / User PID Option Option Option 2nd Motor Posn Control User Vars 1 User Vars 2 User Vars 3 Var Slctr Controller Module 1...

  • Page 128: Sm-Ezmotion Module Setup Parameters

    Notes: module as shown below. 1.The SM-EZMotion module reads this parameter for display purposes in PowerTools Pro Software. Primary Intelligent Code Module Category use is for diagnostics. Module No Module Fitted 2. These parameters are set to a specific value every time the system is powered up.
  • Page 129 Example: x.18 – EZInput.2.Status This parameter shows the status of digital Input #2 on the Firmware Parameter SM-EZMotion module. A value of 1 indicates that the Input Revision x.02 Value is active. A value of 0 indicates that the Input is inactive. This equates Pin # 3 on the EZMotion I/O Connector.
  • Page 130 Examples: x.48 = 11023 would signify that user programs are currently running on Task 2 and Task 1, and that a Index is running on Profile 1 while a Jog is running on Profile 0. x.48 = 104 would signify that a user program is running on Task 0 and Gearing motion is running on Profile 0.

  • Page 131: Diagnostics

    13 Diagnostics Unidrive SP to Trip. Most of the Errors that occur in the SM-EZMotion module will cause a Trip on the drive. Following is a description of the Errors Handling System There are many different tools available to the user to help used by the SM-EZMotion module diagnose problems or errors in the Unidrive SP and SM-EZMotion module.
  • Page 132 Error Code Cause Error Possible Reason Possible Solution (x.50) Trip? Increase Following Error Limit in PowerTools Pro configuration. Increase Velocity Loop Bandwidth and/or Position Amount of following error exceeded Loop Bandwidth in PowerTools Pro Following Error following error limit set in PowerTools configuration.
  • Page 133 Error Code Cause Error Possible Reason Possible Solution (x.50) Trip? Verify that the sum of all the operands in Math addition operation in user Program Error - Math Addition addition formulas will not result in a value program has resulted in an overflow of Overflow in the following range: the resultant parameter...

  • Page 134: Analog Outputs

    Error Code Cause Error Possible Reason Possible Solution (x.50) Trip? Switch module located in Slot 2 to match module type selected in PowerTools Pro Option module selected for Slot 2 in file. Alternatively, update the PowerTools Invalid Slot 2 Selection PowerTools Pro file does not match Pro configuration to match the module actual module type fitted...

  • Page 135: Errors View

    can save the specific parameters that have been added to the Watch Window. Once the selections have been saved, the Restore Selections button can be used to monitor all the same parameters the next time the user opens the Watch Window. Therefore, if there is a list of helpful diagnostic parameters the user wishes to see when online, those specific parameters can be saved and recalled in the Watch Window at any time.

  • Page 136: Status Bar

    Profile 1 Motion Position and Velocity Feedback Profile 0 Motion Overall Status Communications Status Figure 118: Status Bar Description The first segment of the status bar gives an overall drive Figure 116: SM-EZMotion Error Pop-Up Window status. It will indicate whether the drive is enabled or not, and will also indicate which programs and motion profiles The Errors View also contains a Trip Log that lists the 10 are active.

  • Page 137: Clearing Slx.df Trip After Installing Sm-Ezmotion Module

    13.5 Clearing the SM-EZMotion module memory The SM-EZMotion module has a function that allows the user to clear the module memory. Doing so will erase the configuration stored in the module. To procedure for erasing the module configuration is as follows: 1.Navigate to parameter 18.01 on the keypad 2.
  • Page 138 www.emersonct.com SM-EZMotion Module User Guide...

  • Page 139: Creating A Custom Motor File

    14 Creating a [Definition] Header Custom Motor File revision=0x4132 Information nameCount=2 PowerTools Pro EZ software obtains the names and [Motor0] parameters of all motors in the Motor Type list box from name=User1 various Motor Data Definition Files (.DDF file extension). folder=UploadedMotor The list of default (or standard) motors is automatically peakCurrent=9.73...
  • Page 140 Motor Definition Section peakCurrent The motor definitions section contains the names and Specifies the peak current allowed by the motor. The valid parameters of one or more user defined motors. The order range is 0.00 to 9999.99 Amps (rms). The motor of the parameters in the motor definition must match the manufacturer typically provides the peak current data.
  • Page 141 maxOperatingSpeed • Motor Continuous Current Specifies the maximum operating speed of the motor. It is used by the drive to limit the Velocity Command. The valid range for this parameter is 0.0 to 40,000.0 RPM. thermalTimeConstant Specifies the Thermal Time Constant of the motor. This parameter is used by the Unidrive SP for thermal protection of the motor.
  • Page 142 www.emersonct.com SM-EZMotion Module User Guide...

  • Page 143: Glossary

    15 Glossary Destination A function (i.e., Stop, Preset) that may be assigned to an input line. In SM-EZMotion, the input function is µs connected to the action through click and drag Microsecond, which is 0.000001 seconds. operations in PowerTools Software on the Assignment View.
  • Page 144 Global Where Am I List Box PowerTools feature that indicates which line of which In a dialog box, a list box is an area in which the user can user program is executing. choose among a list of items, such as files, directories, printers or the like.
  • Page 145 Views. Source The terminals at which energy is taken from a circuit or device. Personal Computer. Travel Limit The distance that is limited by either a travel limit switch Protective Earth. or the software. Torque Proportional-Integral-Derivative. An acronym that The moment of force, a measure of its tendency to describes the compensation structure that can be used produce torsion and rotation about an axis.
  • Page 146 www.emersonct.com SM-EZMotion Module User Guide...

  • Page 147: Index

    16 Index Absolute Index, 25 Decelerating, 87 AbsolutePositionValid, 85 DefineHome, 88 Accelerating, 85 DefineHomePosn, 88 AccelType, 85 Digital I/O Connections, 3 AccelUnits.Decimal, 85 DistUnits.CharacteristicDist, 88 AccelUnits.TimeScale, 85 DistUnits.CharacteristicLength, 88 Assignments View, 52 DistUnits.Decimal, 88 AtVel, 85 DistUnits.Name, 88 Drive Parameters, 111 Drive/Encoder View, 33 DriveActive, 88 DriveEnableStatus, 88...
  • Page 148 Gear.Activate, 90 Index.#.CommandInProgress, 93 Gear.AtVel, 90 Index.#.CompoundInitiate, 93 Gear.CommandComplete, 90 Index.#.Decel, 93 Gear.CommandInProgrees, 90 Index.#.Decelerating, 93 Gear.Decel, 90 Index.#.Dist, 93 Gear.DecelEnable, 91 Index.#.Initiate, 94 Gear.Decelerating, 91 Index.#.LimitDistHit, 94 Gear.RecoveryDist, 91 Index.#.Name, 94 Gearing, 28 Index.#.PLSEnable, 94 Gearing View, 63 Index.#.PLSOffDist, 94 Index.#.PLSOnDist, 94 Index.#.PLSStatus, 94 Index.#.RegistrationOffset, 94...
  • Page 149 Program.#.Initiate, 100 Program.#.Name, 100 Program.#.ProgramComplete, 100 Master Position Filter Samples, 39 Program.#.Stop, 100 Master Units Setup View, 38 Program.AnyComplete, 100 MasterAxis.MasterEncRevCount, 96 Programming Examples, 68 MasterAxis.MasterEncRevPosition, 96 MasterAxis.SpeedFeedbackSelector, 97 ModuleSerialNumber, 97 ModuleTemperature, 97 Motion Timebase, 28 Queue Name, 100 MotionStop, 97 Queue Size, 100 MotorType, 97 Queue.#.DataIn, 100...
  • Page 150 SlotX.EncoderSimulationNumerator, 102 SPRelay.#.Out, 108 SlotX.EncoderSimulationSource, 102 SPRunTimeHoursMinutes, 108 SlotX.EncoderSupplyVoltage, 103 SPRunTimeYearsDays, 108 SlotX.EncoderType, 103 StackTemperature1, 108 SlotX.Input.#.In, 103 StartUp, 108 SlotX.Input.#.Name, 103 Stop, 108 SlotX.IO.#.Direction, 103 StopDecel, 108 SlotX.IO.#.In, 104 Summing Multiple Profiles, 29 SlotX.IO.#.Name, 104 SwitchingFrequency, 108 SlotX.IO.#.Out, 104 SlotX.Relay.#.Name, 104 SlotX.Relay.#.Out, 104 SM-EZMotion Module I/O, 31...
  • Page 152 For more information about Control Techniques “Motion Made Easy” products and services, call (800) 397-3786 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.

This manual is also suitable for:

Control techniques sm-ezmotion module

Table of Contents